118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 4 errors · 15847 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780437553.59501433 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437554.15399170 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-02 21:59:14.319] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 21:59:14.319] [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 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×3903 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×3901 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×3903 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×3901 + 9.07sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.18sINFOjoint_trajectory_controllerGoal reached, success! ×97 + 9.18sINFOros2_control_nodeGoal reached, success![0m ×97 + 30.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 3:10.019 of wall time (123/58642). Below 1% is expected on a non-realtime system.[0m + 41.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437595.340803) + 41.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437595.340803)[0m + 42.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437596.580803) + 42.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437596.580803)[0m + 44.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437597.96209836 seconds ×2 + 44.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437598.53628445 seconds. ×2 + 44.99sINFOobjective_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 + 45.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 45.07sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 45.10sINFOros2_control_node[2026-06-02 21:59:58.692] [info] Received new action goal + 45.10sINFOros2_control_node[2026-06-02 21:59:58.692] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 111 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Accepted new action goal + 9.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.42sINFOros2_control_node[2026-06-02 21:58:27.301] [info] Received new action goal + 9.42sINFOros2_control_node[2026-06-02 21:58:27.301] [info] Accepted new action goal + 12.37sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 12.37sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.41sINFOros2_control_node[2026-06-02 21:58:30.294] [info] Received new action goal + 12.41sINFOros2_control_node[2026-06-02 21:58:30.294] [info] Accepted new action goal + 15.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 22.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 23.06sINFOros2_control_node[2026-06-02 21:58:40.941] [info] Received new action goal + 23.06sINFOros2_control_node[2026-06-02 21:58:40.941] [info] Accepted new action goal + 24.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 24.23sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 24.41sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 24.41sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.43sINFOros2_control_node[2026-06-02 21:58:42.313] [info] Received new action goal + 24.43sINFOros2_control_node[2026-06-02 21:58:42.313] [info] Accepted new action goal + 26.54sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 26.54sINFOobjective_server_nodePath shortcutter: [X__________X] + 26.56sINFOros2_control_node[2026-06-02 21:58:44.442] [info] Received new action goal + 26.56sINFOros2_control_node[2026-06-02 21:58:44.442] [info] Accepted new action goal + 26.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.15% of iterations over budget over 2:10.011 of wall time (59/40175). Below 1% is expected on a non-realtime system.[0m + 29.61sINFOros2_control_node[2026-06-02 21:58:47.494] [info] Received new action goal + 29.61sINFOros2_control_node[2026-06-02 21:58:47.494] [info] Accepted new action goal + 32.19sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.22sINFOros2_control_node[2026-06-02 21:58:50.104] [info] Received new action goal + 32.22sINFOros2_control_node[2026-06-02 21:58:50.104] [info] Accepted new action goal + 42.96sINFOros2_control_node[2026-06-02 21:59:00.841] [info] Received new action goal + 42.96sINFOros2_control_node[2026-06-02 21:59:00.841] [info] Accepted new action goal + 44.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780437541.99834824 seconds ×2 + 44.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780437542.70487285 seconds. ×2 + 46.02sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 46.02sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.04sINFOros2_control_node[2026-06-02 21:59:03.918] [info] Received new action goal + 46.04sINFOros2_control_node[2026-06-02 21:59:03.918] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.1s | 2 errors · 93 info |
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 1.03sERRORobjective_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 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780437617.00396681 seconds ×2 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780437617.61461473 seconds. ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sINFOobjective_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 + 2.79sINFOobjective_server_nodeFound path in 7 iterations (0.00490035 s). + 2.85sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.87sINFOros2_control_node[2026-06-02 22:00:18.847] [info] Received new action goal + 2.87sINFOros2_control_node[2026-06-02 22:00:18.847] [info] Accepted new action goal + 11.38sINFOobjective_server_node[0;m[0;93m2026-06-02 22:00:27.359865549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.38sINFOobjective_server_node[0;93m2026-06-02 22:00:27.359894011 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.87sINFOobjective_server_node[0;93m2026-06-02 22:00:27.850707903 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.87sINFOobjective_server_node[0;93m2026-06-02 22:00:27.850738774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.97sINFOobjective_server_node[0;93m2026-06-02 22:00:27.950890569 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.98sINFOobjective_server_node[0;93m2026-06-02 22:00:27.953097061 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.98sINFOobjective_server_node[0;93m2026-06-02 22:00:27.953123562 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.27sINFOobjective_server_node[0;93m2026-06-02 22:00:28.244678883 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.28sINFOobjective_server_node[0;93m2026-06-02 22:00:28.259501512 [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 + 12.28sINFOobjective_server_node[0;93m2026-06-02 22:00:28.259533793 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.56sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 17.89sINFOobjective_server_nodeFound path in 4 iterations (0.0021282 s). + 17.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 17.98sINFOobjective_server_nodeFound path in 12 iterations (0.00325465 s). + 18.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 18.05sINFOobjective_server_nodeFound path in 1 iterations (0.00326463 s). + 18.09sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 18.11sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 18.13sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 18.15sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 18.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 18.18sINFOobjective_server_nodeFound path in 12 iterations (0.00365461 s). + 18.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 18.24sINFOobjective_server_nodeFound path in 2 iterations (0.00334258 s). + 18.27sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] + 18.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 18.33sINFOobjective_server_nodeFound path in 4 iterations (0.00349792 s). + 18.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 18.41sINFOobjective_server_nodeFound path in 4 iterations (0.00305208 s). + 18.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] + 18.53sINFOobjective_server_nodeFound path in 1 iterations (0.00510687 s). + 18.59sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 18.61sINFOobjective_server_nodeFound path in 1 iterations (0.00302121 s). + 18.69sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 18.71sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 18.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 18.76sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 18.81sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 18.83sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 18.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 18.94sINFOros2_control_node[2026-06-02 22:00:34.914] [info] Received new action goal + 18.94sINFOros2_control_node[2026-06-02 22:00:34.914] [info] Accepted new action goal + 23.95sINFOros2_control_node[2026-06-02 22:00:39.928] [info] Received new action goal + 23.95sINFOros2_control_node[2026-06-02 22:00:39.928] [info] Accepted new action goal + 25.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 25.48sINFOros2_control_node[2026-06-02 22:00:41.457] [info] Received new action goal + 25.48sINFOros2_control_node[2026-06-02 22:00:41.457] [info] Accepted new action goal + 26.69sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 26.72sINFOros2_control_node[2026-06-02 22:00:42.698] [info] Received new action goal + 26.72sINFOros2_control_node[2026-06-02 22:00:42.698] [info] Accepted new action goal + 28.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 4:10.019 of wall time (154/77098). Below 1% is expected on a non-realtime system.[0m + 32.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780437648.13481641 seconds ×2 + 32.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780437648.77690077 seconds. ×2 + 32.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 32.99sINFOobjective_server_nodePath shortcutter: [X______X] + 32.99sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Received new action goal + 32.99sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 28.9s | 2 errors · 68 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Accepted new action goal + 23.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.96sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 24.23sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 24.23sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.24sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 24.25sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 24.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 24.30sINFOobjective_server_nodeFound path in 1 iterations (0.00281985 s). + 24.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 24.40sINFOros2_control_node[2026-06-02 21:57:15.814] [info] Received new action goal + 24.40sINFOros2_control_node[2026-06-02 21:57:15.814] [info] Accepted new action goal + 26.93sINFOros2_control_node[2026-06-02 21:57:18.342] [info] Received new action goal + 26.93sINFOros2_control_node[2026-06-02 21:57:18.342] [info] Accepted new action goal + 28.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.76sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 28.76sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 30.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 30.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 30.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 31.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 31.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 31.47sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 31.47sINFOros2_control_node[2026-06-02 21:57:22.878] [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 | 13.3s | 4 errors · 43 info |
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×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 + 1.04sERRORobjective_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 + 1.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437603.66898656 seconds ×2 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.74sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780437604.36550760 seconds. ×2 + 1.80sINFOobjective_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 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.87sINFOobjective_server_nodePath shortcutter: [X_______X] + 1.88sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Received new action goal + 1.88sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Accepted new action goal + 5.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 5.58sINFOros2_control_node[2026-06-02 22:00:08.205] [info] Received new action goal + 5.58sINFOros2_control_node[2026-06-02 22:00:08.205] [info] Accepted new action goal + 7.44sINFOros2_control_node[2026-06-02 22:00:10.065] [info] Received new action goal + 7.44sINFOros2_control_node[2026-06-02 22:00:10.065] [info] Accepted new action goal + 14.38sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780437617.00396681 seconds ×2 + 14.99sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780437617.61461473 seconds. ×2 + 14.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.99sINFOros2_control_nodeReceived & accepted new action goal[0m + 16.14sINFOobjective_server_nodeFound path in 7 iterations (0.00490035 s). + 16.20sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 16.22sINFOros2_control_node[2026-06-02 22:00:18.847] [info] Received new action goal + 16.22sINFOros2_control_node[2026-06-02 22:00:18.847] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 59 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00306691 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.18sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Accepted new action goal + 0.28sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Got request to cancel active goal. + 0.28sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Canceling active goal... + 0.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780437474.90484691 seconds ×2 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780437475.50640368 seconds. ×2 + 1.04sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.06sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Received new action goal + 1.06sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Accepted new action goal + 3.41sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Accepted new action goal + 11.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780437486.59019637 seconds ×2 + 12.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780437487.14400291 seconds. ×2 + 12.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 12.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 12.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 13.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 13.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 13.27sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 13.27sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 15.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 16.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 16.