118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 125 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal + 9.73sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.76sINFOros2_control_node[2026-06-03 17:32:10.712] [info] Received new action goal + 9.76sINFOros2_control_node[2026-06-03 17:32:10.712] [info] Accepted new action goal + 12.73sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 12.74sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.76sINFOros2_control_node[2026-06-03 17:32:13.716] [info] Received new action goal + 12.76sINFOros2_control_node[2026-06-03 17:32:13.716] [info] Accepted new action goal + 14.85sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.57% of iterations over budget over 2:10.005 of wall time (227/39779). Below 1% is expected on a non-realtime system.[0m + 15.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 22.56sINFOobjective_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 + 23.54sINFOros2_control_node[2026-06-03 17:32:24.494] [info] Received new action goal + 23.54sINFOros2_control_node[2026-06-03 17:32:24.494] [info] Accepted new action goal + 24.71sINFOobjective_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 + 24.71sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 24.99sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 24.99sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.02sINFOros2_control_node[2026-06-03 17:32:25.976] [info] Received new action goal + 25.02sINFOros2_control_node[2026-06-03 17:32:25.976] [info] Accepted new action goal + 27.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 27.15sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.16sINFOros2_control_node[2026-06-03 17:32:28.113] [info] Received new action goal + 27.16sINFOros2_control_node[2026-06-03 17:32:28.113] [info] Accepted new action goal + 30.25sINFOros2_control_node[2026-06-03 17:32:31.203] [info] Received new action goal + 30.25sINFOros2_control_node[2026-06-03 17:32:31.203] [info] Accepted new action goal + 32.84sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 32.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.89sINFOros2_control_node[2026-06-03 17:32:33.845] [info] Received new action goal + 32.89sINFOros2_control_node[2026-06-03 17:32:33.845] [info] Accepted new action goal + 43.87sINFOros2_control_node[2026-06-03 17:32:44.823] [info] Received new action goal + 43.87sINFOros2_control_node[2026-06-03 17:32:44.823] [info] Accepted new action goal + 45.02sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780507965.97907472 seconds ×2 + 45.74sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780507966.69627619 seconds. ×2 + 45.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.05sINFOros2_control_node[2026-06-03 17:32:48.001] [info] Received new action goal + 47.05sINFOros2_control_node[2026-06-03 17:32:48.001] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.8s | 2 errors · 8989 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780507977.67653131 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: 1780507978.23923802 seconds. ×2 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.85sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.91sINFOobjective_server_nodePath shortcutter: [X___X] + 0.93sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Accepted new action goal + 2.19sINFOobjective_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 + 2.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 3.45sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 3.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×2233 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×2233 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×2233 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×2233 + 10.62sINFOjoint_trajectory_controllerGoal reached, success! ×5 + 10.62sINFOros2_control_nodeGoal reached, success![0m ×5 + 18.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.64% of iterations over budget over 3:10.006 of wall time (371/58011). Below 1% is expected on a non-realtime system.[0m + 38.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780508016.43501043 seconds ×2 + 39.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780508017.08865666 seconds. ×2 + 39.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 39.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 39.58sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 39.59sINFOros2_control_node[2026-06-03 17:33:37.263] [info] Received new action goal + 39.59sINFOros2_control_node[2026-06-03 17:33:37.263] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 38.7s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal + 31.66sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 31.66sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 32.17sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 32.18sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 33.78sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 33.78sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 33.79sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 33.91sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). + 33.91sINFOobjective_server_nodePath shortcutter: [X___________X] + 33.92sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 33.93sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 33.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 33.99sINFOobjective_server_nodeFound path in 1 iterations (0.00284593 s). + 34.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 34.12sINFOros2_control_node[2026-06-03 17:30:57.762] [info] Received new action goal + 34.12sINFOros2_control_node[2026-06-03 17:30:57.762] [info] Accepted new action goal + 34.19sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 34.19sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 36.66sINFOros2_control_node[2026-06-03 17:31:00.304] [info] Received new action goal + 36.66sINFOros2_control_node[2026-06-03 17:31:00.304] [info] Accepted new action goal + 38.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 38.44sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 38.44sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 39.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 40.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 40.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 40.80sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 40.80sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 41.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 41.17sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 41.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 41.18sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 41.18sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 41.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 41.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.8s | 2 errors · 107 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.007 of wall time (557/76208). Below 1% is expected on a non-realtime system.[0m + 0.99sINFOobjective_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 + 1.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 2.04sERRORobjective_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 + 2.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780508057.84754848 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780508058.49940872 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.77sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 7 iterations (0.00642683 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 3.95sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Accepted new action goal + 13.53sINFOobjective_server_node[0;m[0;93m2026-06-03 17:34:29.331876502 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.53sINFOobjective_server_node[0;93m2026-06-03 17:34:29.331919174 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.03sINFOobjective_server_node[0;93m2026-06-03 17:34:29.834127572 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.03sINFOobjective_server_node[0;93m2026-06-03 17:34:29.834168794 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.15sINFOobjective_server_node[0;93m2026-06-03 17:34:29.957781618 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 14.16sINFOobjective_server_node[0;93m2026-06-03 17:34:29.960554130 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.16sINFOobjective_server_node[0;93m2026-06-03 17:34:29.960596932 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.52sINFOobjective_server_node[0;93m2026-06-03 17:34:30.324381298 [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 + 14.54sINFOobjective_server_node[0;93m2026-06-03 17:34:30.343369433 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.54sINFOobjective_server_node[0;93m2026-06-03 17:34:30.343416376 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 15.69sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization" + 15.69sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization"[0m + 20.05sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 20.26sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 20.27sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 20.40sINFOobjective_server_nodeFound path in 4 iterations (0.00282257 s). + 20.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.50sINFOobjective_server_nodeFound path in 12 iterations (0.00398782 s). + 20.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.58sINFOobjective_server_nodeFound path in 2 iterations (0.00339843 s). + 20.62sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 20.63sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 20.66sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.67sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 20.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.72sINFOobjective_server_nodeFound path in 12 iterations (0.00464782 s). + 20.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 20.78sINFOobjective_server_nodeFound path in 1 iterations (0.00396701 s). + 20.83sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 20.85sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 20.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.90sINFOobjective_server_nodeFound path in 4 iterations (0.00451105 s). + 20.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 21.00sINFOobjective_server_nodeFound path in 4 iterations (0.00268984 s). + 21.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 21.10sINFOobjective_server_nodeFound path in 1 iterations (0.00580322 s). + 21.16sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 21.18sINFOobjective_server_nodeFound path in 1 iterations (0.00291892 s). + 21.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 21.26sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 21.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 21.31sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 21.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] + 21.45sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 21.46sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 21.56sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________X] + 21.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.60sINFOros2_control_node[2026-06-03 17:34:37.400] [info] Received new action goal + 21.60sINFOros2_control_node[2026-06-03 17:34:37.400] [info] Accepted new action goal + 26.59sINFOros2_control_node[2026-06-03 17:34:42.394] [info] Received new action goal + 26.59sINFOros2_control_node[2026-06-03 17:34:42.394] [info] Accepted new action goal + 28.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.14sINFOros2_control_node[2026-06-03 17:34:43.946] [info] Received new action goal + 28.14sINFOros2_control_node[2026-06-03 17:34:43.946] [info] Accepted new action goal + 29.34sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 29.38sINFOros2_control_node[2026-06-03 17:34:45.188] [info] Received new action goal + 29.38sINFOros2_control_node[2026-06-03 17:34:45.188] [info] Accepted new action goal + 34.80sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780508090.60335040 seconds ×2 + 35.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780508091.26384044 seconds. ×2 + 35.68sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 35.68sINFOobjective_server_nodePath shortcutter: [X______X] + 35.69sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Received new action goal + 35.69sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Accepted new action goal + 35.90sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.90sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 35.90sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 35.91sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.91sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 35.91sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 334 errors · 7937 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1729 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1562 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1729 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1562 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780508016.43501043 seconds ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×662 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×662 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780508017.08865666 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 3.83sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.83sINFOros2_control_node[2026-06-03 17:33:37.263] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-03 17:33:37.263] [info] Accepted new action goal + 7.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.71sINFOobjective_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 + 7.72sINFOobjective_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 + 13.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.418519) + 13.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.418519)[0m + 14.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.438519) + 14.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.438519)[0m + 14.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.778518) ×2 + 14.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508027.778518)[0m ×2 + 14.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.028518) + 14.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.028518)[0m + 14.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.048518) + 14.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.048518)[0m + 14.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.258518) + 14.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.258518)[0m + 14.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.298518) + 14.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.298518)[0m + 15.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.528518) + 15.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.528518)[0m + 15.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.728518) + 15.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.728518)[0m + 15.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.818519) ×2 + 15.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.818519)[0m ×2 + 15.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.858519) + 15.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.858519)[0m + 15.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.888518) + 15.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508028.888518)[0m + 15.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.188518) + 15.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.188518)[0m + 15.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.208519) + 15.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.208519)[0m + 15.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.288518) + 15.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.288518)[0m + 16.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.458519) + 16.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.468518) + 16.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.458519)[0m + 16.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.468518)[0m + 16.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.478518) + 16.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.478518)[0m + 16.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.488518) + 16.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.498518) + 16.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.488518)[0m + 16.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.498518)[0m + 16.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.808518) + 16.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.808518)[0m + 16.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.888518) + 16.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.888518)[0m + 16.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.948519) + 16.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508029.948519)[0m + 16.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.138519) + 16.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.138519)[0m + 16.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.218518) + 16.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.218518)[0m + 16.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.248518) + 16.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.248518)[0m + 16.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.278518) + 16.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.278518)[0m + 16.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.298518) + 16.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.298518)[0m + 17.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.578519) + 17.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.578519)[0m + 17.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.688518) + 17.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.688518)[0m + 17.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.708519) + 17.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.708519)[0m + 17.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.888518) + 17.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.888518)[0m + 17.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.908518) + 17.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.918519) + 17.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.908518)[0m + 17.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.918519)[0m + 17.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.928518) + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.928518)[0m + 17.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.938519) + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508030.938519)[0m + 18.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.538518) + 18.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.538518)[0m + 18.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.558518) + 18.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.558518)[0m + 18.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.658519) + 18.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.658519)[0m + 18.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.668518) + 18.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.668518)[0m + 18.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.688518) + 18.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.688518)[0m + 18.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.728518) + 18.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.728518)[0m + 18.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.798518) + 18.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.798518)[0m + 18.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.818519) ×2 + 18.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.818519)[0m ×2 + 18.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.868518) + 18.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.868518)[0m + 18.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.878519) + 18.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.878519)[0m + 18.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.998518) + 18.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508031.998518)[0m + 18.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.208519) + 18.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.208519)[0m + 18.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.218518) + 18.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.218518)[0m + 18.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.228518) + 18.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.228518)[0m + 18.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.398519) + 18.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.398519)[0m + 18.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.418519) + 18.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.418519)[0m + 19.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.428518) + 19.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.428518)[0m + 19.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.448519) + 19.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.448519)[0m + 19.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.658519) + 19.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.658519)[0m + 19.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.878519) + 19.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.878519)[0m + 19.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.968518) + 19.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508032.968518)[0m + 19.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.138519) + 19.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.138519)[0m + 19.