MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

10.4s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.2s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.13sINFOros2_control_node[2026-06-03 22:24:07.788] [info] Received new action goal + 7.13sINFOros2_control_node[2026-06-03 22:24:07.788] [info] Accepted new action goal + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.36sINFOros2_control_node[2026-06-03 22:24:11.014] [info] Received new action goal + 10.36sINFOros2_control_node[2026-06-03 22:24:11.014] [info] Accepted new action goal + 13.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 13.31sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.35sINFOros2_control_node[2026-06-03 22:24:14.010] [info] Received new action goal + 13.35sINFOros2_control_node[2026-06-03 22:24:14.010] [info] Accepted new action goal + 16.31sINFOobjective_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 + 23.07sINFOobjective_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 + 24.06sINFOros2_control_node[2026-06-03 22:24:24.717] [info] Received new action goal + 24.06sINFOros2_control_node[2026-06-03 22:24:24.717] [info] Accepted new action goal + 25.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 25.23sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.49sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 25.49sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.52sINFOros2_control_node[2026-06-03 22:24:26.179] [info] Received new action goal + 25.52sINFOros2_control_node[2026-06-03 22:24:26.179] [info] Accepted new action goal + 26.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 2:10.002 of wall time (51/40194). Below 1% is expected on a non-realtime system.[0m + 27.62sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 27.63sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.64sINFOros2_control_node[2026-06-03 22:24:28.300] [info] Received new action goal + 27.64sINFOros2_control_node[2026-06-03 22:24:28.300] [info] Accepted new action goal + 30.69sINFOros2_control_node[2026-06-03 22:24:31.347] [info] Received new action goal + 30.69sINFOros2_control_node[2026-06-03 22:24:31.347] [info] Accepted new action goal + 33.08sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.11sINFOros2_control_node[2026-06-03 22:24:33.769] [info] Received new action goal + 33.11sINFOros2_control_node[2026-06-03 22:24:33.769] [info] Accepted new action goal + 43.75sINFOros2_control_node[2026-06-03 22:24:44.410] [info] Received new action goal + 43.75sINFOros2_control_node[2026-06-03 22:24:44.410] [info] Accepted new action goal + 44.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780525485.56671023 seconds ×2 + 45.63sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780525486.29465008 seconds. ×2 + 45.96sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.96sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 46.85sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.86sINFOros2_control_node[2026-06-03 22:24:47.518] [info] Received new action goal + 46.86sINFOros2_control_node[2026-06-03 22:24:47.518] [info] Accepted new action goal
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	37.8s	2 errors · 13675 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780525495.82478786 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: 1780525496.37662888 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X___X] + 0.70sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Accepted new action goal + 0.87sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event" + 0.87sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m + 1.96sINFOobjective_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 + 1.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.02sINFOobjective_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 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×3395 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×3395 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×3395 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×3395 + 9.03sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.13sINFOjoint_trajectory_controllerGoal reached, success! ×24 + 9.13sINFOros2_control_nodeGoal reached, success![0m ×24 + 31.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 3:10.002 of wall time (126/58661). Below 1% is expected on a non-realtime system.[0m + 37.81sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 37.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525533.64809871 seconds ×2 + 38.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780525534.28680921 seconds. ×2 + 38.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 38.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 38.60sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.61sINFOros2_control_node[2026-06-03 22:25:34.430] [info] Received new action goal + 38.61sINFOros2_control_node[2026-06-03 22:25:34.430] [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	34.6s	10 errors · 5653 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1301 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1296 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1301 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1296 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×206 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×206 + 2.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525558.39844656 seconds ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358)[0m + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780525559.00570440 seconds. ×2 + 3.59sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.68sINFOobjective_server_nodePath shortcutter: [X________________________X] + 3.69sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Accepted new action goal + 3.72sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view" + 3.73sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.66sINFOros2_control_node[2026-06-03 22:26:05.161] [info] Received new action goal + 9.66sINFOros2_control_node[2026-06-03 22:26:05.162] [info] Accepted new action goal + 11.55sINFOros2_control_node[2026-06-03 22:26:07.058] [info] Received new action goal + 11.56sINFOros2_control_node[2026-06-03 22:26:07.058] [info] Accepted new action goal + 17.34sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures" + 17.34sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures"[0m + 17.51sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 17.85sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.85sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 22.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525577.512535) + 22.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525577.512535)[0m + 31.91sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.24% of iterations over budget over 4:10.003 of wall time (184/76986). Below 1% is expected on a non-realtime system.[0m + 37.54sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780525593.04731035 seconds ×2 + 37.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535) + 37.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535)[0m + 37.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535) + 37.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535)[0m + 37.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535) + 37.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535)[0m + 38.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780525593.68493819 seconds. ×2 + 38.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 38.18sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 38.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 39.28sINFOobjective_server_nodeFound path in 6 iterations (0.00403943 s). + 39.33sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.35sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Received new action goal + 39.35sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Accepted new action goal