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 16.14sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 16.14sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 47 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.93sINFOros2_control_node[2026-06-02 21:59:00.841] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-02 21:59:00.841] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780437541.99834824 seconds ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780437542.70487285 seconds. ×2 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 3.99sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.01sINFOros2_control_node[2026-06-02 21:59:03.918] [info] Received new action goal + 4.01sINFOros2_control_node[2026-06-02 21:59:03.918] [info] Accepted new action goal + 7.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 10.07sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.08sINFOros2_control_node[2026-06-02 21:59:09.988] [info] Received new action goal + 10.08sINFOros2_control_node[2026-06-02 21:59:09.988] [info] Accepted new action goal + 13.68sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780437553.59501433 seconds ×2 + 14.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437554.15399170 seconds. ×2 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 14.41sINFOobjective_server_nodePath shortcutter: [X___X] + 14.41sINFOros2_control_node[2026-06-02 21:59:14.319] [info] Received new action goal + 14.41sINFOros2_control_node[2026-06-02 21:59:14.319] [info] Accepted new action goal + 15.68sINFOobjective_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 + 15.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 26 errors · 2 warnings · 146 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780437708.20193315 seconds ×2 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 11.32sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.32sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.33sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.34sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] + 11.35sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] + 11.35sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] + 11.36sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] + 11.37sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.37sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.38sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.39sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.40sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.40sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.41sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.42sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.43sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.44sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.44sINFOcontroller_managerShutdown request received.... + 11.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.44sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.44sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.44sINFOcontroller_managerShutting down the controller manager. + 11.44sINFOrosbridge_websocketExiting due to SIGINT + 11.44sERRORrosapi_nodeTraceback (most recent call last): + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> + 11.44sINFOrosapi_nodemain() + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main + 11.44sINFOrosapi_noderclpy.spin(node) + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 11.44sINFOrosapi_nodeexecutor.spin_once() + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 11.44sINFOrosapi_nodeself._spin_once_impl(timeout_sec) + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 11.44sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 11.44sINFOrosapi_nodereturn next(self._cb_iter) + 11.44sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 11.44sINFOrosapi_noderaise ExternalShutdownException() + 11.44sINFOrosapi_noderclpy.executors.ExternalShutdownException + 11.44sERRORui_teleop_bridgeTraceback (most recent call last): + 11.44sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.44sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.44sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 11.44sINFOui_teleop_bridgerclpy.shutdown() + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.44sINFOui_teleop_bridge_shutdown(context=context) + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.44sINFOui_teleop_bridgereturn context.shutdown() + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.44sINFOui_teleop_bridgeself.__context.shutdown() + 11.44sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.45sINFOros2_control_nodeShutdown request received....[0m + 11.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.45sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.45sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.45sINFOros2_control_nodeShutting down the controller manager.[0m + 11.50sINFOobjective_server_node[0;m[2026-06-02 22:01:54.409] [moveit_pro_license] [info] + 11.50sINFOobjective_server_node************************************************* ×2 + 11.50sINFOobjective_server_node* MoveIt Pro License + 11.50sINFOobjective_server_node* Application has successfully terminated + 11.56sINFOobjective_server_nodecorrupted double-linked list + 11.56sERRORobjective_server_nodeStack trace (most recent call last): + 11.56sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10793] + 11.56sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system + 11.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.57sINFOweb_video_server-21process has finished cleanly [pid 10795] + 11.57sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.57sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c183a354e4, in _start + 11.57sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560a1e3f, in __libc_start_main + 11.57sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560a1d96, in + 11.57sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560bd60f, in exit + 11.57sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560bd494, in + 11.57sINFOobjective_server_node#12 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7fb61c1cecd3, in Ort::detail::Base<OrtEnv>::~Base() + 11.57sINFOobjective_server_node#11 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fb60aeb9144, in + 11.57sINFOobjective_server_node#10 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fb60af1d721, in + 11.57sINFOobjective_server_node#9 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fb60b577cf6, in + 11.57sINFOobjective_server_node#8 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fb60b577c15, in + 11.57sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb65611d452, in free + 11.57sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb65611a8b8, in + 11.57sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6561197cb, in + 11.57sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb656118cfb, in + 11.57sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb656101676, in + 11.57sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560a07f2, in abort + 11.58sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb6560ba475, in raise + 11.58sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb65610e9fc, in pthread_kill + 11.58sERRORobjective_server_nodeAborted (Signal sent by tkill() 10781 0) + 11.60sERRORui_teleop_bridge-17process has died [pid 10787, 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_5e54g6lm']. + 11.61sINFOrosbridge_websocket-19process has finished cleanly [pid 10791] + 11.61sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system + 12.12sERRORobjective_server_node_main-14process has died [pid 10781, 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_c0fz7c2x --params-file /tmp/launch_params_7bxf0bv1 --params-file /tmp/launch_params_0u97y07w --params-file /tmp/launch_params_0gwjajy2 --params-file /tmp/launch_params_nlf8bbqj --params-file /tmp/launch_params_4b2v37ve']. + 12.12sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.43sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10779] + 12.43sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10777] + 12.44sINFOexecute_objective_bridge-16process has finished cleanly [pid 10785] + 12.46sINFOparameter_manager_node-10process has finished cleanly [pid 10728] + 12.47sINFOwaypoint_manager_node-11process has finished cleanly [pid 10775] + 12.51sERRORrosapi_node-18process has died [pid 10789, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_77j0w092']. + 12.52sINFOcomponent_container_mt-15process has finished cleanly [pid 10783] + 12.74sINFOmove_group-9process has finished cleanly [pid 10725] + 13.07sINFOros2_control_node-1process has finished cleanly [pid 10705] | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 89 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (1.2e-07 s). + 0.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00173652 s). + 0.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00358067 s). + 0.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.56sINFOros2_control_node[2026-06-02 21:57:42.314] [info] Received new action goal + 0.56sINFOros2_control_node[2026-06-02 21:57:42.314] [info] Accepted new action goal + 2.15sINFOros2_control_node[2026-06-02 21:57:43.899] [info] Got request to cancel active goal. + 2.15sINFOros2_control_node[2026-06-02 21:57:43.899] [info] Canceling active goal... + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780437463.92586350 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 1:10.008 of wall time (28/21626). Below 1% is expected on a non-realtime system.[0m + 2.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780437464.51906919 seconds. ×2 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.94sINFOobjective_server_nodePath shortcutter: [X______X] + 2.97sINFOros2_control_node[2026-06-02 21:57:44.718] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-02 21:57:44.718] [info] Accepted new action goal + 9.77sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 9.82sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 9.88sINFOobjective_server_nodeFound path in 1 iterations (0.0018549 s). + 9.96sINFOobjective_server_nodeFound path in 1 iterations (0.00276339 s). + 10.03sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 10.12sINFOros2_control_node[2026-06-02 21:57:51.874] [info] Received new action goal + 10.12sINFOros2_control_node[2026-06-02 21:57:51.874] [info] Accepted new action goal + 12.87sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 12.87sINFOobjective_server_nodePath shortcutter: [X_X] + 12.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 12.88sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 12.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 12.93sINFOobjective_server_nodeFound path in 1 iterations (0.00306691 s). + 13.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 13.04sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Received new action goal + 13.04sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Accepted new action goal + 13.15sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Got request to cancel active goal. + 13.15sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Canceling active goal... + 13.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780437474.90484691 seconds ×2 + 13.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780437475.50640368 seconds. ×2 + 13.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 13.93sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Received new action goal + 13.93sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Accepted new action goal + 16.28sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Received new action goal + 16.28sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 59 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Accepted new action goal + 10.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 11.11sINFOobjective_server_nodePath shortcutter: [X__________X] + 11.12sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 11.12sINFOobjective_server_nodePath shortcutter: [X________________X] + 11.12sINFOobjective_server_nodeFound path in 0 iterations (1.2e-07 s). + 11.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 11.15sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 11.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 11.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 11.22sINFOobjective_server_nodeFound path in 1 iterations (0.00173652 s). + 11.29sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 11.31sINFOobjective_server_nodeFound path in 1 iterations (0.00358067 s). + 11.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 11.39sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 11.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 11.50sINFOros2_control_node[2026-06-02 21:57:42.314] [info] Received new action goal + 11.51sINFOros2_control_node[2026-06-02 21:57:42.314] [info] Accepted new action goal + 13.09sINFOros2_control_node[2026-06-02 21:57:43.899] [info] Got request to cancel active goal. + 13.09sINFOros2_control_node[2026-06-02 21:57:43.899] [info] Canceling active goal... + 13.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780437463.92586350 seconds ×2 + 13.66sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 1:10.008 of wall time (28/21626). Below 1% is expected on a non-realtime system.[0m + 13.71sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780437464.51906919 seconds. ×2 + 13.88sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 13.91sINFOros2_control_node[2026-06-02 21:57:44.718] [info] Received new action goal + 13.91sINFOros2_control_node[2026-06-02 21:57:44.718] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 4 errors · 32 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780437669.90800786 seconds ×2 + 14.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780437670.49238038 seconds. ×2 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 14.60sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.61sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Received new action goal + 14.61sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 2 errors · 56 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780437648.13481641 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780437648.77690077 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Accepted new action goal + 6.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 6.36sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.36sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.37sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.42sINFOobjective_server_nodeFound path in 1 iterations (0.00199788 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 6.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.51sINFOros2_control_node[2026-06-02 22:00:53.592] [info] Received new action goal + 6.51sINFOros2_control_node[2026-06-02 22:00:53.592] [info] Accepted new action goal + 9.03sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Received new action goal + 9.03sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 10.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 10.80sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 10.80sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 11.83sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 11.83sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 11.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 12.