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.218518) + 19.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.218518)[0m + 19.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.248518) + 19.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.248518)[0m + 19.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.288518) ×2 + 19.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.288518)[0m ×2 + 20.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.548518) + 20.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.548518)[0m + 20.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.578519) + 20.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.578519)[0m + 20.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.608518) + 20.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.608518)[0m + 20.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.748518) + 20.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.748518)[0m + 20.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.768518) + 20.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.768518)[0m + 20.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.778518) + 20.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.778518)[0m + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.938519) ×2 + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.938519)[0m ×2 + 20.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.958519) + 20.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.958519)[0m + 20.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.968518) + 20.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508033.968518)[0m + 20.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.008518) + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.008518)[0m + 21.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.458519) + 21.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.458519)[0m + 21.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.578519) + 21.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.578519)[0m + 21.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.638519) + 21.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.638519)[0m + 21.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.728518) + 21.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.738518) + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.728518)[0m + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.738518)[0m + 21.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.758518) + 21.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.758518)[0m + 21.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.788518) + 21.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.788518)[0m + 21.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.888518) + 21.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.888518)[0m + 21.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.928518) + 21.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.938519) + 21.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.928518)[0m + 21.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508034.938519)[0m + 21.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.108518) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.108518)[0m + 21.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.268518) + 21.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.268518)[0m + 22.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.448519) ×2 + 22.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.448519)[0m ×2 + 22.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.458519) + 22.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.468518) + 22.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.458519)[0m + 22.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.468518)[0m + 22.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.478518) + 22.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.478518)[0m + 22.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.858519) + 22.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.858519)[0m + 22.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.928518) + 22.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508035.928518)[0m + 22.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.128518) + 22.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.128518)[0m + 22.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.208519) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.208519)[0m + 22.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.218518) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.218518)[0m + 22.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.238518) + 22.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.238518)[0m + 22.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.268518) ×2 + 22.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.268518)[0m ×2 + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.378519) + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.378519)[0m + 22.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.408518) + 22.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.418519) + 22.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.408518)[0m + 22.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.418519)[0m + 23.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.558518) + 23.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.558518)[0m + 23.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.568518) + 23.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.568518)[0m + 23.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.608518) + 23.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.608518)[0m + 23.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.758518) + 23.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.758518)[0m + 23.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.928518) ×2 + 23.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.938519) + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.928518)[0m ×2 + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.938519)[0m + 23.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.958519) ×2 + 23.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508036.958519)[0m ×2 + 23.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.308518) + 23.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.308518)[0m + 23.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.378519) + 23.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.378519)[0m + 24.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.438519) + 24.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.438519)[0m + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.618519) + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.618519)[0m + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.638519) + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.638519)[0m + 24.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.698519) + 24.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.708519) + 24.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.698519)[0m + 24.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.708519)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.728518) + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.728518)[0m + 24.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.758518) + 24.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.768518) + 24.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.758518)[0m + 24.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.768518)[0m + 24.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.858519) + 24.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.868518) + 24.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.858519)[0m + 24.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.868518)[0m + 24.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.908518) + 24.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508037.908518)[0m + 24.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.028518) + 24.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.028518)[0m + 24.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.068518) + 24.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.068518)[0m + 24.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518) + 24.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518)[0m + 24.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518) + 24.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518)[0m + 24.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518) + 24.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518)[0m + 25.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518) ×2 + 25.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518)[0m ×2 + 25.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519) + 25.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519)[0m + 25.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519) + 25.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519)[0m + 25.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518) + 25.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518)[0m + 25.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519) + 25.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519)[0m + 25.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519) + 25.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519)[0m + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518) + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518)[0m + 25.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519) + 25.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519)[0m + 25.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518) + 25.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518)[0m + 25.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518) + 25.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518)[0m + 25.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518) + 25.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518)[0m + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519) + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519)[0m + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518) + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518)[0m + 26.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519) + 26.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519)[0m + 26.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519) + 26.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519)[0m + 26.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518) + 26.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518)[0m + 26.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518) + 26.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518)[0m + 26.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518) + 26.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518)[0m + 26.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518) + 26.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519) + 26.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518)[0m + 26.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519)[0m + 26.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519) + 26.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519)[0m + 26.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518) + 26.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518)[0m + 26.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518) + 26.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518)[0m + 27.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519) + 27.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518) + 27.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519)[0m + 27.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519) + 27.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518)[0m + 27.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519)[0m + 27.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518) + 27.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518)[0m + 27.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518) + 27.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518)[0m + 27.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519) + 27.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519)[0m + 27.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518) + 27.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518)[0m + 27.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518) ×2 + 27.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518)[0m ×2 + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518) + 27.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518)[0m + 27.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780508041.16079164 seconds ×2 + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518) + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518)[0m + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518)[0m + 28.33sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780508041.75990868 seconds. ×2 + 28.49sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 28.53sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Received new action goal + 28.53sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Accepted new action goal + 28.75sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.75sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 16.7s | 80 errors · 1171 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×139 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×232 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×193 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×139 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×232 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×193 + 0.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518) + 0.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518)[0m + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518)[0m + 0.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518) + 0.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518) ×2 + 0.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518)[0m ×2 + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519) + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519)[0m + 0.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519) + 0.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519)[0m + 0.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519) + 0.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518)[0m + 1.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519) + 1.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518) + 1.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518)[0m + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518)[0m + 1.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518)[0m + 1.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519) + 1.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519) + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519)[0m + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518) + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518)[0m + 1.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518) + 1.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518) + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518)[0m + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518) + 1.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519) + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518)[0m + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519)[0m + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518)[0m + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518)[0m + 2.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519) + 2.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519)[0m + 2.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518) + 2.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518)[0m + 2.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518) ×2 + 2.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518)[0m ×2 + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518)[0m + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780508041.16079164 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518) + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518)[0m + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518)[0m + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780508041.75990868 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Accepted new action goal + 4.02sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 4.02sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.55sINFOros2_control_node[2026-06-03 17:34:06.708] [info] Received new action goal + 8.55sINFOros2_control_node[2026-06-03 17:34:06.708] [info] Accepted new action goal + 12.29sINFOros2_control_node[2026-06-03 17:34:10.447] [info] Received new action goal + 12.29sINFOros2_control_node[2026-06-03 17:34:10.447] [info] Accepted new action goal + 17.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.007 of wall time (557/76208). Below 1% is expected on a non-realtime system.[0m + 18.63sINFOobjective_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 + 18.69sINFOobjective_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 + 19.69sERRORobjective_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 + 19.69sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780508057.84754848 seconds ×2 + 20.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780508058.49940872 seconds. ×2 + 20.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 20.34sINFOros2_control_nodeReceived & accepted new action goal[0m + 20.69sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 20.69sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 21.51sINFOobjective_server_nodeFound path in 7 iterations (0.00642683 s). + 21.57sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 21.59sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Received new action goal + 21.59sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 2 errors · 63 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00285235 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.23sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Received new action goal + 0.23sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Accepted new action goal + 0.67sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Accepted new action goal + 1.52sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Got request to cancel active goal. + 1.52sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Canceling active goal... + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780507897.01705384 seconds ×2 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780507897.64400268 seconds. ×2 + 2.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.32sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Received new action goal + 2.32sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Accepted new action goal + 4.79sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Received new action goal + 4.79sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Accepted new action goal + 13.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780507908.84463763 seconds ×2 + 13.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 14.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 14.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 14.74sINFOobjective_server_nodePath shortcutter: [X______X] + 14.75sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 14.75sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 16.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 17.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 17.41sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 17.41sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 2 errors · 54 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-03 17:32:44.823] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-03 17:32:44.823] [info] Accepted new action goal + 2.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780507965.97907472 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780507966.69627619 seconds. ×2 + 3.21sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.21sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.27sINFOros2_control_node[2026-06-03 17:32:48.001] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-03 17:32:48.001] [info] Accepted new action goal + 7.97sINFOobjective_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 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 10.33sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.34sINFOros2_control_node[2026-06-03 17:32:54.071] [info] Received new action goal + 10.34sINFOros2_control_node[2026-06-03 17:32:54.071] [info] Accepted new action goal + 13.94sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780507977.67653131 seconds ×2 + 14.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780507978.23923802 seconds. ×2 + 14.79sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.79sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 14.85sINFOobjective_server_nodePath shortcutter: [X___X] + 14.87sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Received new action goal + 14.87sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Accepted new action goal + 16.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 16.14sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.40sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 17.