118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 15889 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780449247.89535499 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780449248.44865131 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Accepted new action goal + 1.98sINFOobjective_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 + 1.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×3913 + 4.18sINFOjoint_trajectory_controllerAccepted new action goal ×3913 + 4.18sINFOros2_control_nodeReceived new action goal[0m ×3913 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×3913 + 9.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.14sINFOjoint_trajectory_controllerGoal reached, success! ×96 + 9.14sINFOros2_control_nodeGoal reached, success![0m ×96 + 24.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 3:10.004 of wall time (109/58548). Below 1% is expected on a non-realtime system.[0m + 44.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780449292.25366330 seconds ×2 + 45.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780449292.89917088 seconds. ×2 + 45.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 45.16sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 45.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 45.18sINFOros2_control_node[2026-06-03 01:14:53.073] [info] Received new action goal + 45.18sINFOros2_control_node[2026-06-03 01:14:53.073] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.4s | 111 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.76sINFOros2_control_node[2026-06-03 01:13:17.179] [info] Received new action goal + 6.76sINFOros2_control_node[2026-06-03 01:13:17.179] [info] Accepted new action goal + 9.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.93sINFOros2_control_node[2026-06-03 01:13:20.349] [info] Received new action goal + 9.93sINFOros2_control_node[2026-06-03 01:13:20.349] [info] Accepted new action goal + 12.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 12.89sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.91sINFOros2_control_node[2026-06-03 01:13:23.331] [info] Received new action goal + 12.91sINFOros2_control_node[2026-06-03 01:13:23.331] [info] Accepted new action goal + 15.87sINFOobjective_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 + 22.43sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 2:10.004 of wall time (65/40117). Below 1% is expected on a non-realtime system.[0m + 23.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 24.31sINFOros2_control_node[2026-06-03 01:13:34.728] [info] Received new action goal + 24.31sINFOros2_control_node[2026-06-03 01:13:34.728] [info] Accepted new action goal + 25.50sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 25.51sINFOobjective_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 + 25.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 25.79sINFOros2_control_node[2026-06-03 01:13:36.211] [info] Received new action goal + 25.79sINFOros2_control_node[2026-06-03 01:13:36.211] [info] Accepted new action goal + 28.06sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 28.06sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.07sINFOros2_control_node[2026-06-03 01:13:38.489] [info] Received new action goal + 28.07sINFOros2_control_node[2026-06-03 01:13:38.489] [info] Accepted new action goal + 31.10sINFOros2_control_node[2026-06-03 01:13:41.518] [info] Received new action goal + 31.10sINFOros2_control_node[2026-06-03 01:13:41.518] [info] Accepted new action goal + 33.69sINFOobjective_server_nodeFound path in 0 iterations (1.65e-06 s). + 33.70sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.72sINFOros2_control_node[2026-06-03 01:13:44.142] [info] Received new action goal + 33.72sINFOros2_control_node[2026-06-03 01:13:44.142] [info] Accepted new action goal + 44.69sINFOros2_control_node[2026-06-03 01:13:55.111] [info] Received new action goal + 44.69sINFOros2_control_node[2026-06-03 01:13:55.111] [info] Accepted new action goal + 45.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780449236.26842070 seconds ×2 + 46.56sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780449236.97520542 seconds. ×2 + 47.77sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 47.77sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.78sINFOros2_control_node[2026-06-03 01:13:58.199] [info] Received new action goal + 47.78sINFOros2_control_node[2026-06-03 01:13:58.199] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 33.6s | 8 errors · 5447 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1269 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1265 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1269 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1265 + 0.09sINFOjoint_trajectory_controllerGoal reached, success! ×170 + 0.09sINFOros2_control_nodeGoal reached, success![0m ×170 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780449317.06550813 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848)[0m + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780449317.64190292 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.75sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Received new action goal + 3.75sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Accepted new action goal + 8.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.71sINFOros2_control_node[2026-06-03 01:15:22.756] [info] Received new action goal + 8.71sINFOros2_control_node[2026-06-03 01:15:22.756] [info] Accepted new action goal + 10.65sINFOros2_control_node[2026-06-03 01:15:24.694] [info] Received new action goal + 10.65sINFOros2_control_node[2026-06-03 01:15:24.694] [info] Accepted new action goal + 16.52sINFOobjective_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 + 16.57sINFOobjective_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 + 18.80sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 4:10.006 of wall time (163/76973). Below 1% is expected on a non-realtime system.[0m + 36.57sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780449350.61559963 seconds ×2 + 36.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620) + 36.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620)[0m + 36.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620) + 36.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620) + 36.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620)[0m + 36.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620)[0m + 37.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780449351.23483658 seconds. ×2 + 37.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.20sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.33sINFOobjective_server_nodeFound path in 6 iterations (0.00432882 s). + 38.38sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 38.39sINFOros2_control_node[2026-06-03 01:15:52.439] [info] Received new action goal + 38.39sINFOros2_control_node[2026-06-03 01:15:52.440] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 31.9s | 2 errors · 68 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal + 27.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 27.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 27.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 27.63sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 27.63sINFOobjective_server_nodePath shortcutter: [X___________X] + 27.64sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 27.65sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 27.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 27.70sINFOobjective_server_nodeFound path in 1 iterations (0.00280831 s). + 27.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 27.81sINFOros2_control_node[2026-06-03 01:12:07.991] [info] Received new action goal + 27.81sINFOros2_control_node[2026-06-03 01:12:07.991] [info] Accepted new action goal + 30.33sINFOros2_control_node[2026-06-03 01:12:10.513] [info] Received new action goal + 30.33sINFOros2_control_node[2026-06-03 01:12:10.513] [info] Accepted new action goal + 32.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 32.10sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 32.10sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 33.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 34.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 34.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 34.