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	31.3s	6 errors · 832 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×23 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×23 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×171 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×168 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×171 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×168 + 2.90sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780525593.04731035 seconds ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535) + 2.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535)[0m + 3.54sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780525593.68493819 seconds. ×2 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.89sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.89sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.56sINFOobjective_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 + 4.64sINFOobjective_server_nodeFound path in 6 iterations (0.00403943 s). + 4.69sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.71sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Received new action goal + 4.71sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Accepted new action goal + 13.77sINFOobjective_server_node[0;m[0;93m2026-06-03 22:26:43.917741107 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.77sINFOobjective_server_node[0;93m2026-06-03 22:26:43.917771558 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.24sINFOobjective_server_node[0;93m2026-06-03 22:26:44.382533015 [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 + 14.24sINFOobjective_server_node[0;93m2026-06-03 22:26:44.382589167 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.34sINFOobjective_server_node[0;93m2026-06-03 22:26:44.481599639 [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 + 14.34sINFOobjective_server_node[0;93m2026-06-03 22:26:44.483342308 [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 + 14.34sINFOobjective_server_node[0;93m2026-06-03 22:26:44.483357998 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.61sINFOobjective_server_node[0;93m2026-06-03 22:26:44.752669804 [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 + 14.63sINFOobjective_server_node[0;93m2026-06-03 22:26:44.771762350 [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 + 14.63sINFOobjective_server_node[0;93m2026-06-03 22:26:44.771827382 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.47sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization" + 15.47sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m + 16.38sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.48sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 16.48sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 16.98sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 16.99sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 19.63sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.96sINFOobjective_server_nodeFound path in 4 iterations (0.00219769 s). + 20.02sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 20.02sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 20.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.04sINFOobjective_server_nodeFound path in 13 iterations (0.00445652 s). + 20.07sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] + 20.09sINFOobjective_server_nodeFound path in 1 iterations (0.00194962 s). + 20.13sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] + 20.15sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 20.17sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.18sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 20.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.21sINFOobjective_server_nodeFound path in 8 iterations (0.00232579 s). + 20.24sINFOobjective_server_nodePath shortcutter: [X___________________________________X____X_____________________X] + 20.26sINFOobjective_server_nodeFound path in 1 iterations (0.00390389 s). + 20.29sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 20.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 20.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.34sINFOobjective_server_nodeFound path in 4 iterations (0.00367146 s). + 20.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.42sINFOobjective_server_nodeFound path in 4 iterations (0.00250204 s). + 20.49sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 20.50sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 20.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] + 20.57sINFOobjective_server_nodeFound path in 1 iterations (0.0039892 s). + 20.61sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] + 20.63sINFOobjective_server_nodeFound path in 1 iterations (0.00267811 s). + 20.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.70sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 20.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.75sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 20.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 20.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 20.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.91sINFOros2_control_node[2026-06-03 22:26:51.055] [info] Received new action goal + 20.91sINFOros2_control_node[2026-06-03 22:26:51.055] [info] Accepted new action goal + 25.92sINFOros2_control_node[2026-06-03 22:26:56.067] [info] Received new action goal + 25.92sINFOros2_control_node[2026-06-03 22:26:56.067] [info] Accepted new action goal + 27.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.60sINFOros2_control_node[2026-06-03 22:26:57.742] [info] Received new action goal + 27.60sINFOros2_control_node[2026-06-03 22:26:57.742] [info] Accepted new action goal + 28.80sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.83sINFOros2_control_node[2026-06-03 22:26:58.972] [info] Received new action goal + 28.83sINFOros2_control_node[2026-06-03 22:26:58.972] [info] Accepted new action goal + 34.25sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780525624.38891435 seconds ×2 + 34.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780525625.09607291 seconds. ×2 + 35.16sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.16sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 35.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 35.16sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.16sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 35.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 35.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 35.19sINFOobjective_server_nodePath shortcutter: [X______X] + 35.20sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Received new action goal + 35.20sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Accepted new action goal + 38.19sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 38.19sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	28.4s	2 errors · 76 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal + 23.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 24.00sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 24.00sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 24.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 24.09sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 24.11sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 24.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 24.16sINFOobjective_server_nodeFound path in 1 iterations (0.00223415 s). + 24.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 24.27sINFOros2_control_node[2026-06-03 22:22:58.907] [info] Received new action goal + 24.27sINFOros2_control_node[2026-06-03 22:22:58.907] [info] Accepted new action goal + 26.79sINFOros2_control_node[2026-06-03 22:23:01.429] [info] Received new action goal + 26.79sINFOros2_control_node[2026-06-03 22:23:01.429] [info] Accepted new action goal + 28.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.61sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 28.61sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 30.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 30.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 30.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 31.06sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 31.06sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 31.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 31.29sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 31.30sINFOobjective_server_nodePath shortcutter: [X_____________X] + 31.31sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 31.31sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 31.56sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 31.56sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	24.8s	54 errors · 7390 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1699 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1673 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1699 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1673 + 0.39sINFOjoint_trajectory_controllerGoal reached, success! ×306 + 0.39sINFOros2_control_nodeGoal reached, success![0m ×306 + 2.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 2.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525533.64809871 seconds ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780525534.28680921 seconds. ×2 + 3.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.68sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.69sINFOros2_control_node[2026-06-03 22:25:34.430] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-03 22:25:34.430] [info] Accepted new action goal + 7.64sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 10.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525540.740358) + 10.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525540.740358)[0m + 10.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.410358) ×2 + 10.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.410358)[0m ×2 + 10.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.420358) + 10.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.420358)[0m + 11.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.950358) ×2 + 11.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.950358)[0m ×2 + 11.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.960358) + 11.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525541.960358)[0m + 11.