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 12.64sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 12.64sINFOobjective_server_nodePath shortcutter: [X________X] + 12.64sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 12.64sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 14.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ 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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Accepted new action goal + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.80sINFOros2_control_node[2026-06-02 21:57:28.546] [info] Received new action goal + 8.80sINFOros2_control_node[2026-06-02 21:57:28.546] [info] Accepted new action goal + 11.14sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 13.15sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 13.15sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 13.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 13.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 14.96sINFOobjective_server_nodePath shortcutter: [X______X] + 14.97sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 14.97sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 63 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal + 5.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Accepted new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.227] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.91sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 11.91sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 11.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 12.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 13.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 13.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 13.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 13.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 13.96sINFOobjective_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 + 13.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 13.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 14.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 14.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 15.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.7s | 2 errors · 43 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780437680.33592653 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: 1780437680.89236188 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Accepted new action goal + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 11.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 11.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 11.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 11.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 11.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 12.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.55sINFOobjective_server_nodePath shortcutter: [X___X] + 12.56sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 12.56sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal | ||||
| ✓ 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: 1780437399.33257985 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 0.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 1.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 1.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 1.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 2.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 2.51sINFOobjective_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 + 2.59sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 2.59sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.62sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 2.62sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.11sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 5.11sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 8.86sINFOros2_control_node[2026-06-02 21:56:48.192] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-02 21:56:48.192] [info] Accepted new action goal + 12.16sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 12.16sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.18sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 12.18sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 12.56sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 12.56sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 12.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 13.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 13.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 13.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 14.96sINFOobjective_server_nodePath shortcutter: [X______X] + 14.97sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 14.97sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Accepted new action goal | ||||
| ✓ 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: 1780437669.90800786 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780437670.49238038 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.81sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Received new action goal + 0.81sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Accepted new action goal + 4.84sINFOros2_control_node[2026-06-02 22:01:14.745] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-02 22:01:14.745] [info] Accepted new action goal + 10.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780437680.33592653 seconds ×2 + 10.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780437680.89236188 seconds. ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 11.09sINFOobjective_server_nodePath shortcutter: [X________X] + 11.10sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Received new action goal + 11.10sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Accepted new action goal + 13.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.2s | 68 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 2.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal + 7.78sINFOobjective_server_node[0;93m2026-06-02 21:58:14.991995901 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 7.78sINFOobjective_server_node[0;93m2026-06-02 21:58:14.992027883 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.30sINFOobjective_server_node[0;93m2026-06-02 21:58:15.513861483 [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 + 8.30sINFOobjective_server_node[0;93m2026-06-02 21:58:15.513922696 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.43sINFOobjective_server_node[0;93m2026-06-02 21:58:15.641169767 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.43sINFOobjective_server_node[0;93m2026-06-02 21:58:15.643856041 [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 + 8.43sINFOobjective_server_node[0;93m2026-06-02 21:58:15.643877632 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.74sINFOobjective_server_node[0;93m2026-06-02 21:58:15.950575592 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.75sINFOobjective_server_node[0;93m2026-06-02 21:58:15.963536961 [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 + 8.75sINFOobjective_server_node[0;93m2026-06-02 21:58:15.963567863 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.08sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780437497.29637337 seconds ×2 + 10.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 11.25sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.25sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.72sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.72sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.81sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.82sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.82sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.09sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.10sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 12.10sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.99sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 13.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 13.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 13.76sINFOobjective_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 + 14.03sINFOobjective_server_nodePath shortcutter: [X____________X] + 14.05sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 14.05sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 5.7s | 6 errors · 1123 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×255 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×253 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×255 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×253 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×39 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×39 + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437595.340803) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437595.340803)[0m + 1.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437596.580803) + 1.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437592.620803) that ends in the past (1780437596.580803)[0m + 2.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437597.96209836 seconds ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437598.53628445 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.62sINFOros2_control_node[2026-06-02 21:59:58.692] [info] Received new action goal + 3.62sINFOros2_control_node[2026-06-02 21:59:58.692] [info] Accepted new action goal + 7.56sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.63sINFOobjective_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 + 7.64sINFOobjective_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 + 8.60sERRORobjective_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 + 8.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437603.66898656 seconds ×2 + 9.29sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780437604.36550760 seconds. ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 9.43sINFOobjective_server_nodePath shortcutter: [X_______X] + 9.44sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Received new action goal + 9.44sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Accepted new action goal | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.9s | 50 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-02 21:58:14.991995901 [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 21:58:14.992027883 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.53sINFOobjective_server_node[0;93m2026-06-02 21:58:15.513861483 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.53sINFOobjective_server_node[0;93m2026-06-02 21:58:15.513922696 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.65sINFOobjective_server_node[0;93m2026-06-02 21:58:15.641169767 [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 + 0.65sINFOobjective_server_node[0;93m2026-06-02 21:58:15.643856041 [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 + 0.65sINFOobjective_server_node[0;93m2026-06-02 21:58:15.643877632 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.96sINFOobjective_server_node[0;93m2026-06-02 21:58:15.950575592 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.97sINFOobjective_server_node[0;93m2026-06-02 21:58:15.963536961 [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 + 0.97sINFOobjective_server_node[0;93m2026-06-02 21:58:15.963567863 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780437497.29637337 seconds ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 3.48sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [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 + 3.48sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.94sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 3.94sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.04sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 4.04sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [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 + 4.04sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.31sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 4.32sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 4.32sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 5.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 5.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.90sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 5.99sINFOobjective_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 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.27sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 9.12sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 9.12sINFOros2_control_node[2026-06-02 21:58:24.111] [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: 1780437486.59019637 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780437487.14400291 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 181 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.04sINFOobjective_server_node[2026-06-02 21:56:34.120] [moveit_pro_license] [info] + 0.05sINFOobjective_server_node************************************************* ×2 + 0.05sINFOobjective_server_node* MoveIt Pro License + 0.05sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.30sINFOobjective_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. + 0.30sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.31sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.31sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.31sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.36sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.37sINFOcontroller_managerupdate rate is 600 Hz + 0.37sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.37sWARNcontroller_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. + 0.37sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.37sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.37sWARNros2_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 + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.42sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.42sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.55sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.56sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.59sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.59sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10711] + 0.