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 34.87sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 34.87sINFOobjective_server_nodePath shortcutter: [X_____________X] + 34.88sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 34.88sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.6s | 6 errors · 824 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×176 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×173 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×18 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×176 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×173 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×18 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780449350.61559963 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620) + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620)[0m + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620)[0m + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780449351.23483658 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.68sINFOobjective_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 + 4.78sINFOobjective_server_nodeFound path in 6 iterations (0.00432882 s). + 4.83sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.84sINFOros2_control_node[2026-06-03 01:15:52.439] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-03 01:15:52.440] [info] Accepted new action goal + 14.06sINFOobjective_server_node[0;m[0;93m2026-06-03 01:16:01.654504272 [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 + 14.06sINFOobjective_server_node[0;93m2026-06-03 01:16:01.654536153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.54sINFOobjective_server_node[0;93m2026-06-03 01:16:02.134853321 [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 01:16:02.134883032 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.63sINFOobjective_server_node[0;93m2026-06-03 01:16:02.232931485 [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 + 14.64sINFOobjective_server_node[0;93m2026-06-03 01:16:02.235220674 [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 + 14.64sINFOobjective_server_node[0;93m2026-06-03 01:16:02.235239524 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.93sINFOobjective_server_node[0;93m2026-06-03 01:16:02.528370268 [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 + 14.95sINFOobjective_server_node[0;93m2026-06-03 01:16:02.547929243 [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 + 14.95sINFOobjective_server_node[0;93m2026-06-03 01:16:02.547964914 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.55sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 20.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 20.45sINFOobjective_server_nodeFound path in 4 iterations (0.00391525 s). + 20.50sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.53sINFOobjective_server_nodeFound path in 12 iterations (0.00320263 s). + 20.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.60sINFOobjective_server_nodeFound path in 2 iterations (0.00323218 s). + 20.63sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 20.65sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 20.67sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.69sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). + 20.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.73sINFOobjective_server_nodeFound path in 12 iterations (0.00536134 s). + 20.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 20.79sINFOobjective_server_nodeFound path in 1 iterations (0.00274597 s). + 20.82sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 20.84sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.89sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 20.92sINFOobjective_server_nodePath shortcutter: [X____________________________X_______________________X] + 20.94sINFOobjective_server_nodeFound path in 4 iterations (0.00278142 s). + 21.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 21.03sINFOobjective_server_nodeFound path in 1 iterations (0.00439097 s). + 21.07sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 21.09sINFOobjective_server_nodeFound path in 1 iterations (0.00240344 s). + 21.16sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 21.18sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 + 21.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 21.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] + 21.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 21.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 21.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.48sINFOros2_control_node[2026-06-03 01:16:09.081] [info] Received new action goal + 21.48sINFOros2_control_node[2026-06-03 01:16:09.081] [info] Accepted new action goal + 26.49sINFOros2_control_node[2026-06-03 01:16:14.084] [info] Received new action goal + 26.49sINFOros2_control_node[2026-06-03 01:16:14.084] [info] Accepted new action goal + 28.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.16sINFOros2_control_node[2026-06-03 01:16:15.757] [info] Received new action goal + 28.16sINFOros2_control_node[2026-06-03 01:16:15.757] [info] Accepted new action goal + 29.37sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 29.41sINFOros2_control_node[2026-06-03 01:16:17.008] [info] Received new action goal + 29.41sINFOros2_control_node[2026-06-03 01:16:17.008] [info] Accepted new action goal + 34.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780449382.22479892 seconds ×2 + 35.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780449382.85730577 seconds. ×2 + 35.45sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 35.45sINFOobjective_server_nodePath shortcutter: [X______X] + 35.46sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Received new action goal + 35.46sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.8s | 22 errors · 7031 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1620 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1609 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1620 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1609 + 0.13sINFOjoint_trajectory_controllerGoal reached, success! ×272 + 0.13sINFOros2_control_nodeGoal reached, success![0m ×272 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780449292.25366330 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780449292.89917088 seconds. ×2 + 3.73sINFOobjective_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 (3e-07 s). + 3.82sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.84sINFOros2_control_node[2026-06-03 01:14:53.073] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 01:14:53.073] [info] Accepted new action goal + 7.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.83sINFOobjective_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 + 11.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449300.342848) + 11.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449300.342848)[0m + 11.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.022847) + 11.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.022847)[0m + 11.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.032847) + 11.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.032847)[0m + 12.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.572847) + 12.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449301.572847)[0m + 13.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449302.232847) + 13.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449302.232847)[0m + 13.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449302.252847) + 13.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449302.252847)[0m + 14.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449303.392847) + 14.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449303.392847)[0m + 14.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449303.402848) + 14.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449303.402848)[0m + 15.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449304.592847) + 15.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449304.592847)[0m + 15.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449305.132847) + 15.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449305.132847)[0m + 27.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780449317.06550813 seconds ×2 + 27.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848) + 27.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848)[0m + 28.40sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780449317.64190292 seconds. ×2 + 28.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 28.55sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.56sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Received new action goal + 28.56sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 24 errors · 2 warnings · 140 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 0.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 0.56sINFOobjective_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 + 0.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 0.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 + 1.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780449441.00902319 seconds. ×2 + 1.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780449441.00945067 seconds ×2 + 1.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780449441.54884315 seconds. ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780449443.75897050 seconds ×2 + 3.