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780508122.96348882 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780508123.52933359 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Accepted new action goal + 1.03sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 1.03sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 11.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 11.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 12.12sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.12sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 12.35sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 12.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 13.04sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 13.04sINFOobjective_server_nodePath shortcutter: [X___X] + 13.04sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 13.04sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal + 10.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 10.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 10.93sINFOobjective_server_nodePath shortcutter: [X__________X] + 10.94sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 10.94sINFOobjective_server_nodePath shortcutter: [X________________X] + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 11.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 11.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 11.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 11.09sINFOobjective_server_nodeFound path in 1 iterations (0.00247082 s). + 11.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 11.20sINFOobjective_server_nodeFound path in 1 iterations (0.0043467 s). + 11.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 11.31sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 11.34sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 11.34sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 11.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 11.44sINFOros2_control_node[2026-06-03 17:31:24.194] [info] Received new action goal + 11.44sINFOros2_control_node[2026-06-03 17:31:24.194] [info] Accepted new action goal + 13.34sINFOros2_control_node[2026-06-03 17:31:26.101] [info] Got request to cancel active goal. + 13.35sINFOros2_control_node[2026-06-03 17:31:26.101] [info] Canceling active goal... + 13.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780507886.11530566 seconds ×2 + 13.96sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780507886.71377945 seconds. ×2 + 14.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 14.16sINFOros2_control_node[2026-06-03 17:31:26.917] [info] Received new action goal + 14.16sINFOros2_control_node[2026-06-03 17:31:26.917] [info] Accepted new action goal + 14.38sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.38sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.38sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.38sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 16.91sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 16.91sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m + 17.41sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.41sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 33 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780508112.51157975 seconds ×2 + 12.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780508113.06937003 seconds. ×2 + 12.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.78sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Received new action goal + 12.78sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Accepted new action goal + 12.84sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.85sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 15.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.009 of wall time (647/94642). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 2 errors · 66 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780508090.60335040 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780508091.26384044 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Accepted new action goal + 2.16sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.17sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.17sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 5.71sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.71sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 6.22sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.22sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 8.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.23sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.30sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 8.30sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.31sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 8.32sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.38sINFOobjective_server_nodeFound path in 1 iterations (0.00271419 s). + 8.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.51sINFOros2_control_node[2026-06-03 17:34:58.051] [info] Received new action goal + 8.51sINFOros2_control_node[2026-06-03 17:34:58.051] [info] Accepted new action goal + 11.03sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 11.03sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 11.97sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 11.97sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 11.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 12.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 12.76sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 12.76sINFOobjective_server_nodePath shortcutter: [X________X] + 12.77sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 12.77sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 12.77sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.77sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.78sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 4 errors · 106 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 + 0.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 0.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00247082 s). + 0.36sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.0043467 s). + 0.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 + 0.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 0.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 0.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.63sINFOros2_control_node[2026-06-03 17:31:24.194] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 17:31:24.194] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 17:31:26.101] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 17:31:26.101] [info] Canceling active goal... + 2.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780507886.11530566 seconds ×2 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780507886.71377945 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.34sINFOobjective_server_nodePath shortcutter: [X______X] + 3.35sINFOros2_control_node[2026-06-03 17:31:26.917] [info] Received new action goal + 3.35sINFOros2_control_node[2026-06-03 17:31:26.917] [info] Accepted new action goal + 3.56sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.56sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.57sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.57sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 6.09sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 6.10sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m + 6.60sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.60sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 8.61sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 8.61sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 8.86sINFOobjective_server_nodeFound path in 1 iterations (0.00292184 s). + 8.97sINFOobjective_server_nodeFound path in 1 iterations (0.00488842 s). + 9.06sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 9.17sINFOros2_control_node[2026-06-03 17:31:32.740] [info] Received new action goal + 9.17sINFOros2_control_node[2026-06-03 17:31:32.740] [info] Accepted new action goal + 11.92sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 11.92sINFOobjective_server_nodePath shortcutter: [X_X] + 11.92sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 11.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 11.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 12.00sINFOobjective_server_nodeFound path in 1 iterations (0.00285235 s). + 12.10sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 12.15sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Received new action goal + 12.15sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Accepted new action goal + 12.59sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Received new action goal + 12.59sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Accepted new action goal + 13.44sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Got request to cancel active goal. + 13.44sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Canceling active goal... + 13.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780507897.01705384 seconds ×2 + 14.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780507897.64400268 seconds. ×2 + 14.19sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.19sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.19sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.19sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.21sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 14.24sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Received new action goal + 14.24sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Accepted new action goal + 16.71sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Received new action goal + 16.71sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 2 errors · 65 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 8.81sINFOros2_control_node[2026-06-03 17:31:10.507] [info] Received new action goal + 8.81sINFOros2_control_node[2026-06-03 17:31:10.507] [info] Accepted new action goal + 11.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 11.15sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 11.15sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 13.31sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 13.31sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 13.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 13.99sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 14.10sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 14.33sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.33sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.17sINFOobjective_server_nodePath shortcutter: [X______X] + 15.19sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 15.19sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 74 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal + 5.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.29sINFOros2_control_node[2026-06-03 17:35:39.307] [info] Received new action goal + 5.29sINFOros2_control_node[2026-06-03 17:35:39.307] [info] Accepted new action goal + 5.29sINFOros2_control_node[2026-06-03 17:35:39.308] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.01sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 12.01sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 12.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 12.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 12.67sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.67sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 13.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 14.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 14.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.15sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 14.18sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.18sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.18sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.18sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 14.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 14.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 15.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 15.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 15.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 15.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.6s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 0.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 1.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 1.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 1.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 2.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 2.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 2.73sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.75sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 4.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 4.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 5.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.29sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 5.29sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal + 9.01sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 9.03sINFOros2_control_node[2026-06-03 17:30:20.409] [info] Received new action goal + 9.03sINFOros2_control_node[2026-06-03 17:30:20.409] [info] Accepted new action goal + 12.35sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 12.36sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.36sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 12.36sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 12.61sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 12.61sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 12.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 13.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 13.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 13.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 14.18sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.18sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 15.10sINFOobjective_server_nodePath shortcutter: [X______X] + 15.11sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 15.11sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780508112.51157975 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 `Playback Square Trajectory` starting at time: 1780508113.06937003 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 (3.6e-07 s). + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Received new action goal + 0.84sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.91sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.009 of wall time (647/94642). Below 1% is expected on a non-realtime system.[0m + 4.86sINFOros2_control_node[2026-06-03 17:35:17.368] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-03 17:35:17.368] [info] Accepted new action goal + 10.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780508122.96348882 seconds ×2 + 11.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780508123.52933359 seconds. ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 11.14sINFOobjective_server_nodePath shortcutter: [X________X] + 11.15sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Received new action goal + 11.15sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Accepted new action goal + 11.48sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.48sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 13.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.0s | 26 errors · 2 warnings · 149 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780508150.02463961 seconds ×2 + 4.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.48sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 9.49sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.49sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.49sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.49sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.49sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.49sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.50sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 9.52sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 9.53sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 9.54sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.55sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.56sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.57sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.58sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.58sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.59sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.60sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.61sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 9.62sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 9.62sINFOcontroller_managerShutdown request received.... + 9.62sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.62sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.62sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.62sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.62sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.62sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 9.62sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.62sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.62sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.62sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.62sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.62sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 9.62sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.62sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.62sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.62sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 9.62sINFOcontroller_managerShutting down the controller manager. + 9.62sERRORui_teleop_bridgeTraceback (most recent call last): + 9.62sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 9.62sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 9.62sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 9.62sINFOui_teleop_bridgerclpy.shutdown() + 9.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 9.62sINFOui_teleop_bridge_shutdown(context=context) + 9.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 9.62sINFOui_teleop_bridgereturn context.shutdown() + 9.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 9.62sINFOui_teleop_bridgeself.__context.shutdown() + 9.62sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 9.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.62sINFOros2_control_nodeShutdown request received....[0m + 9.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 9.62sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 9.62sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 9.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 9.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 9.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 9.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 9.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 9.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 9.63sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 9.63sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 9.63sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 9.63sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 9.63sERRORros2_control_nodeStack trace (most recent call last) in thread 12057: + 9.63sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 9.63sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 9.63sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 9.63sINFOros2_control_nodeShutting down the controller manager.