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525542.620358) + 11.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525542.620358)[0m + 11.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525542.630358) + 11.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525542.630358)[0m + 12.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.120358) + 12.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.120358)[0m + 12.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.130358) + 12.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.130358)[0m + 13.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.800358) + 13.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.810358) + 13.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.800358)[0m + 13.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.810358)[0m + 13.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.820358) + 13.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525543.820358)[0m + 13.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.320358) + 13.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.320358)[0m + 14.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.970358) + 14.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.970358)[0m + 14.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.990358) + 14.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525544.990358)[0m + 15.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.150358) ×2 + 15.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.150358)[0m ×2 + 15.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.670358) + 15.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.670358)[0m + 15.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.680358) + 15.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525546.680358)[0m + 16.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.310358) + 16.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.310358)[0m + 16.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.320358) ×2 + 16.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.320358)[0m ×2 + 17.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.860358) + 17.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525547.860358)[0m + 27.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525558.39844656 seconds ×2 + 27.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358) + 27.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358)[0m + 28.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780525559.00570440 seconds. ×2 + 28.43sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 28.44sINFOobjective_server_nodePath shortcutter: [X________________________X] + 28.45sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Received new action goal + 28.45sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Accepted new action goal + 28.48sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view" + 28.50sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	14.2s	21 errors · 2 warnings · 126 info
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.08sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.60sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.10sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.10sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.26sINFOobjective_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 + 2.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 2.60sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.60sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.60sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.11sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.11sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780525683.54495692 seconds. ×2 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780525685.73508167 seconds ×2 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 10.93sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.94sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.95sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.96sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.96sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.97sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.98sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.99sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.99sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.00sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.01sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.01sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.02sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.03sINFOcontroller_managerShutdown request received.... + 11.03sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.03sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.03sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.03sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.03sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.03sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.03sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOcontroller_managerShutting down the controller manager. + 11.03sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOros2_control_nodeShutdown request received....[0m + 11.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.03sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.03sINFOros2_control_nodeShutting down the controller manager.[0m + 11.10sINFOobjective_server_node[0;m[2026-06-03 22:28:11.276] [moveit_pro_license] [info] + 11.10sINFOobjective_server_node************************************************* ×2 + 11.10sINFOobjective_server_node* MoveIt Pro License + 11.10sINFOobjective_server_node* Application has successfully terminated + 11.16sINFOtf2_web_republisher_node-19process has finished cleanly [pid 11719] + 11.16sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.17sINFOweb_video_server-20process has finished cleanly [pid 11724] + 11.17sINFOfoxglove_bridgeShutdown complete[0m + 11.19sERRORobjective_server_nodeStack trace (most recent call last): + 11.20sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.20sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557086e104e4, in _start + 11.20sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb837704e3f, in __libc_start_main + 11.20sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb837704d96, in + 11.20sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb83772060f, in exit + 11.20sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb837720494, in + 11.20sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fb837ba9251, in spdlog::details::registry::~registry() + 11.20sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fb837bb3e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 11.20sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557086e15cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.20sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557086e12bf3, in spdlog_ros::RosSink::~RosSink() + 11.20sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557086e17e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.20sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb83809eb2e, in rclcpp::Node::~Node() + 11.21sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb838079d39, in + 11.21sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb8380a80b9, in + 11.21sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb8380a8000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.21sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb838079d39, in + 11.21sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb83807eb31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.21sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb7f1d4c3f0]) + 11.21sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 11705] + 11.21sINFOmove_joint_resampler_node-12process has finished cleanly [pid 11703] + 11.23sINFOwaypoint_manager_node-11process has finished cleanly [pid 11701] + 11.24sINFOexecute_objective_bridge-16process has finished cleanly [pid 11711] + 11.74sERRORobjective_server_node_main-14process has died [pid 11707, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_vixsy64x --params-file /tmp/launch_params_3ahgpzqv --params-file /tmp/launch_params_669leyn0 --params-file /tmp/launch_params_1ufxzc_a --params-file /tmp/launch_params_ihqa0zae --params-file /tmp/launch_params_s3lcg0o8']. + 11.74sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.05sINFOparameter_manager_node-10process has finished cleanly [pid 11663] + 12.16sINFOcomponent_container_mt-15process has finished cleanly [pid 11709] + 12.34sINFOmove_group-9process has finished cleanly [pid 11660] + 13.01sINFOfoxglove_bridge-18process has finished cleanly [pid 11715] + 13.01sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 13.29sINFOros2_control_node-1process has finished cleanly [pid 11640] + 15.93sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' + 15.93sINFOui_teleop_bridge-17sending signal 'SIGKILL' to process[ui_teleop_bridge-17] + 15.93sERRORui_teleop_bridge-17process has died [pid 11713, exit code -9, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_wcygz8w0'].