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.73sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.73sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.73sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.73sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.79sINFOros2_control_node[2026-06-02 21:56:34.863] [info] First order lag filter time constant set to: 0.2 seconds + 0.79sINFOros2_control_node[2026-06-02 21:56:34.863] [info] Controller state will be published at 50 Hz. + 0.79sINFOros2_control_node[2026-06-02 21:56:34.868] [info] Registered `FollowJointTrajectory` action server. + 0.79sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.79sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.80sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.80sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.80sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.80sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.81sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.82sINFOobjective_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. + 0.82sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.84sINFOros2_control_node[2026-06-02 21:56:34.917] [info] Controller state will be published at 20 Hz. + 0.84sINFOros2_control_node[2026-06-02 21:56:34.918] [info] JointVelocityController 'on_configure' succeeded. + 0.84sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.88sINFOros2_control_node[2026-06-02 21:56:34.956] [info] Controller state will be published at 10 Hz. + 0.88sINFOros2_control_node[2026-06-02 21:56:34.957] [info] VelocityForceController 'on_configure' succeeded. + 0.88sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.88sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.05sWARNobjective_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/. + 1.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10715] + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10722] + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] + 1.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.37sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.37sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.40sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.40sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.40sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.40sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.40sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.49sINFOmove_group ×2 + 1.49sINFOmove_group[92mYou can start planning now![0m + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 + 4.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 5.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 6.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 7.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 7.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 7.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 7.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 7.84sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.87sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 7.87sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 76 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] + 0.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.34sINFOmove_group ×2 + 0.34sINFOmove_group[92mYou can start planning now![0m + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 4.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 6.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 6.62sINFOobjective_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 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780437708.20193315 seconds ×2 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ 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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [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: 1780437486.59019637 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780437487.14400291 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 34 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal + 5.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Accepted new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.227] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780437708.20193315 seconds ×2 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.5s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780437708.20193315 seconds ×2 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.2s | 24 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 2.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − 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: 1780437680.33592653 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: 1780437680.89236188 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-02 22:01:21.005] [info] Accepted new action goal + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − 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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 21:56:51.509] [info] Accepted new action goal + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Got request to cancel active goal. + 0.48sINFOros2_control_node[2026-06-02 21:56:51.891] [info] Canceling active goal... + 0.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437411.91045260 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437412.48192620 seconds. ×2 + 1.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437412.61204052 seconds ×2 + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437413.16750431 seconds. ×2 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [info] Received new action goal + 2.89sINFOros2_control_node[2026-06-02 21:56:54.300] [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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Received new action goal + 0.43sINFOros2_control_node[2026-06-02 21:57:20.170] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437441.55765820 seconds ×2 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437442.12763429 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437442.20775795 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437442.76484394 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-02 21:57:22.878] [info] Accepted new action goal + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-02 21:57:26.228] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Accepted new action goal | ||||
| − 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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-02 21:57:30.886] [info] Accepted new action goal + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Got request to cancel active goal. + 2.09sINFOros2_control_node[2026-06-02 21:57:32.895] [info] Canceling active goal... + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437452.90702224 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437453.51917529 seconds. ×2 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-02 21:57:34.712] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00306691 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-02 21:57:54.794] [info] Accepted new action goal + 0.28sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Got request to cancel active goal. + 0.28sINFOros2_control_node[2026-06-02 21:57:54.899] [info] Canceling active goal... + 0.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780437474.90484691 seconds ×2 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780437475.50640368 seconds. ×2 + 1.04sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.06sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Received new action goal + 1.06sINFOros2_control_node[2026-06-02 21:57:55.676] [info] Accepted new action goal + 3.41sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-02 21:57:58.027] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780437486.59019637 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780437487.14400291 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 24 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437487.21413517 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437487.75932384 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-02 21:58:07.882] [info] Accepted new action goal + 2.68sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437489.88947177 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437490.64258480 seconds. ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Received new action goal + 3.54sINFOros2_control_node[2026-06-02 21:58:10.755] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [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 Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437497.88425779 seconds. ×2 + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467523512 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-02 21:58:18.467553233 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933869744 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-02 21:58:18.933900455 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.14sINFOobjective_server_node[0;93m2026-06-02 21:58:19.028116877 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029842437 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-02 21:58:19.029857087 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.42sINFOobjective_server_node[0;93m2026-06-02 21:58:19.302352323 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315446130 [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 + 1.43sINFOobjective_server_node[0;93m2026-06-02 21:58:19.315478171 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437500.20676899 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437500.88818955 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.08sINFOobjective_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 + 3.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-02 21:58:21.264] [info] Accepted new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Received new action goal + 6.23sINFOros2_control_node[2026-06-02 21:58:24.111] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 17 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780437553.59501433 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 `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437554.15399170 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-02 21:59:14.319] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 21:59:14.319] [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 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 2 errors · 17 info |
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 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 + 1.04sERRORobjective_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 + 1.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437603.66898656 seconds ×2 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.74sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780437604.36550760 seconds. ×2 + 1.80sINFOobjective_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 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.87sINFOobjective_server_nodePath shortcutter: [X_______X] + 1.88sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Received new action goal + 1.88sINFOros2_control_node[2026-06-02 22:00:04.508] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 2 errors · 18 info |
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 1.03sERRORobjective_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 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780437617.00396681 seconds ×2 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780437617.61461473 seconds. ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOobjective_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 + 2.79sINFOobjective_server_nodeFound path in 7 iterations (0.00490035 s). + 2.85sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.87sINFOros2_control_node[2026-06-02 22:00:18.847] [info] Received new action goal + 2.87sINFOros2_control_node[2026-06-02 22:00:18.847] [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 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780437648.13481641 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780437648.77690077 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [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 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780437648.13481641 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780437648.77690077 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-02 22:00:48.970] [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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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 22:00:56.113] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 22:00:56.113] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-02 22:00:57.880] [info] Accepted new action goal + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Got request to cancel active goal. + 2.80sINFOros2_control_node[2026-06-02 22:00:58.909] [info] Canceling active goal... + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437658.92089152 seconds ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437659.55775833 seconds. ×2 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] + 3.61sINFOros2_control_node[2026-06-02 22:00:59.726] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-02 22:00:59.727] [info] Accepted new action goal + 5.54sINFOobjective_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: 1780437669.90800786 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780437670.49238038 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.81sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Received new action goal + 0.81sINFOros2_control_node[2026-06-02 22:01:10.719] [info] Accepted new action goal | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 34 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal + 5.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Accepted new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.227] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 34 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437691.00253201 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437691.55714011 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437691.63728285 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437692.19244242 seconds. ×2 + 1.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437692.22436309 seconds ×2 + 1.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437692.77076650 seconds. ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-02 22:01:32.899] [info] Accepted new action goal + 5.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.226] [info] Accepted new action goal + 5.23sINFOros2_control_node[2026-06-02 22:01:36.227] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 29 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 seconds. ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 29 info |