[0m + 9.64sINFOros2_control_node#9 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 9.64sINFOros2_control_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f30520ada83, in __clone + 9.64sINFOros2_control_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f305201cac2, in + 9.64sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f30522ad252, in + 9.64sINFOros2_control_node#5 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5597451c82e1, in + 9.64sINFOros2_control_node#4 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f30526e730a, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&) + 9.64sINFOros2_control_node#3 Object "/opt/ros/humble/lib/libjoint_state_broadcaster.so", at 0x7f3002380645, in joint_state_broadcaster::JointStateBroadcaster::update(rclcpp::Time const&, rclcpp::Duration const&) + 9.64sINFOros2_control_node#2 Object "/opt/ros/humble/lib/libjoint_state_broadcaster.so", at 0x7f300237ce01, in + 9.64sINFOros2_control_node#1 Object "/opt/ros/humble/lib/libjoint_state_broadcaster.so", at 0x7f300237c7af, in + 9.64sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3052121f10, in + 9.64sERRORros2_control_nodeSegmentation fault (Signal sent by the kernel [(nil)]) + 9.67sINFOobjective_server_node[0;m[2026-06-03 17:35:55.694] [moveit_pro_license] [info] + 9.67sINFOobjective_server_node************************************************* ×2 + 9.67sINFOobjective_server_node* MoveIt Pro License + 9.67sINFOobjective_server_node* Application has successfully terminated + 9.75sERRORobjective_server_nodeStack trace (most recent call last): + 9.75sINFOfoxglove_bridgeShutdown complete[0m + 9.76sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 9.77sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cd6358e4e4, in _start + 9.77sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe985127e3f, in __libc_start_main + 9.77sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe985127d96, in + 9.77sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe98514360f, in exit + 9.77sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe985143494, in + 9.77sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fe9855cc251, in spdlog::details::registry::~registry() + 9.77sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fe9855d6e66, 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() + 9.77sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cd63593cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 9.77sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cd63590bf3, in spdlog_ros::RosSink::~RosSink() + 9.77sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cd63595e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 9.77sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985ac1b2e, in rclcpp::Node::~Node() + 9.77sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985a9cd39, in + 9.77sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985acb0b9, in + 9.77sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985acb000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 9.77sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985a9cd39, in + 9.77sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe985aa1b31, in rclcpp::CallbackGroup::~CallbackGroup() + 9.77sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe9548483f0]) + 9.99sERRORros2_control_node-1process has died [pid 11581, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_nib0nze6 --params-file /tmp/launch_params_b8sexw7p --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kkj1tr94 --params-file /tmp/launch_params_4nlbcy_t']. + 10.45sERRORobjective_server_node_main-14process has died [pid 11648, 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_gxkcsxej --params-file /tmp/launch_params_l3200ro1 --params-file /tmp/launch_params_a70wftp7 --params-file /tmp/launch_params_8mihxp6k --params-file /tmp/launch_params_wkr3h_py --params-file /tmp/launch_params_749kyl8v']. + 10.45sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 10.45sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.55sINFOweb_video_server-20process has finished cleanly [pid 11684] + 10.58sINFOtf2_web_republisher_node-19process has finished cleanly [pid 11672] + 10.58sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.61sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 11646] + 10.62sINFOmove_joint_resampler_node-12process has finished cleanly [pid 11644] + 10.64sINFOexecute_objective_bridge-16process has finished cleanly [pid 11652] + 10.64sERRORui_teleop_bridge-17process has died [pid 11654, 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_2tw99gku']. + 10.65sINFOparameter_manager_node-10process has finished cleanly [pid 11603] + 10.66sINFOwaypoint_manager_node-11process has finished cleanly [pid 11642] + 10.79sINFOcomponent_container_mt-15process has finished cleanly [pid 11650] + 10.93sINFOmove_group-9process has finished cleanly [pid 11600] + 11.59sINFOfoxglove_bridge-18process has finished cleanly [pid 11656] + 11.59sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.3s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.34sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Accepted new action goal + 8.69sINFOobjective_server_node[0;93m2026-06-03 17:31:58.159118535 [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 + 8.69sINFOobjective_server_node[0;93m2026-06-03 17:31:58.159147756 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.23sINFOobjective_server_node[0;93m2026-06-03 17:31:58.705585579 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.23sINFOobjective_server_node[0;93m2026-06-03 17:31:58.705631511 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.38sINFOobjective_server_node[0;93m2026-06-03 17:31:58.854063446 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.38sINFOobjective_server_node[0;93m2026-06-03 17:31:58.857155572 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.39sINFOobjective_server_node[0;93m2026-06-03 17:31:58.857182893 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.72sINFOobjective_server_node[0;93m2026-06-03 17:31:59.195078271 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.74sINFOobjective_server_node[0;93m2026-06-03 17:31:59.211324350 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.74sINFOobjective_server_node[0;93m2026-06-03 17:31:59.211371312 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.07sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780507920.54797220 seconds ×2 + 11.48sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 11.48sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 11.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 11.98sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.98sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.98sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.98sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.25sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 12.25sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.75sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 12.75sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.89sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 12.89sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 12.89sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.25sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.26sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.26sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 14.51sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 14.51sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 14.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 14.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.94sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 14.95sINFOobjective_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 + 15.01sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 15.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 15.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 15.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.1s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 17:31:58.159118535 [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;93m2026-06-03 17:31:58.159147756 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.55sINFOobjective_server_node[0;93m2026-06-03 17:31:58.705585579 [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 + 0.55sINFOobjective_server_node[0;93m2026-06-03 17:31:58.705631511 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.70sINFOobjective_server_node[0;93m2026-06-03 17:31:58.854063446 [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 + 0.70sINFOobjective_server_node[0;93m2026-06-03 17:31:58.857155572 [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 + 0.70sINFOobjective_server_node[0;93m2026-06-03 17:31:58.857182893 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.04sINFOobjective_server_node[0;93m2026-06-03 17:31:59.195078271 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 17:31:59.211324350 [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;93m2026-06-03 17:31:59.211371312 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.39sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780507920.54797220 seconds ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.80sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.80sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 3.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.57sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 3.57sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.07sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 4.07sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.20sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 4.21sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 4.21sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.56sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 4.57sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 4.57sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.45sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 5.83sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.83sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 6.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 6.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.18sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 6.26sINFOobjective_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 + 6.33sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.33sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 6.33sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.33sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.50sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 6.50sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 9.35sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 9.36sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 9.36sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780507908.84463763 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.97sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 4.09sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Accepted new action goal | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.8s | 12 warnings · 247 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.02sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.02sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 0.02sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 0.22sINFOobjective_server_node[2026-06-03 17:30:05.690] [moveit_pro_license] [info] + 0.22sINFOobjective_server_node************************************************* ×2 + 0.22sINFOobjective_server_node* MoveIt Pro License + 0.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.30sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.30sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.30sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.31sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.31sINFOcontroller_managerupdate rate is 600 Hz + 0.31sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.31sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.31sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.31sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOobjective_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. + 0.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.52sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.52sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.52sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.52sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.55sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" + 0.55sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" + 0.55sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth" + 0.55sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 0.55sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points" + 0.56sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/visual_markers" + 0.57sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/velocity_force_controller/transition_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points" + 0.57sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/visual_markers"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/velocity_force_controller/transition_event"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector" + 0.57sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/blackboard_contents" + 0.57sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/blackboard_contents"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/behavior_tree_status" + 0.57sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info" + 0.57sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/behavior_tree_status"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info"[0m + 0.60sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.64sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.64sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.64sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.74sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.74sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.74sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.74sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.75sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.75sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.83sINFOros2_control_node[2026-06-03 17:30:06.298] [info] Controller state will be published at 10 Hz. + 0.83sINFOros2_control_node[2026-06-03 17:30:06.299] [info] VelocityForceController 'on_configure' succeeded. + 0.83sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.83sINFOros2_control_node[2026-06-03 17:30:06.301] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.83sINFOros2_control_node[2026-06-03 17:30:06.301] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.86sINFOros2_control_node[2026-06-03 17:30:06.332] [info] First order lag filter time constant set to: 0.2 seconds + 0.86sINFOros2_control_node[2026-06-03 17:30:06.332] [info] Controller state will be published at 50 Hz. + 0.87sINFOros2_control_node[2026-06-03 17:30:06.338] [info] Registered `FollowJointTrajectory` action server. + 0.87sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.87sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.87sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.88sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.91sINFOros2_control_node[2026-06-03 17:30:06.385] [info] Controller state will be published at 20 Hz. + 0.91sINFOros2_control_node[2026-06-03 17:30:06.386] [info] JointVelocityController 'on_configure' succeeded. + 0.92sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.92sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.92sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.92sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.92sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.92sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.92sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.99sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11594] + 1.15sINFOmove_group ×2 + 1.15sINFOmove_group[92mYou can start planning now![0m + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11591] + 1.21sINFOobjective_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. + 1.21sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11589] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11597] + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11587] + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11583] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11585] + 1.28sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command" + 1.28sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectory_execution_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectory_execution_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap" + 1.28sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command" + 1.28sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 1.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/controller_state" + 1.29sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.29sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_state_broadcaster/transition_event" + 1.29sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/controller_state"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_state_broadcaster/transition_event"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 1.29sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 1.29sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/dynamic_joint_states" + 1.29sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/dynamic_joint_states"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.86sWARNobjective_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/. + 1.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 + 2.94sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.95sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.46sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 4.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 5.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 6.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 6.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 7.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 7.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 7.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 7.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 8.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 8.51sINFOobjective_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 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 1 warning · 62 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 6.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 6.78sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780508150.02463961 seconds ×2 + 4.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.48sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780507908.84463763 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.97sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 4.09sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780508150.02463961 seconds ×2 + 4.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.48sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780508150.02463961 seconds ×2 + 4.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.48sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00285235 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.23sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Received new action goal + 0.23sINFOros2_control_node[2026-06-03 17:31:35.714] [info] Accepted new action goal + 0.67sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 17:31:36.156] [info] Accepted new action goal + 1.52sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Got request to cancel active goal. + 1.52sINFOros2_control_node[2026-06-03 17:31:37.004] [info] Canceling active goal... + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780507897.01705384 seconds ×2 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780507897.64400268 seconds. ×2 + 2.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.32sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Received new action goal + 2.32sINFOros2_control_node[2026-06-03 17:31:37.803] [info] Accepted new action goal + 4.79sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Received new action goal + 4.79sINFOros2_control_node[2026-06-03 17:31:40.279] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780507977.67653131 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: 1780507978.23923802 seconds. ×2 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.85sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.91sINFOobjective_server_nodePath shortcutter: [X___X] + 0.93sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-03 17:32:58.602] [info] Accepted new action goal + 2.19sINFOobjective_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 + 2.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 3.45sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 3.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 78 errors · 1142 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×139 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×232 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×193 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×139 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×232 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×193 + 0.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518) + 0.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.218518)[0m + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.278518)[0m + 0.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518) + 0.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.408518)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518) ×2 + 0.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.428518)[0m ×2 + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.438519)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519) + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.458519)[0m + 0.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.488518)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519) + 0.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508038.918519)[0m + 0.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519) + 0.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.098519)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.128518)[0m + 1.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519) + 1.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.208519)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518) + 1.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.218518)[0m + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.248518)[0m + 1.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.258518)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.398519)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.568518)[0m + 1.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519) + 1.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.598519)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519) + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.698519)[0m + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518) + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.748518)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.758518)[0m + 1.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518) + 1.