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 10.01sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.01sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.02sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] + 10.03sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] + 10.03sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] + 10.04sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] + 10.04sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.05sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.06sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.07sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.07sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.08sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.09sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.10sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.10sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.12sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.12sINFOcontroller_managerShutdown request received.... + 10.12sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.12sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.12sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.12sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.12sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down the controller manager. + 10.12sINFOrosbridge_websocketExiting due to SIGINT + 10.13sERRORrosapi_nodeTraceback (most recent call last): + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> + 10.13sINFOrosapi_nodemain() + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main + 10.13sINFOrosapi_noderclpy.spin(node) + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 10.13sINFOrosapi_nodeexecutor.spin_once() + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 10.13sINFOrosapi_nodeself._spin_once_impl(timeout_sec) + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 10.13sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 10.13sINFOrosapi_nodereturn next(self._cb_iter) + 10.13sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 10.13sINFOrosapi_noderaise ExternalShutdownException() + 10.13sINFOrosapi_noderclpy.executors.ExternalShutdownException + 10.13sERRORui_teleop_bridgeTraceback (most recent call last): + 10.13sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.13sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.13sINFOui_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 + 10.13sINFOui_teleop_bridgerclpy.shutdown() + 10.13sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.13sINFOui_teleop_bridge_shutdown(context=context) + 10.13sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.13sINFOui_teleop_bridgereturn context.shutdown() + 10.13sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.13sINFOui_teleop_bridgeself.__context.shutdown() + 10.13sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.13sINFOros2_control_nodeShutdown request received....[0m + 10.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.13sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.13sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.13sINFOros2_control_nodeShutting down the controller manager.[0m + 10.16sINFOobjective_server_node[0;m[2026-06-03 01:17:30.055] [moveit_pro_license] [info] + 10.16sINFOobjective_server_node************************************************* ×2 + 10.16sINFOobjective_server_node* MoveIt Pro License + 10.16sINFOobjective_server_node* Application has successfully terminated + 10.22sINFOobjective_server_nodecorrupted double-linked list + 10.22sERRORobjective_server_nodeStack trace (most recent call last): + 10.23sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.23sINFOobjective_server_node#18 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55759f9c84e4, in _start + 10.23sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da12e3f, in __libc_start_main + 10.23sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da12d96, in + 10.23sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da2e60f, in exit + 10.23sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da2e494, in + 10.23sINFOobjective_server_node#13 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f07fffcfcd3, in Ort::detail::Base<OrtEnv>::~Base() + 10.23sINFOobjective_server_node#12 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f07fee4c144, in + 10.23sINFOobjective_server_node#11 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f07feeb0721, in + 10.23sINFOobjective_server_node#10 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f07ff50acf6, in + 10.23sINFOobjective_server_node#9 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f07ff50abf1, in + 10.23sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da8e452, in free + 10.23sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da8be9f, in + 10.23sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da8a91a, in + 10.24sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da8a7cb, in + 10.24sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da89cfb, in + 10.24sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da72676, in + 10.24sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da117f2, in abort + 10.24sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da2b475, in raise + 10.24sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f084da7f9fc, in pthread_kill + 10.24sERRORobjective_server_nodeAborted (Signal sent by tkill() 23687 0) + 10.24sINFOtf2_web_republisher_node-20process has finished cleanly [pid 23709] + 10.24sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system + 10.24sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.24sINFOweb_video_server-21process has finished cleanly [pid 23736] + 10.29sINFOrosbridge_websocket-19process has finished cleanly [pid 23697] + 10.29sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system + 10.78sERRORobjective_server_node_main-14process has died [pid 23687, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_b5ngzwco --params-file /tmp/launch_params_i54qp3ye --params-file /tmp/launch_params_81ah61w4 --params-file /tmp/launch_params__ynfsplr --params-file /tmp/launch_params_wbyl653u --params-file /tmp/launch_params_gn25lg0y']. + 10.78sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.10sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 23685] + 11.12sINFOmove_joint_resampler_node-12process has finished cleanly [pid 23683] + 11.14sERRORui_teleop_bridge-17process has died [pid 23693, 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_96os25pe']. + 11.14sINFOparameter_manager_node-10process has finished cleanly [pid 23643] + 11.16sINFOwaypoint_manager_node-11process has finished cleanly [pid 23681] + 11.16sINFOexecute_objective_bridge-16process has finished cleanly [pid 23691] + 11.20sERRORrosapi_node-18process has died [pid 23695, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_5nu0r996']. + 11.25sINFOcomponent_container_mt-15process has finished cleanly [pid 23689] + 11.43sINFOmove_group-9process has finished cleanly [pid 23640] + 11.79sINFOros2_control_node-1process has finished cleanly [pid 23620] | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 65 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.0019966 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.18sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Accepted new action goal + 0.62sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Received new action goal + 0.62sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Accepted new action goal + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.13sINFOros2_control_nodeGot request to cancel goal[0m + 2.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780449166.98697853 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780449167.59566712 seconds. ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.93sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Received new action goal + 2.93sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Accepted new action goal + 5.27sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Received new action goal + 5.27sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Accepted new action goal + 13.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780449178.66974926 seconds ×2 + 14.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 14.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 15.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 15.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.19sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 15.19sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 17.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 17.77sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 17.88sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 17.88sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 17.88sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 47 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-03 01:13:55.111] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-03 01:13:55.111] [info] Accepted new action goal + 2.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780449236.26842070 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780449236.97520542 seconds. ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.18sINFOros2_control_node[2026-06-03 01:13:58.199] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 01:13:58.199] [info] Accepted new action goal + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 10.25sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.26sINFOros2_control_node[2026-06-03 01:14:04.279] [info] Received new action goal + 10.26sINFOros2_control_node[2026-06-03 01:14:04.279] [info] Accepted new action goal + 13.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780449247.89535499 seconds ×2 + 14.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780449248.44865131 seconds. ×2 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 14.58sINFOobjective_server_nodePath shortcutter: [X___X] + 14.59sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Received new action goal + 14.59sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Accepted new action goal + 15.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.2s | 4 errors · 44 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal + 9.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 1:10.003 of wall time (41/21654). Below 1% is expected on a non-realtime system.[0m + 12.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 12.