+ 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 22:01:42.911] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437702.91807199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437703.47154880 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437704.42167282 seconds ×2 + 1.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 5:10.040 of wall time (177/95564). Below 1% is expected on a non-realtime system.[0m + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437704.96336460 seconds. ×2 + 2.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.05sINFOobjective_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 + 2.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437704.96484590 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437705.51111317 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437705.51147795 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437706.05181313 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: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 5.7s | 387 errors · 28 warnings · 44884 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/2026-06-02-21-50-46-554676-43cf3f63af5b-9275 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.23sINFOros2_control_node-1process started with pid [9305] + 1.23sINFOmove_group-9process started with pid [9325] + 1.23sINFOparameter_manager_node-10process started with pid [9328] + 1.23sINFOwaypoint_manager_node-11process started with pid [9366] + 1.23sINFOmove_joint_resampler_node-12process started with pid [9368] + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [9370] + 1.23sINFOobjective_server_node_main-14process started with pid [9372] + 1.23sINFOcomponent_container_mt-15process started with pid [9374] + 1.23sINFOexecute_objective_bridge-16process started with pid [9376] + 1.23sINFOui_teleop_bridge-17process started with pid [9378] + 1.23sINFOrosapi_node-18process started with pid [9380] + 1.23sINFOrosbridge_websocket-19process started with pid [9382] + 1.24sINFOtf2_web_republisher_node-20process started with pid [9400] + 1.24sINFOweb_video_server-21process started with pid [9406] + 1.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9307] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9309] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9311] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9313] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9316] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9319] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9322] + 1.29sWARNros2_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 + 1.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.29sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.77sINFOros2_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 + 1.77sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 1.77sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOrosbridge_websocketregistered capabilities (classes): ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> ×2 + 2.06sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> ×2 + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sWARNrosbridge_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 + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.20sINFOobjective_server_node[2026-06-02 21:50:50.271] [moveit_pro_license] [info] + 3.20sINFOobjective_server_node************************************************* ×6 + 3.20sINFOobjective_server_node* MoveIt Pro License ×3 + 3.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.37sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.37sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.38sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.38sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.38sWARNros2_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 + 3.42sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 3.45sINFOobjective_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 + 3.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.48sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 3.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.56sINFOmove_group ×4 + 3.56sINFOmove_group[92mYou can start planning now![0m ×2 + 3.61sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 3.61sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 3.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 3.71sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 3.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 3.79sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 3.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 3.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 3.85sINFOros2_control_node[2026-06-02 21:50:50.913] [info] Controller state will be published at 10 Hz. + 3.85sINFOros2_control_node[2026-06-02 21:50:50.914] [info] VelocityForceController 'on_configure' succeeded. + 3.85sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.85sINFOros2_control_node[2026-06-02 21:50:50.915] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.85sINFOros2_control_node[2026-06-02 21:50:50.915] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.88sINFOros2_control_node[2026-06-02 21:50:50.943] [info] First order lag filter time constant set to: 0.2 seconds + 3.88sINFOros2_control_node[2026-06-02 21:50:50.943] [info] Controller state will be published at 50 Hz. + 3.88sINFOros2_control_node[2026-06-02 21:50:50.948] [info] Registered `FollowJointTrajectory` action server. + 3.88sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 3.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.88sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 3.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.89sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 3.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.89sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 3.92sINFOros2_control_node[2026-06-02 21:50:50.988] [info] Controller state will be published at 20 Hz. + 3.92sINFOros2_control_node[2026-06-02 21:50:50.989] [info] JointVelocityController 'on_configure' succeeded. + 3.92sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 3.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.92sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.92sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.92sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 3.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 3.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 3.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9316] + 4.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9319] + 4.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9309] + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9322] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9313] + 4.23sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9307] + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9311] + 4.61sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 4.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 4.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 5.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437052.27643657 seconds. + 5.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437052.28660464 seconds + 5.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437052.82942677 seconds. + 5.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 6.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437053.93955898 seconds + 7.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437054.51026130 seconds. + 8.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437055.54050279 seconds + 9.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437056.09384322 seconds. + 9.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437056.11396956 seconds + 9.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437056.65482426 seconds. + 9.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437056.80531168 seconds + 10.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437057.43044567 seconds. + 10.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 10.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 10.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 10.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437057.52057147 seconds + 11.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437058.09580564 seconds. + 11.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (1.6291e-05 s). + 11.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 11.15sINFOros2_control_node[2026-06-02 21:50:58.220] [info] Received new action goal + 11.15sINFOros2_control_node[2026-06-02 21:50:58.220] [info] Accepted new action goal + 13.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3150). Below 1% is expected on a non-realtime system.[0m + 13.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×40 + 13.67sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 13.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.69sINFOros2_control_node[2026-06-02 21:51:00.759] [info] Received new action goal + 13.69sINFOros2_control_node[2026-06-02 21:51:00.759] [info] Accepted new action goal + 17.41sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 17.43sINFOros2_control_node[2026-06-02 21:51:04.493] [info] Received new action goal + 17.43sINFOros2_control_node[2026-06-02 21:51:04.493] [info] Accepted new action goal + 20.71sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×3 + 20.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 20.73sINFOros2_control_node[2026-06-02 21:51:07.799] [info] Received new action goal + 20.73sINFOros2_control_node[2026-06-02 21:51:07.799] [info] Accepted new action goal + 21.48sINFOros2_control_node[2026-06-02 21:51:08.546] [info] Got request to cancel active goal. + 21.48sINFOros2_control_node[2026-06-02 21:51:08.546] [info] Canceling active goal... + 21.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780437068.57019019 seconds + 22.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780437069.13305974 seconds. + 22.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780437069.25317979 seconds + 22.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780437069.88639855 seconds. + 23.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 23.98sINFOobjective_server_nodePath shortcutter: [X______X] ×7 + 23.99sINFOros2_control_node[2026-06-02 21:51:11.061] [info] Received new action goal + 23.99sINFOros2_control_node[2026-06-02 21:51:11.061] [info] Accepted new action goal + 42.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 42.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 42.33sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 42.33sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 42.34sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 42.36sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 42.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 42.40sINFOobjective_server_nodeFound path in 1 iterations (0.00201845 s). + 42.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 42.51sINFOros2_control_node[2026-06-02 21:51:29.576] [info] Received new action goal + 42.51sINFOros2_control_node[2026-06-02 21:51:29.576] [info] Accepted new action goal + 45.04sINFOros2_control_node[2026-06-02 21:51:32.102] [info] Received new action goal + 45.04sINFOros2_control_node[2026-06-02 21:51:32.102] [info] Accepted new action goal + 46.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×9 + 46.79sINFOros2_control_node[2026-06-02 21:51:33.859] [info] Received new action goal + 46.79sINFOros2_control_node[2026-06-02 21:51:33.859] [info] Accepted new action goal + 48.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780437095.24918151 seconds + 48.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780437095.81657600 seconds. + 48.84sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780437095.90669465 seconds + 49.48sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780437096.55026007 seconds. + 49.58sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 49.58sINFOobjective_server_nodePath shortcutter: [X_____________X] + 49.59sINFOros2_control_node[2026-06-02 21:51:36.653] [info] Received new action goal + 49.59sINFOros2_control_node[2026-06-02 21:51:36.653] [info] Accepted new action goal + 52.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 52.93sINFOros2_control_node[2026-06-02 21:51:39.994] [info] Received new action goal + 52.93sINFOros2_control_node[2026-06-02 21:51:39.994] [info] Accepted new action goal + 55.25sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 55.26sINFOros2_control_node[2026-06-02 21:51:42.331] [info] Received new action goal + 55.26sINFOros2_control_node[2026-06-02 21:51:42.331] [info] Accepted new action goal + 57.59sINFOros2_control_node[2026-06-02 21:51:44.661] [info] Received new action goal + 57.59sINFOros2_control_node[2026-06-02 21:51:44.661] [info] Accepted new action goal + 59.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 59.91sINFOros2_control_node[2026-06-02 21:51:46.981] [info] Received new action goal + 59.91sINFOros2_control_node[2026-06-02 21:51:46.981] [info] Accepted new action goal + 59.96sINFOros2_control_node[2026-06-02 21:51:47.030] [info] Got request to cancel active goal. + 59.96sINFOros2_control_node[2026-06-02 21:51:47.030] [info] Canceling active goal... + 59.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780437107.04252863 seconds + 60.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780437107.66011548 seconds. + 61.72sINFOros2_control_node[2026-06-02 21:51:48.783] [info] Received new action goal + 61.72sINFOros2_control_node[2026-06-02 21:51:48.783] [info] Accepted new action goal + 66.11sINFOobjective_server_nodePath shortcutter: [X__________X] ×3 + 66.11sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). + 66.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 66.12sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 66.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 66.18sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 66.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 66.22sINFOobjective_server_nodeFound path in 1 iterations (0.00170954 s). + 66.28sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 66.31sINFOobjective_server_nodeFound path in 1 iterations (0.00395091 s). + 66.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 66.40sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 66.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 66.50sINFOros2_control_node[2026-06-02 21:51:53.565] [info] Received new action goal + 66.50sINFOros2_control_node[2026-06-02 21:51:53.565] [info] Accepted new action goal + 68.97sINFOparameter_manager_nodeRetrieving joint state from parameter manager. + 69.25sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 69.26sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server + 69.26sINFOparameter_manager_nodeClearing stored parameters in parameter manager. + 69.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780437116.34213853 seconds + 71.54sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780437118.61035967 seconds. + 71.72sINFOros2_control_node[2026-06-02 21:51:58.790] [info] Received new action goal + 71.72sINFOros2_control_node[2026-06-02 21:51:58.790] [info] Accepted new action goal + 73.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 1:10.003 of wall time (29/21691). Below 1% is expected on a non-realtime system.[0m + 76.70sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 76.71sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 76.75sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×5 + 76.80sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 76.86sINFOobjective_server_nodeFound path in 1 iterations (0.00285109 s). + 76.97sINFOobjective_server_nodeFound path in 1 iterations (0.00269793 s). + 77.14sINFOros2_control_node[2026-06-02 21:52:04.211] [info] Received new action goal + 77.14sINFOros2_control_node[2026-06-02 21:52:04.211] [info] Accepted new action goal + 79.87sINFOobjective_server_nodePath shortcutter: [X_X] + 79.88sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 79.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 79.93sINFOobjective_server_nodeFound path in 1 iterations (0.00320875 s). + 80.