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.908518)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518) + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.928518)[0m + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.938519)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.948519)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518) + 1.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508039.988518)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.328518)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519) + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.678519)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.688518)[0m + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.698519)[0m + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.728518)[0m + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.758518)[0m + 2.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519) + 2.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.838519)[0m + 2.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518) + 2.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.868518)[0m + 2.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518) ×2 + 2.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508040.888518)[0m ×2 + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.088518)[0m + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780508041.16079164 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518) + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.248518)[0m + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780508023.848518) that ends in the past (1780508041.258518)[0m + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780508041.75990868 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-03 17:34:01.955] [info] Accepted new action goal + 4.02sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 4.02sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780508090.60335040 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780508091.26384044 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Accepted new action goal + 2.16sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.17sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.17sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 17:30:23.749] [info] Accepted new action goal + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Got request to cancel active goal. + 0.35sINFOros2_control_node[2026-06-03 17:30:23.995] [info] Canceling active goal... + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507824.01055551 seconds ×2 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507824.58115482 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507824.70131254 seconds ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507825.34127212 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.92sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 2.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X______X] + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Received new action goal + 2.85sINFOros2_control_node[2026-06-03 17:30:26.495] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 17:31:02.085] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507863.47251201 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507864.05179667 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507864.15193319 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507864.71579599 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 17:31:04.830] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 17:31:08.175] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 17:31:12.847] [info] Accepted new action goal + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Got request to cancel active goal. + 2.25sINFOros2_control_node[2026-06-03 17:31:15.006] [info] Canceling active goal... + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507875.00836062 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507875.68328619 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21485). Below 1% is expected on a non-realtime system.[0m + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.26sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.27sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] + 4.12sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Received new action goal + 4.13sINFOros2_control_node[2026-06-03 17:31:16.880] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780507908.84463763 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.97sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.34sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Accepted new action goal | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507909.47395611 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507909.56408834 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507910.12287116 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 17:31:50.237] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507912.24299836 seconds ×2 + 3.34sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507912.81272006 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-03 17:31:52.937] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507921.16237116 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726903435 [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 + 0.77sINFOobjective_server_node[0;93m2026-06-03 17:32:01.726942497 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227719037 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 17:32:02.227770579 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.363763545 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366960918 [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 + 1.41sINFOobjective_server_node[0;93m2026-06-03 17:32:02.366998859 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 17:32:02.717610220 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733406620 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 17:32:02.733445592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507923.60886049 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507924.33008480 seconds. ×2 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.46sINFOobjective_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 + 3.47sINFOobjective_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 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-03 17:32:04.657] [info] Accepted new action goal + 6.56sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 17:32:07.523] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.007 of wall time (557/76208). Below 1% is expected on a non-realtime system.[0m + 0.99sINFOobjective_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 + 1.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 2.04sERRORobjective_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 + 2.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780508057.84754848 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780508058.49940872 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.77sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 7 iterations (0.00642683 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 3.95sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-03 17:34:19.752] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780508090.60335040 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780508091.26384044 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 17:34:51.497] [info] Accepted new action goal + 2.16sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.17sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.17sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 17:35:00.573] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-03 17:35:01.514] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780508101.52459073 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780508102.13127995 seconds. ×2 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.73sINFOobjective_server_nodePath shortcutter: [X________X] + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Received new action goal + 1.74sINFOros2_control_node[2026-06-03 17:35:02.315] [info] Accepted new action goal + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.75sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.75sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 13 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780508112.51157975 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 `Playback Square Trajectory` starting at time: 1780508113.06937003 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 (3.6e-07 s). + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Received new action goal + 0.84sINFOros2_control_node[2026-06-03 17:35:13.354] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.91sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.009 of wall time (647/94642). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 16 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780508122.96348882 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780508123.52933359 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 17:35:23.663] [info] Accepted new action goal + 1.03sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 1.03sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780508134.01635218 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780508134.65679598 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780508134.73693180 seconds ×2 + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.07sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780508135.28887987 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780508135.31084704 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780508135.87340784 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 17:35:36.006] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 17:35:36.007] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 17:35:46.023] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780508146.02912951 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780508146.65721083 seconds. ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780508147.60732341 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780508148.16302633 seconds. ×2 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780508148.16505313 seconds ×2 + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.17sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780508148.72401524 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780508148.72449803 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.19sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780508149.31444454 seconds. ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m | ||||
▾
/__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: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.2s | 398 errors · 22 warnings · 10891 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/2026-06-03-17-23-59-597595-c8b7b86eb90f-10276 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.66sINFOros2_control_node-1process started with pid [10306] + 1.67sINFOmove_group-9process started with pid [10326] + 1.67sINFOparameter_manager_node-10process started with pid [10329] + 1.67sINFOwaypoint_manager_node-11process started with pid [10367] + 1.67sINFOmove_joint_resampler_node-12process started with pid [10369] + 1.67sINFOmove_end_effector_resampler_node-13process started with pid [10371] + 1.67sINFOobjective_server_node_main-14process started with pid [10373] + 1.67sINFOcomponent_container_mt-15process started with pid [10375] + 1.67sINFOexecute_objective_bridge-16process started with pid [10377] + 1.67sINFOui_teleop_bridge-17process started with pid [10379] + 1.67sINFOfoxglove_bridge-18process started with pid [10381] + 1.67sINFOtf2_web_republisher_node-19process started with pid [10383] + 1.67sINFOweb_video_server-20process started with pid [10385] + 1.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10308] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10310] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10312] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10314] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10316] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10320] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10323] + 1.69sWARNros2_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 + 1.69sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 1.89sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.91sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m + 1.93sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/joint_states"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/objective_server_heartbeat"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/agent_interface/move_joint"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/tf_static"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/agent_interface/move_end_effector"[0m + 2.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.40sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/robot_description_semantic"[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.40sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.40sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.71sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.71sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.79sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.10sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.83sINFOobjective_server_node[2026-06-03 17:24:04.099] [moveit_pro_license] [info] + 3.83sINFOobjective_server_node************************************************* ×6 + 3.83sINFOobjective_server_node* MoveIt Pro License ×3 + 3.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.15sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.15sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.16sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.17sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.25sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.29sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.34sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 4.34sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points"[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_state_broadcaster/transition_event"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/points"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/blackboard_contents"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/behavior_tree_status"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/camera_info"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/transition_event"[0m + 4.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.46sINFOobjective_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 + 4.46sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.46sWARNobjective_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 + 4.50sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.60sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.60sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.61sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.61sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.62sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.62sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.62sINFOros2_control_node[2026-06-03 17:24:04.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.62sINFOros2_control_node[2026-06-03 17:24:04.887] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.70sINFOros2_control_node[2026-06-03 17:24:04.968] [info] First order lag filter time constant set to: 0.2 seconds + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.70sINFOros2_control_node[2026-06-03 17:24:04.968] [info] Controller state will be published at 50 Hz. + 4.71sINFOros2_control_node[2026-06-03 17:24:04.975] [info] Registered `FollowJointTrajectory` action server. + 4.71sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.75sINFOros2_control_node[2026-06-03 17:24:05.015] [info] Controller state will be published at 20 Hz. + 4.75sINFOros2_control_node[2026-06-03 17:24:05.017] [info] JointVelocityController 'on_configure' succeeded. + 4.75sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.75sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.79sINFOros2_control_node[2026-06-03 17:24:05.059] [info] Controller state will be published at 10 Hz. + 4.79sINFOros2_control_node[2026-06-03 17:24:05.061] [info] VelocityForceController 'on_configure' succeeded. + 4.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.96sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10316] + 5.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.08sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/transition_event"[0m + 5.08sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/command"[0m + 5.09sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/trajectory_execution_event"[0m + 5.09sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/controller_state"[0m + 5.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10323] + 5.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10308] + 5.09sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 5.09sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/transition_event"[0m + 5.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.09sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 5.09sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 5.10sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 5.10sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 5.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/dynamic_joint_states"[0m ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 5.13sINFOmove_group ×4 + 5.13sINFOmove_group[92mYou can start planning now![0m ×2 + 5.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10310] + 5.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10314] + 5.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10320] + 5.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10312] + 5.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 5.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×30 + 6.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507446.56548214 seconds. + 6.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507446.57570934 seconds + 6.80sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507447.12632275 seconds. + 6.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×16 + 7.31sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507448.23647475 seconds + 8.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507448.81252623 seconds. + 9.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507449.82270265 seconds + 10.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507450.37597036 seconds. + 10.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507450.39610744 seconds + 10.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507450.97707272 seconds. + 10.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507451.12770295 seconds + 11.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507451.78619123 seconds. + 11.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507451.83632565 seconds + 12.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507452.40505385 seconds. + 12.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (2.6911e-05 s). + 12.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 12.27sINFOros2_control_node[2026-06-03 17:24:12.538] [info] Received new action goal + 12.27sINFOros2_control_node[2026-06-03 17:24:12.538] [info] Accepted new action goal + 14.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3161). Below 1% is expected on a non-realtime system.[0m + 14.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×28 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 14.82sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.83sINFOros2_control_node[2026-06-03 17:24:15.101] [info] Received new action goal + 14.83sINFOros2_control_node[2026-06-03 17:24:15.102] [info] Accepted new action goal + 18.59sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×3 + 18.61sINFOros2_control_node[2026-06-03 17:24:18.879] [info] Received new action goal + 18.61sINFOros2_control_node[2026-06-03 17:24:18.879] [info] Accepted new action goal + 21.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×3 + 21.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 21.92sINFOros2_control_node[2026-06-03 17:24:22.192] [info] Received new action goal + 21.92sINFOros2_control_node[2026-06-03 17:24:22.192] [info] Accepted new action goal + 22.19sINFOros2_control_node[2026-06-03 17:24:22.452] [info] Got request to cancel active goal. + 22.19sINFOros2_control_node[2026-06-03 17:24:22.452] [info] Canceling active goal... + 22.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780507462.47420120 seconds + 22.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780507463.08212996 seconds. + 22.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780507463.22228241 seconds + 23.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780507463.78165197 seconds. + 24.00sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 24.66sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 24.67sINFOros2_control_node[2026-06-03 17:24:24.936] [info] Received new action goal + 24.67sINFOros2_control_node[2026-06-03 17:24:24.936] [info] Accepted new action goal + 56.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 57.24sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 60.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 60.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 60.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 60.59sINFOobjective_server_nodePath shortcutter: [X___________X] + 60.60sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). + 60.62sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×3 + 60.