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780449156.16324711 seconds ×2 + 13.20sINFOobjective_server_node0 - ← 0 → - 0 / move_to_pose + 13.21sINFOobjective_server_node1 - ← 1 → - 1 / current state + 13.21sINFOobjective_server_node- 1 → 0 → - 0 / Move to Pose + 13.21sINFOobjective_server_node- 1 → 0 ← 8 - / move to pose + 13.21sINFOobjective_server_node8 - ← 8 → - 8 / pose IK + 13.21sINFOobjective_server_node1 - ← 1 → - 1 / generate pose + 13.21sINFOobjective_server_nodeFailing stage(s): + 13.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780449156.75370336 seconds. ×2 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 14.00sINFOros2_control_node[2026-06-03 01:12:36.947] [info] Received new action goal + 14.00sINFOros2_control_node[2026-06-03 01:12:36.947] [info] Accepted new action goal | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 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: 1780449088.52370906 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 1.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 1.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 2.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 2.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 2.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.65sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 2.65sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.87sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 5.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.19sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 5.19sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.99sINFOros2_control_node[2026-06-03 01:11:36.962] [info] Received new action goal + 8.99sINFOros2_control_node[2026-06-03 01:11:36.962] [info] Accepted new action goal + 12.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 12.28sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.30sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 12.30sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 13.00sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 13.00sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 13.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 13.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 13.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 14.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 15.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 15.50sINFOobjective_server_nodePath shortcutter: [X______X] + 15.50sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 15.50sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 33 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780449403.97421527 seconds ×2 + 13.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780449404.52991939 seconds. ×2 + 14.06sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 14.06sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.07sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Received new action goal + 14.07sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 4 errors · 2 warnings · 54 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal + 5.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.26sINFOros2_control_node[2026-06-03 01:17:10.230] [info] Received new action goal + 5.26sINFOros2_control_node[2026-06-03 01:17:10.230] [info] Accepted new action goal + 5.26sINFOros2_control_node[2026-06-03 01:17:10.230] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Canceling active goal... + 12.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780449437.08171821 seconds ×2 + 12.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 14.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 15.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 15.48sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 15.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.8s | 4 errors · 79 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780449156.16324711 seconds ×2 + 0.26sINFOobjective_server_node0 - ← 0 → - 0 / move_to_pose + 0.26sINFOobjective_server_node1 - ← 1 → - 1 / current state + 0.26sINFOobjective_server_node- 1 → 0 → - 0 / Move to Pose + 0.26sINFOobjective_server_node- 1 → 0 ← 8 - / move to pose + 0.26sINFOobjective_server_node8 - ← 8 → - 8 / pose IK + 0.26sINFOobjective_server_node1 - ← 1 → - 1 / generate pose + 0.26sINFOobjective_server_nodeFailing stage(s): + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780449156.75370336 seconds. ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 1.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.04sINFOobjective_server_nodePath shortcutter: [X______X] + 1.05sINFOros2_control_node[2026-06-03 01:12:36.947] [info] Received new action goal + 1.05sINFOros2_control_node[2026-06-03 01:12:36.947] [info] Accepted new action goal + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 5.84sINFOobjective_server_nodePath shortcutter: [X__________X] + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 5.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 5.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 5.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 5.94sINFOobjective_server_nodeFound path in 1 iterations (0.00174723 s). + 6.01sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 6.03sINFOobjective_server_nodeFound path in 1 iterations (0.00329099 s). + 6.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 6.21sINFOros2_control_node[2026-06-03 01:12:42.109] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:12:42.109] [info] Accepted new action goal + 8.93sINFOobjective_server_nodePath shortcutter: [X_X] + 8.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.00sINFOobjective_server_nodeFound path in 1 iterations (0.0019966 s). + 9.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.12sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Received new action goal + 9.12sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Accepted new action goal + 9.55sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Received new action goal + 9.55sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Accepted new action goal + 11.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 11.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 11.06sINFOros2_control_nodeGot request to cancel goal[0m + 11.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 11.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780449166.98697853 seconds ×2 + 11.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780449167.59566712 seconds. ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 11.86sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Received new action goal + 11.86sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Accepted new action goal + 14.20sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Received new action goal + 14.20sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 2 errors · 57 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780449382.22479892 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780449382.85730577 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.68sINFOobjective_server_nodePath shortcutter: [X______X] + 1.68sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Received new action goal + 1.69sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Accepted new action goal + 6.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.63sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.63sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.64sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 6.64sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.64sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 6.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.68sINFOobjective_server_nodeFound path in 1 iterations (0.00244819 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 6.77sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.79sINFOros2_control_node[2026-06-03 01:16:28.163] [info] Received new action goal + 6.79sINFOros2_control_node[2026-06-03 01:16:28.163] [info] Accepted new action goal + 9.31sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 9.31sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 11.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.09sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 11.09sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 11.48sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 11.61sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 11.61sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 11.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 12.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 12.36sINFOobjective_server_nodePath shortcutter: [X________X] + 12.37sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 12.37sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 14.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 2 errors · 56 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.80sINFOros2_control_node[2026-06-03 01:12:20.708] [info] Received new action goal + 8.80sINFOros2_control_node[2026-06-03 01:12:20.708] [info] Accepted new action goal + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 11.15sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 11.15sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 13.06sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 13.06sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 13.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 13.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 14.76sINFOobjective_server_nodePath shortcutter: [X______X] + 14.77sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 14.77sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 2 errors · 43 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780449414.35431004 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780449414.91501164 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Accepted new action goal + 2.