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 80.03sINFOros2_control_node[2026-06-02 21:52:07.095] [info] Received new action goal + 80.03sINFOros2_control_node[2026-06-02 21:52:07.095] [info] Accepted new action goal + 80.47sINFOros2_control_node[2026-06-02 21:52:07.536] [info] Received new action goal + 80.47sINFOros2_control_node[2026-06-02 21:52:07.536] [info] Accepted new action goal + 81.97sINFOros2_control_nodeGot request to cancel goal[0m + 81.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 82.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780437129.07371521 seconds + 82.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780437129.68467474 seconds. + 82.77sINFOros2_control_node[2026-06-02 21:52:09.839] [info] Received new action goal + 82.77sINFOros2_control_node[2026-06-02 21:52:09.839] [info] Accepted new action goal + 85.11sINFOros2_control_node[2026-06-02 21:52:12.178] [info] Received new action goal + 85.11sINFOros2_control_node[2026-06-02 21:52:12.178] [info] Accepted new action goal + 93.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780437140.73246932 seconds + 94.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780437141.36694932 seconds. + 94.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 94.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 94.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780437141.43708897 seconds + 94.91sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780437141.98111033 seconds. + 95.02sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 95.03sINFOros2_control_node[2026-06-02 21:52:22.094] [info] Received new action goal + 95.03sINFOros2_control_node[2026-06-02 21:52:22.094] [info] Accepted new action goal + 97.03sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780437144.10123730 seconds + 97.59sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780437144.65308642 seconds. + 97.69sINFOros2_control_node[2026-06-02 21:52:24.756] [info] Received new action goal + 97.69sINFOros2_control_node[2026-06-02 21:52:24.756] [info] Accepted new action goal +102.33sINFOobjective_server_node[0;93m2026-06-02 21:52:29.402025834 [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 +102.33sINFOobjective_server_node[0;93m2026-06-02 21:52:29.402051495 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +102.87sINFOobjective_server_node[0;93m2026-06-02 21:52:29.938671236 [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 +102.87sINFOobjective_server_node[0;93m2026-06-02 21:52:29.938710898 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +102.98sINFOobjective_server_node[0;93m2026-06-02 21:52:30.050116248 [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 +102.98sINFOobjective_server_node[0;93m2026-06-02 21:52:30.051853527 [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 +102.98sINFOobjective_server_node[0;93m2026-06-02 21:52:30.051868958 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +103.27sINFOobjective_server_node[0;93m2026-06-02 21:52:30.341424246 [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 +103.29sINFOobjective_server_node[0;93m2026-06-02 21:52:30.352885562 [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 +103.29sINFOobjective_server_node[0;93m2026-06-02 21:52:30.352914683 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +104.61sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780437151.67401457 seconds +105.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780437152.27945518 seconds. +105.78sINFOobjective_server_node[0;93m2026-06-02 21:52:32.848489059 [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 +105.78sINFOobjective_server_node[0;93m2026-06-02 21:52:32.848522490 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +106.28sINFOobjective_server_node[0;93m2026-06-02 21:52:33.349290305 [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 +106.28sINFOobjective_server_node[0;93m2026-06-02 21:52:33.349319196 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +106.38sINFOobjective_server_node[0;93m2026-06-02 21:52:33.449095040 [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 +106.38sINFOobjective_server_node[0;93m2026-06-02 21:52:33.451980863 [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 +106.39sINFOobjective_server_node[0;93m2026-06-02 21:52:33.452006654 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +106.66sINFOobjective_server_node[0;93m2026-06-02 21:52:33.727944086 [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 +106.68sINFOobjective_server_node[0;93m2026-06-02 21:52:33.743006308 [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 +106.68sINFOobjective_server_node[0;93m2026-06-02 21:52:33.743053580 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +107.55sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780437154.61236906 seconds +108.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780437155.31117582 seconds. +108.98sINFOobjective_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 +108.98sINFOobjective_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 +109.24sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). +109.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 +109.31sINFOros2_control_node[2026-06-02 21:52:36.376] [info] Received new action goal +109.31sINFOros2_control_node[2026-06-02 21:52:36.376] [info] Accepted new action goal +112.16sINFOros2_control_node[2026-06-02 21:52:39.224] [info] Received new action goal +112.16sINFOros2_control_node[2026-06-02 21:52:39.224] [info] Accepted new action goal +115.33sINFOros2_control_node[2026-06-02 21:52:42.394] [info] Received new action goal +115.33sINFOros2_control_node[2026-06-02 21:52:42.394] [info] Accepted new action goal +118.28sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +118.32sINFOros2_control_node[2026-06-02 21:52:45.390] [info] Received new action goal +118.32sINFOros2_control_node[2026-06-02 21:52:45.390] [info] Accepted new action goal +121.29sINFOobjective_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 ×5 +128.78sINFOobjective_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 +129.72sINFOros2_control_node[2026-06-02 21:52:56.784] [info] Received new action goal +129.72sINFOros2_control_node[2026-06-02 21:52:56.784] [info] Accepted new action goal +130.90sINFOobjective_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 +130.91sINFOobjective_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 +131.06sINFOros2_control_node[2026-06-02 21:52:58.124] [info] Received new action goal +131.06sINFOros2_control_node[2026-06-02 21:52:58.124] [info] Accepted new action goal +133.33sINFOros2_control_node[2026-06-02 21:53:00.396] [info] Received new action goal +133.33sINFOros2_control_node[2026-06-02 21:53:00.397] [info] Accepted new action goal +133.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.17% of iterations over budget over 2:10.008 of wall time (70/40173). Below 1% is expected on a non-realtime system.[0m +136.36sINFOros2_control_node[2026-06-02 21:53:03.425] [info] Received new action goal +136.36sINFOros2_control_node[2026-06-02 21:53:03.425] [info] Accepted new action goal +138.96sINFOros2_control_node[2026-06-02 21:53:06.028] [info] Received new action goal +138.97sINFOros2_control_node[2026-06-02 21:53:06.028] [info] Accepted new action goal +149.69sINFOros2_control_node[2026-06-02 21:53:16.754] [info] Received new action goal +149.69sINFOros2_control_node[2026-06-02 21:53:16.755] [info] Accepted new action goal +150.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780437197.91210222 seconds +151.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780437198.59511590 seconds. +152.80sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 +152.80sINFOobjective_server_nodePath shortcutter: [X__________________________X] +152.81sINFOros2_control_node[2026-06-02 21:53:19.880] [info] Received new action goal +152.81sINFOros2_control_node[2026-06-02 21:53:19.880] [info] Accepted new action goal +158.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 +158.90sINFOobjective_server_nodePath shortcutter: [X________________________X] +158.91sINFOros2_control_node[2026-06-02 21:53:25.979] [info] Received new action goal +158.91sINFOros2_control_node[2026-06-02 21:53:25.979] [info] Accepted new action goal +162.52sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780437209.58535266 seconds +163.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437210.14293361 seconds. +163.21sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +163.22sINFOros2_control_node[2026-06-02 21:53:30.285] [info] Received new action goal +163.22sINFOros2_control_node[2026-06-02 21:53:30.285] [info] Accepted new action goal +164.50sINFOobjective_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 +164.50sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +166.80sINFOros2_control_nodeReceived new action goal[0m ×5026 +166.80sINFOros2_control_nodeAccepted new action goal[0m ×4675 +171.56sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +171.66sINFOros2_control_nodeGoal reached, success![0m ×139 +192.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437234.376828) that ends in the past (1780437239.906829)[0m +193.29sERRORobjective_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. +193.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 3:10.009 of wall time (131/58652). Below 1% is expected on a non-realtime system.[0m +197.30sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 2.4600. ×11251 +197.30sINFOobjective_server_node ×11333 +197.30sINFOobjective_server_node[0;mRollout divergence at step +197.31sINFOobjective_server_nodeRollout divergence at step ×11332 +197.31sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 2.4500. ×57 +197.35sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 2.4600. ×19 +197.35sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 2.4700. ×6 +197.40sERRORros2_control_nodeTime between points 1 and 2 is not strictly increasing, it is 2.360000 and 2.360000 respectively[0m +197.40sERRORros2_control_nodeTime between points 0 and 1 is not strictly increasing, it is 2.360000 and 2.360000 respectively[0m ×2 +197.40sERRORros2_control_nodeTime between points 9 and 10 is not strictly increasing, it is 2.460000 and 2.460000 respectively[0m +197.40sERRORros2_control_nodeTime between points 8 and 9 is not strictly increasing, it is 2.460000 and 2.460000 respectively[0m +197.40sERRORros2_control_nodeTime between points 7 and 8 is not strictly increasing, it is 2.460000 and 2.460000 respectively[0m +197.40sERRORros2_control_nodeTime between points 6 and 7 is not strictly increasing, it is 2.460000 and 2.460000 respectively[0m +197.40sERRORros2_control_nodeTime between points 3 and 4 is not strictly increasing, it is 2.460000 and 2.440000 respectively[0m +197.40sERRORros2_control_nodeTime between points 0 and 1 is not strictly increasing, it is 2.440000 and 2.440000 respectively[0m ×2 +197.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437242.016736) that ends in the past (1780437244.476736)[0m ×336 +201.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780437247.42957211 seconds +201.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780437248.00819516 seconds. +201.14sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: 'Found a self-collision involving the bodies 'base_link <-> forearm_link'. Colliding links define a padding value of 0.01 m.' +201.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` did not succeed at time: 1780437248.15836310 seconds +201.74sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780437248.81093478 seconds. +201.88sINFOros2_control_node[2026-06-02 21:54:08.944] [info] Received new action goal +201.88sINFOros2_control_node[2026-06-02 21:54:08.944] [info] Accepted new action goal +212.01sINFOros2_control_node[2026-06-02 21:54:19.077] [info] Received new action goal +212.01sINFOros2_control_node[2026-06-02 21:54:19.077] [info] Accepted new action goal +213.91sINFOros2_control_node[2026-06-02 21:54:20.981] [info] Received new action goal +213.91sINFOros2_control_node[2026-06-02 21:54:20.981] [info] Accepted new action goal +228.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437268.213289) that ends in the past (1780437275.353289)[0m +228.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437268.213289) that ends in the past (1780437275.363289)[0m +230.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437268.213289) that ends in the past (1780437277.133289)[0m +239.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780437286.06780791 seconds +239.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780437268.213289) that ends in the past (1780437286.153289)[0m +239.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780437286.69597077 seconds. +240.73sINFOobjective_server_nodeFound path in 6 iterations (0.004366 s). +240.78sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +240.79sINFOros2_control_node[2026-06-02 21:54:47.860] [info] Received new action goal +240.79sINFOros2_control_node[2026-06-02 21:54:47.860] [info] Accepted new action goal +250.12sINFOobjective_server_node[0;93m2026-06-02 21:54:57.192252785 [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 +250.13sINFOobjective_server_node[0;93m2026-06-02 21:54:57.192285117 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +250.60sINFOobjective_server_node[0;93m2026-06-02 21:54:57.666278140 [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 +250.60sINFOobjective_server_node[0;93m2026-06-02 21:54:57.666313652 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +250.69sINFOobjective_server_node[0;93m2026-06-02 21:54:57.761168771 [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 +250.70sINFOobjective_server_node[0;93m2026-06-02 21:54:57.762897341 [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 +250.70sINFOobjective_server_node[0;93m2026-06-02 21:54:57.762912742 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +250.98sINFOobjective_server_node[0;93m2026-06-02 21:54:58.045354841 [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 +250.99sINFOobjective_server_node[0;93m2026-06-02 21:54:58.059621777 [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 +250.99sINFOobjective_server_node[0;93m2026-06-02 21:54:58.059656548 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +253.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.24% of iterations over budget over 4:10.010 of wall time (186/77086). Below 1% is expected on a non-realtime system.[0m +255.90sINFOobjective_server_nodeFound path in 4 iterations (0.00225316 s). +255.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +255.98sINFOobjective_server_nodeFound path in 12 iterations (0.00382068 s). +256.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +256.06sINFOobjective_server_nodeFound path in 1 iterations (0.0025242 s). +256.10sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] +256.13sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). +256.15sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +256.