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 60.68sINFOobjective_server_nodeFound path in 1 iterations (0.00335487 s). + 60.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 60.78sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 60.82sINFOros2_control_node[2026-06-03 17:25:01.093] [info] Received new action goal + 60.82sINFOros2_control_node[2026-06-03 17:25:01.093] [info] Accepted new action goal + 63.35sINFOros2_control_node[2026-06-03 17:25:03.619] [info] Received new action goal + 63.35sINFOros2_control_node[2026-06-03 17:25:03.619] [info] Accepted new action goal + 65.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×7 + 65.17sINFOros2_control_node[2026-06-03 17:25:05.436] [info] Received new action goal + 65.17sINFOros2_control_node[2026-06-03 17:25:05.436] [info] Accepted new action goal + 66.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780507506.82241964 seconds + 67.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780507507.40913224 seconds. + 67.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780507507.48926973 seconds + 67.37sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 67.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780507508.19140315 seconds. + 68.04sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 68.04sINFOobjective_server_nodePath shortcutter: [X_____________X] + 68.06sINFOros2_control_node[2026-06-03 17:25:08.325] [info] Received new action goal + 68.06sINFOros2_control_node[2026-06-03 17:25:08.326] [info] Accepted new action goal + 68.38sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 71.39sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 71.41sINFOros2_control_node[2026-06-03 17:25:11.677] [info] Received new action goal + 71.41sINFOros2_control_node[2026-06-03 17:25:11.677] [info] Accepted new action goal + 73.74sINFOros2_control_node[2026-06-03 17:25:14.006] [info] Received new action goal + 73.74sINFOros2_control_node[2026-06-03 17:25:14.006] [info] Accepted new action goal + 74.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 1:10.002 of wall time (125/21550). Below 1% is expected on a non-realtime system.[0m + 76.07sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 76.07sINFOros2_control_node[2026-06-03 17:25:16.343] [info] Received new action goal + 76.07sINFOros2_control_node[2026-06-03 17:25:16.343] [info] Accepted new action goal + 78.18sINFOros2_control_node[2026-06-03 17:25:18.451] [info] Got request to cancel active goal. + 78.18sINFOros2_control_node[2026-06-03 17:25:18.451] [info] Canceling active goal... + 78.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780507518.45491004 seconds + 78.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780507519.06194663 seconds. + 78.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 78.98sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 79.96sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 79.97sINFOros2_control_node[2026-06-03 17:25:20.236] [info] Received new action goal + 79.97sINFOros2_control_node[2026-06-03 17:25:20.236] [info] Accepted new action goal + 89.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780507529.54235387 seconds + 89.83sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780507530.10431504 seconds. + 90.03sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 90.04sINFOros2_control_node[2026-06-03 17:25:30.309] [info] Received new action goal + 90.04sINFOros2_control_node[2026-06-03 17:25:30.309] [info] Accepted new action goal + 90.06sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 98.61sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 98.86sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 98.86sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 98.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 98.87sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 98.92sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 98.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 98.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 99.01sINFOobjective_server_nodeFound path in 1 iterations (0.00226257 s). + 99.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 99.13sINFOobjective_server_nodeFound path in 1 iterations (0.00391824 s). + 99.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 99.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 99.38sINFOros2_control_node[2026-06-03 17:25:39.644] [info] Received new action goal + 99.38sINFOros2_control_node[2026-06-03 17:25:39.644] [info] Accepted new action goal +100.17sINFOros2_control_node[2026-06-03 17:25:40.437] [info] Got request to cancel active goal. +100.17sINFOros2_control_node[2026-06-03 17:25:40.437] [info] Canceling active goal... +100.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780507540.45537710 seconds +100.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780507541.09810162 seconds. +100.98sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +100.98sINFOobjective_server_nodePath shortcutter: [X________X] +100.99sINFOros2_control_node[2026-06-03 17:25:41.262] [info] Received new action goal +100.99sINFOros2_control_node[2026-06-03 17:25:41.262] [info] Accepted new action goal +101.16sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +101.16sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +103.41sINFOros2_control_node[2026-06-03 17:25:43.683] [info] Received new action goal +103.41sINFOros2_control_node[2026-06-03 17:25:43.683] [info] Accepted new action goal +111.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780507552.25325561 seconds +112.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780507552.81462955 seconds. +112.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m +112.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m +112.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780507552.90478945 seconds +113.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780507553.46867466 seconds. +113.33sINFOros2_control_node[2026-06-03 17:25:53.592] [info] Received new action goal +113.33sINFOros2_control_node[2026-06-03 17:25:53.592] [info] Accepted new action goal +115.33sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780507555.59882092 seconds +115.90sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780507556.16791272 seconds. +116.04sINFOros2_control_node[2026-06-03 17:25:56.312] [info] Received new action goal +116.04sINFOros2_control_node[2026-06-03 17:25:56.312] [info] Accepted new action goal +116.25sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m +121.19sINFOobjective_server_node[0;93m2026-06-03 17:26:01.455590875 [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 +121.19sINFOobjective_server_node[0;93m2026-06-03 17:26:01.455628007 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +121.77sINFOobjective_server_node[0;93m2026-06-03 17:26:02.036085884 [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 +121.77sINFOobjective_server_node[0;93m2026-06-03 17:26:02.036131736 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +121.92sINFOobjective_server_node[0;93m2026-06-03 17:26:02.187063480 [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 +121.92sINFOobjective_server_node[0;93m2026-06-03 17:26:02.190320333 [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 +121.92sINFOobjective_server_node[0;93m2026-06-03 17:26:02.190337914 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +122.23sINFOobjective_server_node[0;93m2026-06-03 17:26:02.500596976 [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 +122.25sINFOobjective_server_node[0;93m2026-06-03 17:26:02.517409168 [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 +122.25sINFOobjective_server_node[0;93m2026-06-03 17:26:02.517465071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +123.63sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780507563.89838505 seconds +123.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m +124.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780507564.57663679 seconds. +124.82sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +124.82sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +124.99sINFOobjective_server_node[0;93m2026-06-03 17:26:05.252524873 [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 +124.99sINFOobjective_server_node[0;93m2026-06-03 17:26:05.252568505 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +125.53sINFOobjective_server_node[0;93m2026-06-03 17:26:05.804169261 [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 +125.53sINFOobjective_server_node[0;93m2026-06-03 17:26:05.804205063 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +125.65sINFOobjective_server_node[0;93m2026-06-03 17:26:05.918388905 [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 +125.65sINFOobjective_server_node[0;93m2026-06-03 17:26:05.920562868 [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 +125.65sINFOobjective_server_node[0;93m2026-06-03 17:26:05.920582919 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +125.98sINFOobjective_server_node[0;93m2026-06-03 17:26:06.253969921 [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 +126.00sINFOobjective_server_node[0;93m2026-06-03 17:26:06.270362504 [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 +126.00sINFOobjective_server_node[0;93m2026-06-03 17:26:06.270406266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +126.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m +126.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780507567.16516519 seconds +127.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780507567.81278706 seconds. +127.63sINFOobjective_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 +127.64sINFOobjective_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 +127.86sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +127.86sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m +127.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +127.91sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 +127.95sINFOros2_control_node[2026-06-03 17:26:08.219] [info] Received new action goal +127.95sINFOros2_control_node[2026-06-03 17:26:08.220] [info] Accepted new action goal +130.80sINFOros2_control_node[2026-06-03 17:26:11.067] [info] Received new action goal +130.80sINFOros2_control_node[2026-06-03 17:26:11.067] [info] Accepted new action goal +134.03sINFOros2_control_node[2026-06-03 17:26:14.297] [info] Received new action goal +134.03sINFOros2_control_node[2026-06-03 17:26:14.297] [info] Accepted new action goal +134.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 2:10.002 of wall time (218/39946). Below 1% is expected on a non-realtime system.[0m +136.93sINFOros2_control_node[2026-06-03 17:26:17.200] [info] Received new action goal +136.93sINFOros2_control_node[2026-06-03 17:26:17.200] [info] Accepted new action goal +139.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 +147.40sINFOobjective_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 +148.33sINFOros2_control_node[2026-06-03 17:26:28.596] [info] Received new action goal +148.33sINFOros2_control_node[2026-06-03 17:26:28.596] [info] Accepted new action goal +149.51sINFOobjective_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 +149.52sINFOobjective_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 +149.79sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). +149.82sINFOros2_control_node[2026-06-03 17:26:30.089] [info] Received new action goal +149.82sINFOros2_control_node[2026-06-03 17:26:30.089] [info] Accepted new action goal +152.11sINFOros2_control_node[2026-06-03 17:26:32.377] [info] Received new action goal +152.11sINFOros2_control_node[2026-06-03 17:26:32.377] [info] Accepted new action goal +155.19sINFOros2_control_node[2026-06-03 17:26:35.457] [info] Received new action goal +155.19sINFOros2_control_node[2026-06-03 17:26:35.457] [info] Accepted new action goal +157.77sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +157.81sINFOros2_control_node[2026-06-03 17:26:38.080] [info] Received new action goal +157.81sINFOros2_control_node[2026-06-03 17:26:38.080] [info] Accepted new action goal +168.74sINFOros2_control_node[2026-06-03 17:26:49.007] [info] Received new action goal +168.74sINFOros2_control_node[2026-06-03 17:26:49.007] [info] Accepted new action goal +169.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780507610.16297388 seconds +170.66sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780507610.91755772 seconds. +170.78sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +171.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +171.94sINFOobjective_server_nodePath shortcutter: [X__________________________X] +171.95sINFOros2_control_node[2026-06-03 17:26:52.222] [info] Received new action goal +171.95sINFOros2_control_node[2026-06-03 17:26:52.222] [info] Accepted new action goal +178.00sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +178.01sINFOobjective_server_nodePath shortcutter: [X________________________X] +178.02sINFOros2_control_node[2026-06-03 17:26:58.292] [info] Received new action goal +178.02sINFOros2_control_node[2026-06-03 17:26:58.292] [info] Accepted new action goal +181.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780507621.89770603 seconds +182.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780507622.51242781 seconds. +182.39sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m +182.41sINFOobjective_server_nodePath shortcutter: [X___X] +182.42sINFOros2_control_node[2026-06-03 17:27:02.685] [info] Received new action goal +182.42sINFOros2_control_node[2026-06-03 17:27:02.685] [info] Accepted new action goal +183.68sINFOobjective_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 ×3 +183.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +186.56sINFOros2_control_nodeReceived new action goal[0m ×4527 +186.56sINFOros2_control_nodeAccepted new action goal[0m ×4156 +190.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +190.83sINFOros2_control_nodeGoal reached, success![0m ×1207 +194.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.64% of iterations over budget over 3:10.003 of wall time (370/58191). Below 1% is expected on a non-realtime system.[0m +223.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507663.391117)[0m +223.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507663.561117)[0m +223.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.021117)[0m +223.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.061117)[0m +223.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.081117)[0m +224.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.251117)[0m +224.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.261117)[0m +224.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.271117)[0m +224.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.281117)[0m +224.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.911117)[0m +224.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507664.931117)[0m +224.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.031117)[0m +224.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.041117)[0m +224.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.081117)[0m +224.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.221117)[0m +225.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.511117)[0m +225.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.521117)[0m +225.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.571117)[0m +225.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.731117)[0m +225.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.741117)[0m +225.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.761117)[0m ×2 +225.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507665.781117)[0m +225.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507666.001117)[0m +225.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507666.091117)[0m +225.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507666.151117)[0m +225.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507661.521117) that ends in the past (1780507666.171117)[0m +226.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780507666.33230186 seconds +226.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780507666.93408680 seconds. +226.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 +226.84sINFOros2_control_node[2026-06-03 17:27:47.109] [info] Received new action goal +226.84sINFOros2_control_node[2026-06-03 17:27:47.109] [info] Accepted new action goal +234.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507674.436537)[0m +234.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507674.446537)[0m +234.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507674.526537)[0m +234.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507674.706537)[0m +234.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past 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(1780507679.446537)[0m +239.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.456537)[0m +239.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.476537)[0m +239.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.676537)[0m +239.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.776537)[0m +239.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.836537)[0m +239.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507679.906537)[0m +239.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.206537)[0m +239.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.226537)[0m +240.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.256537)[0m +240.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.266537)[0m +240.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.526537)[0m +240.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.566537)[0m +240.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.636537)[0m +240.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.666537)[0m +240.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.886537)[0m +240.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.896537)[0m +240.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.906537)[0m +240.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507680.926537)[0m ×2 +240.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.096537)[0m +241.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.256537)[0m +241.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.306537)[0m +241.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.336537)[0m ×2 +241.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.386537)[0m +241.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.456537)[0m +241.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.556537)[0m +241.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.586537)[0m +241.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.596537)[0m +241.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.686537)[0m +241.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.716537)[0m +241.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.836537)[0m +241.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507681.876537)[0m ×2 +241.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.006537)[0m +241.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.026537)[0m +241.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.066537)[0m ×2 +241.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.196537)[0m ×2 +241.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.216537)[0m +241.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.246537)[0m ×2 +242.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.396537)[0m +242.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.406537)[0m ×2 +242.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.416537)[0m +242.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.436537)[0m +242.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.486537)[0m +242.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.616537)[0m +242.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.646537)[0m +242.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507682.676537)[0m +242.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.106537)[0m +242.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.156537)[0m +242.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.176537)[0m +242.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.186537)[0m +242.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.226537)[0m +242.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.246537)[0m +243.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.366537)[0m +243.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.376537)[0m +243.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.536537)[0m ×2 +243.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.576537)[0m +243.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.706537)[0m +243.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.736537)[0m +243.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.906537)[0m ×2 +243.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.926537)[0m +243.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507683.946537)[0m ×2 +244.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.286537)[0m +244.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.366537)[0m +244.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.426537)[0m +244.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.566537)[0m +244.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.696537)[0m +244.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.706537)[0m +244.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.726537)[0m ×2 +244.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.756537)[0m +244.