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 11.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 11.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 11.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 11.90sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 11.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 12.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 12.55sINFOobjective_server_nodePath shortcutter: [X___X] + 12.57sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 12.57sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 26 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780449403.97421527 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: 1780449404.52991939 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Accepted new action goal + 4.80sINFOros2_control_node[2026-06-03 01:16:48.768] [info] Received new action goal + 4.80sINFOros2_control_node[2026-06-03 01:16:48.768] [info] Accepted new action goal + 10.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780449414.35431004 seconds ×2 + 10.94sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780449414.91501164 seconds. ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 11.04sINFOobjective_server_nodePath shortcutter: [X________X] + 11.04sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Received new action goal + 11.04sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Accepted new action goal + 12.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.8s | 63 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal + 8.25sINFOobjective_server_node[0;93m2026-06-03 01:13:07.550539674 [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 + 8.25sINFOobjective_server_node[0;93m2026-06-03 01:13:07.550568654 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.80sINFOobjective_server_node[0;93m2026-06-03 01:13:08.099234245 [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 + 8.80sINFOobjective_server_node[0;93m2026-06-03 01:13:08.099266076 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.91sINFOobjective_server_node[0;93m2026-06-03 01:13:08.217484875 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.92sINFOobjective_server_node[0;93m2026-06-03 01:13:08.219628130 [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 + 8.92sINFOobjective_server_node[0;93m2026-06-03 01:13:08.219645361 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.19sINFOobjective_server_node[0;93m2026-06-03 01:13:08.490993703 [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 + 9.21sINFOobjective_server_node[0;93m2026-06-03 01:13:08.509320525 [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 + 9.21sINFOobjective_server_node[0;93m2026-06-03 01:13:08.509362036 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.51sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780449189.81166458 seconds ×2 + 11.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 11.71sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.71sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.19sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 12.19sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.28sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 12.28sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.28sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.57sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.58sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 12.58sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.46sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 14.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 14.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.15sINFOros2_control_nodeReceived & accepted new action goal[0m | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.0s | 44 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 01:13:07.550539674 [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 01:13:07.550568654 [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 01:13:08.099234245 [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 01:13:08.099266076 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.67sINFOobjective_server_node[0;93m2026-06-03 01:13:08.217484875 [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 + 0.67sINFOobjective_server_node[0;93m2026-06-03 01:13:08.219628130 [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 + 0.67sINFOobjective_server_node[0;93m2026-06-03 01:13:08.219645361 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.94sINFOobjective_server_node[0;93m2026-06-03 01:13:08.490993703 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.96sINFOobjective_server_node[0;93m2026-06-03 01:13:08.509320525 [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 + 0.96sINFOobjective_server_node[0;93m2026-06-03 01:13:08.509362036 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.26sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780449189.81166458 seconds ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 3.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 3.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.94sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.94sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.03sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 4.03sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.04sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 4.33sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 4.33sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 5.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 5.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.90sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.65sINFOobjective_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 + 6.65sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.74sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.78sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.8s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780449437.08171821 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.37sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780449441.00902319 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780449441.00945067 seconds ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780449441.54884315 seconds. ×2 + 6.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780449443.75897050 seconds ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780449178.66974926 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 12 warnings · 181 info |
+ 0.00sINFOobjective_server_node[2026-06-03 01:11:22.671] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.16sINFOcontroller_managerupdate rate is 600 Hz + 0.16sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.16sWARNcontroller_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. + 0.16sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.16sWARNros2_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 + 0.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.22sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.22sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.27sINFOobjective_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. + 0.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.29sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.29sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.38sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.45sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.48sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23624] + 0.51sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.51sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.51sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.51sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.52sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.58sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.58sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.58sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.59sINFOros2_control_node[2026-06-03 01:11:23.262] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.59sINFOros2_control_node[2026-06-03 01:11:23.262] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.61sINFOmove_group ×2 + 0.61sINFOmove_group[92mYou can start planning now![0m + 0.63sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 0.63sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.68sINFOros2_control_node[2026-06-03 01:11:23.349] [info] First order lag filter time constant set to: 0.2 seconds + 0.68sINFOros2_control_node[2026-06-03 01:11:23.349] [info] Controller state will be published at 50 Hz. + 0.68sINFOros2_control_node[2026-06-03 01:11:23.355] [info] Registered `FollowJointTrajectory` action server. + 0.69sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.69sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.72sINFOros2_control_node[2026-06-03 01:11:23.395] [info] Controller state will be published at 10 Hz. + 0.73sINFOros2_control_node[2026-06-03 01:11:23.396] [info] VelocityForceController 'on_configure' succeeded. + 0.73sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.76sINFOros2_control_node[2026-06-03 01:11:23.435] [info] Controller state will be published at 20 Hz. + 0.77sINFOros2_control_node[2026-06-03 01:11:23.436] [info] JointVelocityController 'on_configure' succeeded. + 0.77sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.77sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.77sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.77sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.77sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.77sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.77sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.77sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.77sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.77sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.78sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.78sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.78sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.78sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23631] + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 1.04sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 1.