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +256.20sINFOobjective_server_nodeFound path in 8 iterations (0.0021245 s). +256.23sINFOobjective_server_nodePath shortcutter: [X___________________________________X____X_____________________X] +256.25sINFOobjective_server_nodeFound path in 1 iterations (0.00294159 s). +256.28sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] +256.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +256.34sINFOobjective_server_nodeFound path in 4 iterations (0.00504514 s). +256.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +256.43sINFOobjective_server_nodeFound path in 4 iterations (0.00209222 s). +256.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] +256.52sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). +256.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] +256.60sINFOobjective_server_nodeFound path in 1 iterations (0.00356131 s). +256.64sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] +256.66sINFOobjective_server_nodeFound path in 1 iterations (0.00214027 s). +256.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] +256.74sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). +256.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +256.78sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 +256.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] +256.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +256.98sINFOros2_control_node[2026-06-02 21:55:04.042] [info] Received new action goal +256.98sINFOros2_control_node[2026-06-02 21:55:04.042] [info] Accepted new action goal +261.98sINFOros2_control_node[2026-06-02 21:55:09.045] [info] Received new action goal +261.98sINFOros2_control_node[2026-06-02 21:55:09.045] [info] Accepted new action goal +263.53sINFOros2_control_node[2026-06-02 21:55:10.599] [info] Received new action goal +263.53sINFOros2_control_node[2026-06-02 21:55:10.599] [info] Accepted new action goal +264.73sINFOobjective_server_nodePlanning for 4 path waypoints. +264.76sINFOros2_control_node[2026-06-02 21:55:11.830] [info] Received new action goal +264.76sINFOros2_control_node[2026-06-02 21:55:11.830] [info] Accepted new action goal +270.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780437317.23614240 seconds +270.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780437317.87003803 seconds. +271.05sINFOros2_control_node[2026-06-02 21:55:18.113] [info] Received new action goal +271.05sINFOros2_control_node[2026-06-02 21:55:18.113] [info] Accepted new action goal +275.72sINFOobjective_server_nodeFound path in 1 iterations (0.00200921 s). +275.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +275.82sINFOros2_control_node[2026-06-02 21:55:22.885] [info] Received new action goal +275.82sINFOros2_control_node[2026-06-02 21:55:22.885] [info] Accepted new action goal +278.35sINFOros2_control_node[2026-06-02 21:55:25.417] [info] Received new action goal +278.35sINFOros2_control_node[2026-06-02 21:55:25.417] [info] Accepted new action goal +280.12sINFOros2_control_node[2026-06-02 21:55:27.183] [info] Received new action goal +280.12sINFOros2_control_node[2026-06-02 21:55:27.183] [info] Accepted new action goal +280.99sINFOros2_control_node[2026-06-02 21:55:28.060] [info] Got request to cancel active goal. +280.99sINFOros2_control_node[2026-06-02 21:55:28.060] [info] Canceling active goal... +281.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780437328.07452202 seconds +281.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780437328.65738821 seconds. +281.77sINFOros2_control_node[2026-06-02 21:55:28.832] [info] Received new action goal +281.77sINFOros2_control_node[2026-06-02 21:55:28.832] [info] Accepted new action goal +283.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +291.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780437339.04762888 seconds +292.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780437339.60761237 seconds. +292.77sINFOros2_control_node[2026-06-02 21:55:39.841] [info] Received new action goal +292.77sINFOros2_control_node[2026-06-02 21:55:39.841] [info] Accepted new action goal +296.79sINFOros2_control_node[2026-06-02 21:55:43.853] [info] Received new action goal +296.79sINFOros2_control_node[2026-06-02 21:55:43.853] [info] Accepted new action goal +302.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780437349.43944120 seconds +302.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780437349.98889256 seconds. +303.03sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +303.04sINFOros2_control_node[2026-06-02 21:55:50.112] [info] Received new action goal +303.05sINFOros2_control_node[2026-06-02 21:55:50.112] [info] Accepted new action goal +312.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780437360.04906273 seconds +313.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.012 of wall time (212/95593). Below 1% is expected on a non-realtime system.[0m +313.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780437360.68163919 seconds. +313.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780437360.76180482 seconds +314.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780437361.31056023 seconds. +314.28sINFOobjective_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 '' +314.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780437361.34295058 seconds +314.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780437361.89675331 seconds. +314.92sINFOros2_control_node[2026-06-02 21:56:01.990] [info] Received new action goal +314.92sINFOros2_control_node[2026-06-02 21:56:01.990] [info] Accepted new action goal +318.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +318.22sINFOros2_control_node[2026-06-02 21:56:05.289] [info] Received new action goal +318.22sINFOros2_control_node[2026-06-02 21:56:05.289] [info] Accepted new action goal +318.22sINFOros2_control_node[2026-06-02 21:56:05.289] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +324.98sINFOros2_control_node[2026-06-02 21:56:12.051] [info] Got request to cancel active goal. +324.99sINFOros2_control_node[2026-06-02 21:56:12.051] [info] Canceling active goal... +324.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780437372.06067753 seconds +325.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780437372.68560982 seconds. +327.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780437374.88794470 seconds +328.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780437375.44904661 seconds. +328.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +328.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +328.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +328.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780437375.45086098 seconds +328.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780437376.01611710 seconds. +328.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780437376.01664495 seconds +329.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780437376.56206799 seconds. +331.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780437378.76219821 seconds +331.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +337.24sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.24sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +337.25sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] +337.26sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +337.26sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] +337.27sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] +337.28sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +337.29sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +337.29sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +337.30sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +337.31sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +337.32sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +337.33sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +337.34sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +337.35sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +337.36sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +337.36sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +337.36sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +337.36sINFOrosbridge_websocketExiting due to SIGINT +337.36sERRORrosapi_nodeTraceback (most recent call last): +337.36sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> +337.36sINFOrosapi_nodemain() +337.36sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main +337.36sINFOrosapi_noderclpy.spin(node) +337.36sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +337.36sINFOrosapi_nodeexecutor.spin_once() +337.36sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +337.36sINFOrosapi_nodeself._spin_once_impl(timeout_sec) +337.36sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +337.36sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +337.36sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +337.36sINFOrosapi_nodereturn next(self._cb_iter) +337.36sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 653, in _wait_for_ready_callbacks +337.36sINFOrosapi_nodewait_set = _rclpy.WaitSet( +337.36sINFOrosapi_noderclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 +337.36sERRORui_teleop_bridgeTraceback (most recent call last): +337.36sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +337.36sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +337.36sINFOui_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 +337.36sINFOui_teleop_bridgerclpy.shutdown() +337.36sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +337.36sINFOui_teleop_bridge_shutdown(context=context) +337.36sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +337.36sINFOui_teleop_bridgereturn context.shutdown() +337.36sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +337.36sINFOui_teleop_bridgeself.__context.shutdown() +337.36sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +337.36sWARNparameter_manager_nodeROS node was shutdown. +337.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +337.36sINFOros2_control_nodeShutdown request received....[0m +337.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +337.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +337.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +337.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +337.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +337.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +337.37sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +337.37sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +337.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +337.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +337.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +337.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +337.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +337.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +337.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +337.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +337.37sINFOros2_control_nodeShutting down the controller manager.[0m +337.42sINFOobjective_server_node[0;m[2026-06-02 21:56:24.492] [moveit_pro_license] [info] +337.43sINFOobjective_server_node* Application has successfully terminated +337.48sINFOweb_video_server-21process has finished cleanly [pid 9406] +337.49sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9400] +337.49sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +337.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +337.51sERRORobjective_server_nodeStack trace (most recent call last): +337.52sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +337.52sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5606dc8d84e4, in _start +337.52sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fec938fbe3f, in __libc_start_main +337.52sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fec938fbd96, in +337.52sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fec9391760f, in exit +337.52sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fec93917494, in +337.52sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fec93da0251, in spdlog::details::registry::~registry() +337.52sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fec93daae66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() +337.52sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5606dc8ddcba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +337.52sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5606dc8dabf3, in spdlog_ros::RosSink::~RosSink() +337.52sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5606dc8dfe01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +337.52sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec94284b2e, in rclcpp::Node::~Node() +337.52sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec9425fd39, in +337.52sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec9428e0b9, in +337.52sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec9428e000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +337.52sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec9425fd39, in +337.52sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fec94264b31, in rclcpp::CallbackGroup::~CallbackGroup() +337.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fec4ee513f0]) +337.53sERRORui_teleop_bridge-17process has died [pid 9378, 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_r8hm1bip']. +337.53sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9370] +337.53sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9368] +337.55sINFOexecute_objective_bridge-16process has finished cleanly [pid 9376] +337.55sINFOrosbridge_websocket-19process has finished cleanly [pid 9382] +337.55sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system +337.56sINFOcomponent_container_mt-15process has finished cleanly [pid 9374] +338.14sERRORobjective_server_node_main-14process has died [pid 9372, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_01_xn9dr --params-file /tmp/launch_params_i27baaxj --params-file /tmp/launch_params_yz2j1uk6 --params-file /tmp/launch_params_8tmn56j2 --params-file /tmp/launch_params_ykpb7a_q --params-file /tmp/launch_params_fi2qcxlx']. +338.14sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +338.39sINFOwaypoint_manager_node-11process has finished cleanly [pid 9366] +338.42sINFOparameter_manager_node-10process has finished cleanly [pid 9328] +338.43sERRORrosapi_node-18process has died [pid 9380, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params__jjrhq94']. +338.69sINFOmove_group-9process has finished cleanly [pid 9325] +339.46sINFOros2_control_node-1process has finished cleanly [pid 9305] +343.89sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-02-21-56-30-439609-43cf3f63af5b-10675 +345.06sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +345.18sINFOros2_control_node-1process started with pid [10705] +345.18sINFOmove_group-9process started with pid [10725] +345.18sINFOparameter_manager_node-10process started with pid [10728] +345.18sINFOwaypoint_manager_node-11process started with pid [10775] +345.18sINFOmove_joint_resampler_node-12process started with pid [10777] +345.18sINFOmove_end_effector_resampler_node-13process started with pid [10779] +345.18sINFOobjective_server_node_main-14process started with pid [10781] +345.18sINFOcomponent_container_mt-15process started with pid [10783] +345.18sINFOexecute_objective_bridge-16process started with pid [10785] +345.18sINFOui_teleop_bridge-17process started with pid [10787] +345.18sINFOrosapi_node-18process started with pid [10789] +345.18sINFOrosbridge_websocket-19process started with pid [10791] +345.18sINFOtf2_web_republisher_node-20process started with pid [10793] +345.18sINFOweb_video_server-21process started with pid [10795] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10707] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10709] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10711] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10713] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10715] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10719] +345.