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.776537)[0m +244.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.886537)[0m +244.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507684.896537)[0m +244.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.076537)[0m +244.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.096537)[0m +244.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.196537)[0m +244.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.226537)[0m +245.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.266537)[0m +245.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.406537)[0m +245.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.426537)[0m ×2 +245.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.436537)[0m +245.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.486537)[0m +245.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507685.676537)[0m +245.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.056537)[0m +245.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.176537)[0m ×2 +245.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.186537)[0m +245.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.216537)[0m +245.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.246537)[0m +246.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.326537)[0m +246.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.336537)[0m +246.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.366537)[0m +246.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.896537)[0m +246.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.916537)[0m ×2 +246.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.926537)[0m +246.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507686.986537)[0m +247.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.306537)[0m +247.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.336537)[0m +247.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.356537)[0m +247.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.556537)[0m +247.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.596537)[0m +247.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.606537)[0m +247.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.686537)[0m ×2 +247.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.706537)[0m +247.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.726537)[0m +247.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.746537)[0m +247.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.836537)[0m +247.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.866537)[0m +247.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507687.886537)[0m +247.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.046537)[0m +247.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.086537)[0m +248.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.396537)[0m ×2 +248.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.416537)[0m +248.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.426537)[0m +248.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.466537)[0m +248.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.656537)[0m +248.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.756537)[0m +248.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507688.866537)[0m +248.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.146537)[0m +248.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.156537)[0m +248.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.176537)[0m +248.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.196537)[0m +248.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.216537)[0m ×2 +249.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.296537)[0m +249.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.346537)[0m ×2 +249.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.646537)[0m +249.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.696537)[0m +249.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.856537)[0m ×2 +249.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.876537)[0m +249.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.886537)[0m +249.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507689.896537)[0m +250.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.306537)[0m +250.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.516537)[0m +250.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.546537)[0m ×2 +250.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.616537)[0m +250.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.636537)[0m +250.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.666537)[0m +250.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.686537)[0m ×2 +250.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.786537)[0m +250.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.796537)[0m ×2 +250.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.836537)[0m +250.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.846537)[0m +250.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.966537)[0m +250.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.986537)[0m +250.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507690.996537)[0m +250.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507691.016537)[0m +250.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507691.026537)[0m +250.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507691.036537)[0m +250.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780507691.06038570 seconds +250.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507691.126537)[0m +250.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507673.896537) that ends in the past (1780507691.156537)[0m +251.38sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780507691.64982748 seconds. +251.58sINFOros2_control_node[2026-06-03 17:28:11.848] [info] Received new action goal +251.58sINFOros2_control_node[2026-06-03 17:28:11.848] [info] Accepted new action goal +251.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m +254.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.003 of wall time (558/76320). Below 1% is expected on a non-realtime system.[0m +257.49sINFOros2_control_node[2026-06-03 17:28:17.758] [info] Received new action goal +257.49sINFOros2_control_node[2026-06-03 17:28:17.758] [info] Accepted new action goal +260.02sINFOros2_control_node[2026-06-03 17:28:20.291] [info] Received new action goal +260.02sINFOros2_control_node[2026-06-03 17:28:20.291] [info] Accepted new action goal +268.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.542566)[0m +268.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.652566)[0m +268.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.672566)[0m +268.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.902566)[0m ×2 +268.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.912566)[0m +268.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507708.922566)[0m +269.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.532566)[0m +269.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.562566)[0m +269.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.662566)[0m ×2 +269.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.692566)[0m +269.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.712566)[0m +269.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.722566)[0m +269.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.792566)[0m +269.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507709.812566)[0m +269.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.092566)[0m +269.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.112566)[0m ×2 +270.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.312566)[0m +270.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.332566)[0m +270.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.352566)[0m ×2 +270.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.362566)[0m +270.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.672566)[0m +270.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.712566)[0m +270.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.762566)[0m +270.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.852566)[0m +270.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.882566)[0m +270.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.942566)[0m +270.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.952566)[0m +270.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.972566)[0m +270.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507710.992566)[0m +270.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.002566)[0m +270.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.082566)[0m +270.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.092566)[0m +270.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.112566)[0m +270.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.132566)[0m +270.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.142566)[0m +270.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.152566)[0m +270.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.232566)[0m +271.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.372566)[0m +271.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.392566)[0m +271.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.422566)[0m +271.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.442566)[0m +271.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.532566)[0m ×2 +271.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.572566)[0m +271.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.592566)[0m +271.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.772566)[0m ×2 +271.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.792566)[0m +271.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.802566)[0m +271.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507711.992566)[0m +271.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.002566)[0m +271.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.102566)[0m +271.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.132566)[0m +271.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.142566)[0m +271.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.172566)[0m +271.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.212566)[0m +271.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.232566)[0m +272.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.362566)[0m +272.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.382566)[0m +272.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.392566)[0m +272.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.402566)[0m +272.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.422566)[0m ×2 +272.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.502566)[0m +272.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.512566)[0m +272.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.542566)[0m +272.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.562566)[0m +272.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.572566)[0m ×2 +272.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.582566)[0m +272.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.792566)[0m +272.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.812566)[0m +272.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.832566)[0m +272.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.852566)[0m +272.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.962566)[0m +272.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.982566)[0m +272.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507712.992566)[0m +272.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.022566)[0m ×2 +272.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.182566)[0m +272.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.192566)[0m +272.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.202566)[0m +272.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.212566)[0m +273.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.272566)[0m +273.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.332566)[0m +273.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.392566)[0m +273.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.512566)[0m +273.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.522566)[0m +273.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.582566)[0m +273.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.602566)[0m +273.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.622566)[0m +273.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.662566)[0m +273.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.722566)[0m +273.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.742566)[0m +273.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.822566)[0m +273.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.842566)[0m +273.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.872566)[0m +273.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.952566)[0m +273.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.972566)[0m +273.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507713.982566)[0m +273.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507714.002566)[0m +273.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507714.022566)[0m ×2 +273.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507714.112566)[0m +274.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780507708.072566) that ends in the past (1780507714.392566)[0m +274.13sINFOros2_control_nodemalloc_consolidate(): unaligned fastbin chunk detected +284.39sINFOfoxglove_bridgeRemoving channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 54 for topic "/dynamic_joint_states" (control_msgs/msg/DynamicJointState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 53 for topic "/joint_trajectory_controller/state" (control_msgs/msg/JointTrajectoryControllerState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 52 for topic "/force_torque_sensor_broadcaster/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 51 for topic "/force_torque_sensor_broadcaster/wrench" (geometry_msgs/msg/WrenchStamped)[0m +284.39sINFOfoxglove_bridgeRemoving channel 50 for topic "/joint_trajectory_admittance_controller/controller_state" (control_msgs/msg/JointTrajectoryControllerState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 49 for topic "/joint_trajectory_controller/controller_state" (control_msgs/msg/JointTrajectoryControllerState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 48 for topic "/joint_trajectory_controller/joint_trajectory" (trajectory_msgs/msg/JointTrajectory)[0m +284.39sINFOfoxglove_bridgeRemoving channel 47 for topic "/joint_velocity_controller/command" (control_msgs/msg/JointJog)[0m +284.39sINFOfoxglove_bridgeRemoving channel 46 for topic "/joint_velocity_controller/controller_state" (moveit_pro_controllers_msgs/msg/JointVelocityControllerState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 45 for topic "/joint_velocity_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 43 for topic "/velocity_force_controller/controller_state" (moveit_pro_controllers_msgs/msg/VelocityForceControllerState)[0m +284.39sINFOfoxglove_bridgeRemoving channel 41 for topic "/velocity_force_controller/command" (moveit_pro_controllers_msgs/msg/VelocityForceCommand)[0m +284.39sINFOfoxglove_bridgeRemoving channel 40 for topic "/velocity_force_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 39 for topic "/joint_trajectory_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 38 for topic "/scene_camera/camera_info" (sensor_msgs/msg/CameraInfo)[0m +284.39sINFOfoxglove_bridgeRemoving channel 34 for topic "/scene_camera/points" (sensor_msgs/msg/PointCloud2)[0m +284.39sINFOfoxglove_bridgeRemoving channel 32 for topic "/joint_state_broadcaster/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +284.39sINFOfoxglove_bridgeRemoving channel 31 for topic "/wrist_camera/points" (sensor_msgs/msg/PointCloud2)[0m +284.39sINFOfoxglove_bridgeRemoving channel 23 for topic "/wrist_camera/color" (sensor_msgs/msg/Image)[0m +284.39sINFOfoxglove_bridgeRemoving channel 24 for topic "/wrist_camera/camera_info" (sensor_msgs/msg/CameraInfo)[0m +284.39sINFOfoxglove_bridgeRemoving channel 26 for topic "/wrist_camera/depth" (sensor_msgs/msg/Image)[0m +284.39sINFOfoxglove_bridgeRemoving channel 27 for topic "/scene_camera/depth" (sensor_msgs/msg/Image)[0m +284.39sINFOfoxglove_bridgeRemoving channel 28 for topic "/scene_camera/color" (sensor_msgs/msg/Image)[0m +284.39sINFOfoxglove_bridgeRemoving channel 29 for topic "/robotiq_gripper_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +285.15sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780507725.42181039 seconds +314.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 5:10.006 of wall time (650/94686). Below 1% is expected on a non-realtime system.[0m +345.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +351.25sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.25sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.25sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.25sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.25sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.25sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +351.26sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +351.27sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +351.28sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +351.29sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +351.29sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +351.30sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +351.31sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +351.32sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +351.33sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +351.34sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +351.34sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +351.35sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +351.36sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +351.36sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +351.37sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +351.37sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +351.37sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +351.37sERRORui_teleop_bridgeTraceback (most recent call last): +351.37sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +351.37sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +351.37sINFOui_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 +351.37sINFOui_teleop_bridgerclpy.shutdown() +351.37sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +351.37sINFOui_teleop_bridge_shutdown(context=context) +351.37sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +351.37sINFOui_teleop_bridgereturn context.shutdown() +351.37sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +351.37sINFOui_teleop_bridgeself.__context.shutdown() +351.37sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +351.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +351.37sINFOros2_control_nodeShutdown request received....