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 1.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 1.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 2.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 5.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 7.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 7.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 7.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 7.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 7.93sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.95sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 7.95sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 1 warning · 63 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 0.01sWARNobjective_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/. + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 6.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 6.82sINFOobjective_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 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780449178.66974926 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780449437.08171821 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.37sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780449441.00902319 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780449441.00945067 seconds ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780449441.54884315 seconds. ×2 + 6.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780449443.75897050 seconds ×2 + 6.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 2 warnings · 26 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 2.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 2.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.74sINFOobjective_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 + 2.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780449441.00902319 seconds. ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780449441.00945067 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780449441.54884315 seconds. ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780449443.75897050 seconds ×2 + 6.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 10 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780449403.97421527 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: 1780449404.52991939 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 01:16:44.754] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 01:11:40.272] [info] Accepted new action goal + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Got request to cancel active goal. + 0.79sINFOros2_control_node[2026-06-03 01:11:40.970] [info] Canceling active goal... + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780449100.99325442 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780449101.55540323 seconds. ×2 + 1.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780449101.67552233 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780449102.29426956 seconds. ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-03 01:11:43.479] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 01:12:12.277] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780449133.66442394 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780449134.24172807 seconds. ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780449134.32185912 seconds ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780449134.95761347 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 01:12:15.061] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 01:12:18.390] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 01:12:18.391] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 01:12:23.058] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-03 01:12:24.967] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780449144.97963810 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780449145.55306339 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-03 01:12:26.678] [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 (3.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.0019966 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-03 01:12:45.018] [info] Accepted new action goal + 0.62sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Received new action goal + 0.62sINFOros2_control_node[2026-06-03 01:12:45.449] [info] Accepted new action goal + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.13sINFOros2_control_nodeGot request to cancel goal[0m + 2.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780449166.98697853 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780449167.59566712 seconds. ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.93sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Received new action goal + 2.93sINFOros2_control_node[2026-06-03 01:12:47.763] [info] Accepted new action goal + 5.27sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Received new action goal + 5.27sINFOros2_control_node[2026-06-03 01:12:50.105] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780449178.66974926 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 1.36sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [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 | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780449179.30382109 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780449179.37008929 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780449179.92575860 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-03 01:13:00.028] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780449182.05590081 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780449182.60938549 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 01:13:02.714] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 30 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 30 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 30 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 30 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 30 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780449190.41962099 seconds. ×2 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012596969 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-03 01:13:11.012628810 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489526275 [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 + 1.07sINFOobjective_server_node[0;93m2026-06-03 01:13:11.489562506 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.16sINFOobjective_server_node[0;93m2026-06-03 01:13:11.583937972 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585647226 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 01:13:11.585665976 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.45sINFOobjective_server_node[0;93m2026-06-03 01:13:11.869954853 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882416382 [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 + 1.46sINFOobjective_server_node[0;93m2026-06-03 01:13:11.882446253 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780449192.76429033 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780449193.44558167 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 01:13:14.331] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 17 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780449247.89535499 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780449248.44865131 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 01:14:08.613] [info] Accepted new action goal + 1.98sINFOobjective_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 + 1.