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10722] +345.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +345.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +345.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +345.40sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +346.05sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +346.06sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +346.10sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +346.15sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +346.16sWARNrosbridge_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. +346.20sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +346.21sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +346.26sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +347.05sINFOobjective_server_node[2026-06-02 21:56:34.120] [moveit_pro_license] [info] +347.38sINFOcontroller_managerupdate rate is 600 Hz +347.38sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.38sWARNcontroller_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. +347.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +347.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +347.43sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +347.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +347.43sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +347.43sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +347.43sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +347.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +347.46sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +347.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +347.57sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +347.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +347.58sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +347.60sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +347.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' +347.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +347.66sINFOcontroller_managerLoading controller 'velocity_force_controller' +347.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +347.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10711] +347.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +347.73sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +347.74sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +347.74sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +347.74sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +347.74sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +347.80sINFOros2_control_node[2026-06-02 21:56:34.863] [info] First order lag filter time constant set to: 0.2 seconds +347.80sINFOros2_control_node[2026-06-02 21:56:34.863] [info] Controller state will be published at 50 Hz. +347.80sINFOros2_control_node[2026-06-02 21:56:34.868] [info] Registered `FollowJointTrajectory` action server. +347.80sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +347.80sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +347.80sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +347.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +347.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +347.80sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +347.81sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +347.81sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +347.85sINFOros2_control_node[2026-06-02 21:56:34.917] [info] Controller state will be published at 20 Hz. +347.85sINFOros2_control_node[2026-06-02 21:56:34.918] [info] JointVelocityController 'on_configure' succeeded. +347.85sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +347.89sINFOros2_control_node[2026-06-02 21:56:34.956] [info] Controller state will be published at 10 Hz. +347.89sINFOros2_control_node[2026-06-02 21:56:34.957] [info] VelocityForceController 'on_configure' succeeded. +347.89sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +347.90sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +347.90sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +347.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +348.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10715] +348.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10722] +348.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] +348.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] +348.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] +348.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] +349.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 +349.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 +349.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 +349.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +350.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 +351.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 +352.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 +352.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 +352.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 +353.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 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: 1780437398.32239699 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 3.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 4.07sINFOobjective_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 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.67sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.68sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 49 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 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: 1780437398.32239699 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 3.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 4.07sINFOobjective_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 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 15 warnings · 144 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/2026-06-02-21-56-30-439609-43cf3f63af5b-10675 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.16sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.29sINFOros2_control_node-1process started with pid [10705] + 1.29sINFOmove_group-9process started with pid [10725] + 1.29sINFOparameter_manager_node-10process started with pid [10728] + 1.29sINFOwaypoint_manager_node-11process started with pid [10775] + 1.29sINFOmove_joint_resampler_node-12process started with pid [10777] + 1.29sINFOmove_end_effector_resampler_node-13process started with pid [10779] + 1.29sINFOobjective_server_node_main-14process started with pid [10781] + 1.29sINFOcomponent_container_mt-15process started with pid [10783] + 1.29sINFOexecute_objective_bridge-16process started with pid [10785] + 1.29sINFOui_teleop_bridge-17process started with pid [10787] + 1.29sINFOrosapi_node-18process started with pid [10789] + 1.29sINFOrosbridge_websocket-19process started with pid [10791] + 1.29sINFOtf2_web_republisher_node-20process started with pid [10793] + 1.29sINFOweb_video_server-21process started with pid [10795] + 1.29sINFOparameter_manager_nodeStarted parameter manager node. + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10707] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10709] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10711] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10713] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10715] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10719] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10722] + 1.31sWARNros2_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 + 1.31sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.98sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.98sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.07sINFOrosbridge_websocketregistered capabilities (classes): + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.07sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.16sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.17sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.26sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sWARNrosbridge_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. + 2.27sWARNrosbridge_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 + 2.31sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.16sINFOobjective_server_node[2026-06-02 21:56:34.120] [moveit_pro_license] [info] + 3.16sINFOobjective_server_node************************************************* ×2 + 3.16sINFOobjective_server_node* MoveIt Pro License + 3.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.42sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.48sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.49sINFOcontroller_managerupdate rate is 600 Hz + 3.49sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.49sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.49sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.49sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.49sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.54sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.54sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.54sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.54sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.54sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.54sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.54sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.54sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.54sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.57sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.69sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.71sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.71sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10711] + 3.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.85sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.85sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.85sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.85sINFOros2_control_node[2026-06-02 21:56:34.806] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 76 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] + 0.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.34sINFOmove_group ×2 + 0.34sINFOmove_group[92mYou can start planning now![0m + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 4.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 6.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 6.62sINFOobjective_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 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 76 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] + 0.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.34sINFOmove_group ×2 + 0.34sINFOmove_group[92mYou can start planning now![0m + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 4.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 6.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 6.62sINFOobjective_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 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 76 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10707] + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10709] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10719] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10713] + 0.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.22sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.34sINFOmove_group ×2 + 0.34sINFOmove_group[92mYou can start planning now![0m + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780437396.09202552 seconds. ×2 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780437396.11220098 seconds ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780437396.66713786 seconds. ×2 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 4.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 6.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 6.62sINFOobjective_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 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 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: 1780437398.32239699 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 3.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 4.07sINFOobjective_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 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 49 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780437397.77729130 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: 1780437398.32239699 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 3.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 4.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 4.07sINFOobjective_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 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
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/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: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
▾
/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: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
▾
/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: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
▾
/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: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780437398.32239699 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780437399.33257985 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780437399.90883446 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780437399.91896033 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780437400.47242427 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780437400.62298656 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780437401.21052051 seconds. ×2 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780437401.27064633 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780437401.83080816 seconds. ×2 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.6541e-05 s). + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Received new action goal + 3.63sINFOros2_control_node[2026-06-02 21:56:41.944] [info] Accepted new action goal + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Received new action goal + 6.12sINFOros2_control_node[2026-06-02 21:56:44.445] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3104). Below 1% is expected on a non-realtime system.[0m | ||||