[0m +351.38sINFOfoxglove_bridgeShutdown complete[0m +351.50sINFOweb_video_server-20process has finished cleanly [pid 10385] +351.55sERRORui_teleop_bridge-17process has died [pid 10379, 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_7z9qpnbt']. +351.56sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10371] +351.56sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10369] +351.56sINFOparameter_manager_node-10process has finished cleanly [pid 10329] +351.57sINFOexecute_objective_bridge-16process has finished cleanly [pid 10377] +352.30sINFOfoxglove_bridge-18process has finished cleanly [pid 10381] +352.30sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +352.30sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +352.32sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10383] +352.32sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +352.41sINFOwaypoint_manager_node-11process has finished cleanly [pid 10367] +352.47sINFOcomponent_container_mt-15process has finished cleanly [pid 10375] +352.61sINFOobjective_server_node[0;m[2026-06-03 17:29:52.878] [moveit_pro_license] [info] +352.61sINFOobjective_server_node* Application has successfully terminated +352.69sINFOmove_group-9process has finished cleanly [pid 10326] +352.73sERRORobjective_server_nodeStack trace (most recent call last): +352.75sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +352.75sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f3a09b64e4, in _start +352.75sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb51e3ace3f, in __libc_start_main +352.75sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb51e3acd96, in +352.75sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb51e3c860f, in exit +352.75sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb51e3c8494, in +352.75sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fb51e851251, in spdlog::details::registry::~registry() +352.75sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fb51e85be66, 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() +352.75sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f3a09bbcba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +352.75sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f3a09b8bf3, in spdlog_ros::RosSink::~RosSink() +352.75sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f3a09bde01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +352.75sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed46b2e, in rclcpp::Node::~Node() +352.75sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed21d39, in +352.75sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed500b9, in +352.75sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed50000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +352.75sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed21d39, in +352.75sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb51ed26b31, in rclcpp::CallbackGroup::~CallbackGroup() +352.75sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb4e4d79800]) +353.50sERRORobjective_server_node_main-14process has died [pid 10373, 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_ql8_2qkc --params-file /tmp/launch_params_m04jlvh3 --params-file /tmp/launch_params_90rk5w3f --params-file /tmp/launch_params_pjp8r7ie --params-file /tmp/launch_params_ii900ggw --params-file /tmp/launch_params_m4_tw1gr']. +353.50sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +356.25sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +356.26sINFOros2_control_node-1sending signal 'SIGKILL' to process[ros2_control_node-1] +356.60sERRORros2_control_node-1process has died [pid 10306, exit code -9, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_695ozz6d --params-file /tmp/launch_params_3ukie28c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qv45zqmd --params-file /tmp/launch_params_ulseuw2j']. +361.27sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-17-30-00-869963-c8b7b86eb90f-11551 +362.90sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +362.95sINFOros2_control_node-1process started with pid [11581] +362.95sINFOmove_group-9process started with pid [11600] +362.95sINFOparameter_manager_node-10process started with pid [11603] +362.95sINFOwaypoint_manager_node-11process started with pid [11642] +362.95sINFOmove_joint_resampler_node-12process started with pid [11644] +362.95sINFOmove_end_effector_resampler_node-13process started with pid [11646] +362.95sINFOobjective_server_node_main-14process started with pid [11648] +362.95sINFOcomponent_container_mt-15process started with pid [11650] +362.95sINFOexecute_objective_bridge-16process started with pid [11652] +362.95sINFOui_teleop_bridge-17process started with pid [11654] +362.95sINFOfoxglove_bridge-18process started with pid [11656] +362.95sINFOtf2_web_republisher_node-19process started with pid [11672] +362.95sINFOweb_video_server-20process started with pid [11684] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11583] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11585] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11587] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11589] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11591] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11594] +362.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11597] +363.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +363.15sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +363.16sINFOfoxglove_bridgeServer listening on port 3201 +363.17sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description" +363.17sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description"[0m +363.18sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" +363.18sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m +363.18sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" +363.18sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m +363.19sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events" +363.19sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events"[0m +363.20sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state" +363.21sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +363.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +363.21sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +363.21sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint" +363.21sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint"[0m +363.75sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static" +363.75sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic" +363.76sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static"[0m +363.76sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic"[0m +363.79sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world" +363.79sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world"[0m +363.84sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene" +363.84sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene"[0m +363.84sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf" +363.84sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf"[0m +363.85sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_end_effector" +363.85sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_end_effector"[0m +363.85sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" +363.85sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" +363.85sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +363.85sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" +363.85sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" +363.86sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" +363.86sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m +363.86sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m +363.86sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object" +363.86sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object"[0m +363.86sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object" +363.86sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object"[0m +363.86sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" +363.86sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" +363.87sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +363.87sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m +363.92sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +363.97sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +363.99sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +364.04sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +364.04sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +364.04sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +364.06sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +365.22sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" +365.22sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m +365.22sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" +365.22sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m +365.42sINFOobjective_server_node[2026-06-03 17:30:05.690] [moveit_pro_license] [info] +365.52sINFOcontroller_managerupdate rate is 600 Hz +365.52sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +365.52sWARNcontroller_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. +365.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +365.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +365.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +365.59sINFOcontroller_managerLoading controller 'velocity_force_controller' +365.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +365.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +365.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +365.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" +365.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m +365.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" +365.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth" +365.75sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" +365.75sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" +365.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m +365.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth"[0m +365.75sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m +365.75sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m +365.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" +365.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m +365.76sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points" +365.77sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/visual_markers" +365.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/velocity_force_controller/transition_event" +365.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event" +365.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points" +365.77sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/visual_markers"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/velocity_force_controller/transition_event"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector" +365.77sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/blackboard_contents" +365.77sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/blackboard_contents"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/behavior_tree_status" +365.77sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info" +365.77sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/behavior_tree_status"[0m +365.77sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info"[0m +365.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +365.81sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +365.84sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +365.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' +365.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +365.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +365.93sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +365.94sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +365.94sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +365.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +365.95sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +365.95sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +366.03sINFOros2_control_node[2026-06-03 17:30:06.298] [info] Controller state will be published at 10 Hz. +366.03sINFOros2_control_node[2026-06-03 17:30:06.299] [info] VelocityForceController 'on_configure' succeeded. +366.03sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +366.03sINFOros2_control_node[2026-06-03 17:30:06.301] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +366.03sINFOros2_control_node[2026-06-03 17:30:06.301] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +366.06sINFOros2_control_node[2026-06-03 17:30:06.332] [info] First order lag filter time constant set to: 0.2 seconds +366.06sINFOros2_control_node[2026-06-03 17:30:06.332] [info] Controller state will be published at 50 Hz. +366.07sINFOros2_control_node[2026-06-03 17:30:06.338] [info] Registered `FollowJointTrajectory` action server. +366.07sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +366.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +366.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +366.07sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +366.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +366.08sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +366.12sINFOros2_control_node[2026-06-03 17:30:06.385] [info] Controller state will be published at 20 Hz. +366.12sINFOros2_control_node[2026-06-03 17:30:06.386] [info] JointVelocityController 'on_configure' succeeded. +366.12sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +366.12sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +366.12sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +366.12sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +366.12sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +366.13sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +366.13sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +366.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +366.14sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +366.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11594] +366.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11591] +366.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11589] +366.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11597] +366.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11587] +366.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11583] +366.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11585] +366.48sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command" +366.48sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectory_execution_event" +366.48sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command"[0m +366.48sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectory_execution_event"[0m +366.48sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state" +366.48sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state"[0m +366.48sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap" +366.48sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event" +366.48sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state" +366.49sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command" +366.49sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event" +366.49sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" +366.49sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/controller_state" +366.49sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state" +366.49sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_state_broadcaster/transition_event" +366.49sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_state_broadcaster/transition_event"[0m +366.49sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" +366.49sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" +366.49sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m +366.50sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/dynamic_joint_states" +366.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" +367.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 +367.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 +368.15sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +368.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 +368.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +368.66sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +369.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 +370.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 +371.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 +371.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 +371.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 3.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 4.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 4.23sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.39sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 4.39sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 6.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.92sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 50 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.20sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 6.87sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 2 warnings · 112 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-17-30-00-869963-c8b7b86eb90f-11551 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.63sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.68sINFOros2_control_node-1process started with pid [11581] + 1.68sINFOmove_group-9process started with pid [11600] + 1.68sINFOparameter_manager_node-10process started with pid [11603] + 1.68sINFOwaypoint_manager_node-11process started with pid [11642] + 1.68sINFOmove_joint_resampler_node-12process started with pid [11644] + 1.68sINFOmove_end_effector_resampler_node-13process started with pid [11646] + 1.68sINFOobjective_server_node_main-14process started with pid [11648] + 1.68sINFOcomponent_container_mt-15process started with pid [11650] + 1.68sINFOexecute_objective_bridge-16process started with pid [11652] + 1.68sINFOui_teleop_bridge-17process started with pid [11654] + 1.68sINFOfoxglove_bridge-18process started with pid [11656] + 1.68sINFOtf2_web_republisher_node-19process started with pid [11672] + 1.68sINFOweb_video_server-20process started with pid [11684] + 1.69sINFOparameter_manager_nodeStarted parameter manager node. + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11583] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11585] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11587] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11589] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11591] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11594] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11597] + 1.70sWARNros2_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 + 1.70sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.89sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.90sINFOfoxglove_bridgeServer listening on port 3201 + 1.90sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.90sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description" + 1.91sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.91sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events" + 1.92sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state" + 1.94sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" + 1.94sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.94sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.94sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint" + 1.95sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.95sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.95sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint"[0m + 2.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static" + 2.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic" + 2.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static"[0m + 2.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic"[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world" + 2.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene" + 2.57sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf" + 2.57sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf"[0m + 2.58sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_end_effector" + 2.58sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.58sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.58sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.58sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.58sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.58sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.58sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" + 2.59sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.59sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" + 2.59sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m + 2.59sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m + 2.59sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object" + 2.59sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object" + 2.60sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.60sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" + 2.60sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m + 2.66sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOros2_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. + 2.74sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.74sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.77sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOwaypoint_manager_nodeStarted waypoint manager node. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 1 warning · 58 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 6.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 58 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 6.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 1 warning · 58 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780507807.99204016 seconds. ×2 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780507808.00222230 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780507808.58474851 seconds. ×2 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 6.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 47 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.20sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780507809.75231266 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 3.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 4.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 4.23sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.39sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 4.39sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 6.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.1s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
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/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: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780507810.37452936 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780507811.38489270 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780507811.93821144 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780507811.96266484 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780507812.52051067 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780507812.67122555 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780507813.33159971 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780507813.38175106 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780507813.94477153 seconds. ×2 + 3.61sINFOobjective_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 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.76sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 17:30:14.136] [info] Accepted new action goal + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 0:10.001 of wall time (16/3105). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Received new action goal + 6.30sINFOros2_control_node[2026-06-03 17:30:16.669] [info] Accepted new action goal | ||||