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 2 errors · 916 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×205 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×204 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×205 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×204 + 0.09sINFOjoint_trajectory_controllerGoal reached, success! ×43 + 0.09sINFOros2_control_nodeGoal reached, success![0m ×43 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780449317.06550813 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449299.152847) that ends in the past (1780449317.162848)[0m + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780449317.64190292 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.75sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Received new action goal + 3.75sINFOros2_control_node[2026-06-03 01:15:17.795] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 6 errors · 748 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×176 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×173 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×18 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×176 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×173 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×18 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780449350.61559963 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.690620)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620) + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.700620)[0m + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780449332.490620) that ends in the past (1780449350.710620)[0m + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780449351.23483658 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.68sINFOobjective_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 + 4.78sINFOobjective_server_nodeFound path in 6 iterations (0.00432882 s). + 4.83sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.84sINFOros2_control_node[2026-06-03 01:15:52.439] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-03 01:15:52.440] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 16 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780449382.22479892 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780449382.85730577 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.68sINFOobjective_server_nodePath shortcutter: [X______X] + 1.68sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Received new action goal + 1.69sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 16 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780449382.22479892 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780449382.85730577 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.68sINFOobjective_server_nodePath shortcutter: [X______X] + 1.68sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Received new action goal + 1.69sINFOros2_control_node[2026-06-03 01:16:23.055] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 01:16:30.685] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-03 01:16:32.460] [info] Accepted new action goal + 2.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.009 of wall time (191/95420). Below 1% is expected on a non-realtime system.[0m + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Got request to cancel active goal. + 2.29sINFOros2_control_node[2026-06-03 01:16:32.977] [info] Canceling active goal... + 2.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780449392.99153352 seconds ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780449393.57385325 seconds. ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X________X] + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-03 01:16:33.737] [info] Accepted new action goal + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 14 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780449414.35431004 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780449414.91501164 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-03 01:16:55.018] [info] Accepted new action goal + 2.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780449424.97521448 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780449425.59474611 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780449425.68487263 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780449426.23669124 seconds. ×2 + 1.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780449426.25849915 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780449426.81670618 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 01:17:06.920] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780449437.08171821 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.37sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 20 info |
+ 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 01:17:17.077] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780449437.08171821 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780449437.71301985 seconds. ×2 + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780449439.89314985 seconds ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780449440.45201874 seconds. ×2 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.37sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780449440.45361400 seconds ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 5.9s | 16 warnings · 233 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/2026-06-03-01-11-18-917109-7b086e0cf014-23590 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.27sINFOros2_control_node-1process started with pid [23620] + 1.27sINFOmove_group-9process started with pid [23640] + 1.27sINFOparameter_manager_node-10process started with pid [23643] + 1.27sINFOwaypoint_manager_node-11process started with pid [23681] + 1.27sINFOmove_joint_resampler_node-12process started with pid [23683] + 1.27sINFOmove_end_effector_resampler_node-13process started with pid [23685] + 1.27sINFOobjective_server_node_main-14process started with pid [23687] + 1.27sINFOcomponent_container_mt-15process started with pid [23689] + 1.27sINFOexecute_objective_bridge-16process started with pid [23691] + 1.27sINFOui_teleop_bridge-17process started with pid [23693] + 1.27sINFOrosapi_node-18process started with pid [23695] + 1.27sINFOrosbridge_websocket-19process started with pid [23697] + 1.27sINFOtf2_web_republisher_node-20process started with pid [23709] + 1.27sINFOweb_video_server-21process started with pid [23736] + 1.28sINFOparameter_manager_nodeStarted parameter manager node. + 1.28sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23622] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23624] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23626] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23628] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23631] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23634] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23637] + 1.29sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.01sINFOros2_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. + 2.01sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.14sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.17sINFOrosbridge_websocketregistered capabilities (classes): + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.32sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.33sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.33sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 2.44sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.22sINFOobjective_server_node[2026-06-03 01:11:22.671] [moveit_pro_license] [info] + 3.22sINFOobjective_server_node************************************************* ×2 + 3.22sINFOobjective_server_node* MoveIt Pro License + 3.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.37sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.37sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.38sINFOcontroller_managerupdate rate is 600 Hz + 3.38sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.38sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.38sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.38sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.38sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.39sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.39sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.43sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.43sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 3.69sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 3.70sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23624] + 3.73sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 3.73sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 3.73sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 3.73sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 3.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 3.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 3.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 3.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 3.79sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.79sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.81sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.81sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.81sINFOros2_control_node[2026-06-03 01:11:23.262] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.81sINFOros2_control_node[2026-06-03 01:11:23.262] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.83sINFOmove_group ×2 + 3.83sINFOmove_group[92mYou can start planning now![0m + 3.85sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 3.85sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.90sINFOros2_control_node[2026-06-03 01:11:23.349] [info] First order lag filter time constant set to: 0.2 seconds + 3.90sINFOros2_control_node[2026-06-03 01:11:23.349] [info] Controller state will be published at 50 Hz. + 3.90sINFOros2_control_node[2026-06-03 01:11:23.355] [info] Registered `FollowJointTrajectory` action server. + 3.90sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.90sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.94sINFOros2_control_node[2026-06-03 01:11:23.395] [info] Controller state will be published at 10 Hz. + 3.94sINFOros2_control_node[2026-06-03 01:11:23.396] [info] VelocityForceController 'on_configure' succeeded. + 3.94sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.95sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.98sINFOros2_control_node[2026-06-03 01:11:23.435] [info] Controller state will be published at 20 Hz. + 3.98sINFOros2_control_node[2026-06-03 01:11:23.436] [info] JointVelocityController 'on_configure' succeeded. + 3.98sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.98sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.98sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.98sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.98sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.99sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.99sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.99sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.99sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.99sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.99sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.99sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.99sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.99sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.99sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.99sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.99sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23631] + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 4.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 4.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 4.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 4.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 4.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 4.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 5.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 5.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 7.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 8.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 9.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 9.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 4.14sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 6.46sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.78sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 51 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 4.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 5.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 5.20sINFOobjective_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 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 5.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.30sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 5.30sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 1 warning · 63 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 0.01sWARNobjective_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/. + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 6.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 6.82sINFOobjective_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 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| − skipped | — | addtovector.xml | 0.0s | 7 warnings · 128 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/2026-06-03-01-11-18-917109-7b086e0cf014-23590 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.27sINFOros2_control_node-1process started with pid [23620] + 1.27sINFOmove_group-9process started with pid [23640] + 1.27sINFOparameter_manager_node-10process started with pid [23643] + 1.27sINFOwaypoint_manager_node-11process started with pid [23681] + 1.27sINFOmove_joint_resampler_node-12process started with pid [23683] + 1.27sINFOmove_end_effector_resampler_node-13process started with pid [23685] + 1.27sINFOobjective_server_node_main-14process started with pid [23687] + 1.27sINFOcomponent_container_mt-15process started with pid [23689] + 1.27sINFOexecute_objective_bridge-16process started with pid [23691] + 1.27sINFOui_teleop_bridge-17process started with pid [23693] + 1.27sINFOrosapi_node-18process started with pid [23695] + 1.27sINFOrosbridge_websocket-19process started with pid [23697] + 1.27sINFOtf2_web_republisher_node-20process started with pid [23709] + 1.27sINFOweb_video_server-21process started with pid [23736] + 1.28sINFOparameter_manager_nodeStarted parameter manager node. + 1.28sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23622] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23624] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23626] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23628] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23631] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23634] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23637] + 1.29sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.01sINFOros2_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. + 2.01sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.14sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.17sINFOrosbridge_websocketregistered capabilities (classes): + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.17sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.32sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.33sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.33sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 2.44sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.22sINFOobjective_server_node[2026-06-03 01:11:22.671] [moveit_pro_license] [info] + 3.22sINFOobjective_server_node************************************************* ×2 + 3.22sINFOobjective_server_node* MoveIt Pro License + 3.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.37sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.37sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.38sINFOcontroller_managerupdate rate is 600 Hz + 3.38sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.38sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.38sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.38sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.38sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.39sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.39sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.43sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.43sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 3.69sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 3.70sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23624] | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 49 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 4.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 5.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 5.20sINFOobjective_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 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 5.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.30sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 5.30sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 1 warning · 63 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 0.01sWARNobjective_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/. + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 6.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 6.82sINFOobjective_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 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 63 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23634] + 0.01sWARNobjective_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/. + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23637] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23622] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23628] + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23626] + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780449084.76922798 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780449084.77937984 seconds ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780449085.31977820 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 6.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 6.82sINFOobjective_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 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780449086.37989616 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 4.14sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 01:11:30.621] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [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: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780449086.95539808 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780449087.97555232 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780449088.52370906 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780449088.54382992 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780449089.08554292 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780449089.23600340 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780449089.89249301 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. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780449089.95261288 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780449090.50755882 seconds. ×2 + 3.56sINFOobjective_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 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (1.7891e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Received new action goal + 3.67sINFOros2_control_node[2026-06-03 01:11:30.621] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.001 of wall time (1/3168). Below 1% is expected on a non-realtime system.[0m + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-03 01:11:33.161] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-03 01:11:33.162] [info] Accepted new action goal | ||||