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 71 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00212667 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 22:23:36.019] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-03 22:23:36.019] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Accepted new action goal + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.11sINFOros2_control_nodeGot request to cancel goal[0m + 2.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780525417.95808959 seconds ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780525418.56025696 seconds. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.88sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Received new action goal + 2.88sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Accepted new action goal + 3.15sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.15sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.22sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Accepted new action goal + 13.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780525429.61299419 seconds ×2 + 14.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 14.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 15.04sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 15.14sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 15.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.16sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 15.16sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 17.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 17.72sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 17.77sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 17.77sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 17.83sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 17.83sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 17.83sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	2 errors · 72 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780525624.38891435 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780525625.09607291 seconds. ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Accepted new action goal + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 5.50sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.50sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 6.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.95sINFOobjective_server_nodeFound path in 1 iterations (0.00223534 s). + 7.01sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 7.01sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 7.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.06sINFOros2_control_node[2026-06-03 22:27:10.391] [info] Received new action goal + 7.06sINFOros2_control_node[2026-06-03 22:27:10.391] [info] Accepted new action goal + 9.58sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 9.58sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 11.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.34sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 11.34sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 12.12sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 12.12sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 12.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 12.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 12.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 12.88sINFOobjective_server_nodePath shortcutter: [X________X] + 12.91sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 12.91sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 13.09sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.09sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.09sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.09sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 107 info
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution" + 0.05sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 0.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00244292 s). + 0.45sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 1 iterations (0.00302206 s). + 0.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 0.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.64sINFOros2_control_node[2026-06-03 22:23:26.450] [info] Received new action goal + 0.64sINFOros2_control_node[2026-06-03 22:23:26.450] [info] Accepted new action goal + 1.14sINFOros2_control_node[2026-06-03 22:23:26.945] [info] Got request to cancel active goal. + 1.14sINFOros2_control_node[2026-06-03 22:23:26.945] [info] Canceling active goal... + 1.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780525406.96174216 seconds ×2 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.001 of wall time (22/21715). Below 1% is expected on a non-realtime system.[0m + 1.74sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780525407.54460812 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X______X] + 1.92sINFOros2_control_node[2026-06-03 22:23:27.727] [info] Received new action goal + 1.92sINFOros2_control_node[2026-06-03 22:23:27.727] [info] Accepted new action goal + 2.07sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.07sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.03sINFOobjective_server_nodeFound path in 1 iterations (0.00264482 s). + 7.10sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 7.10sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 7.13sINFOobjective_server_nodeFound path in 1 iterations (0.00402931 s). + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 7.29sINFOros2_control_node[2026-06-03 22:23:33.101] [info] Received new action goal + 7.29sINFOros2_control_node[2026-06-03 22:23:33.101] [info] Accepted new action goal + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 10.03sINFOobjective_server_nodePath shortcutter: [X_X] + 10.03sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 10.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.09sINFOobjective_server_nodeFound path in 1 iterations (0.00212667 s). + 10.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.21sINFOros2_control_node[2026-06-03 22:23:36.019] [info] Received new action goal + 10.21sINFOros2_control_node[2026-06-03 22:23:36.019] [info] Accepted new action goal + 10.65sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Received new action goal + 10.65sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Accepted new action goal + 12.14sINFOrobotiq_gripper_controllerGot request to cancel goal + 12.14sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 12.14sINFOros2_control_nodeGot request to cancel goal[0m + 12.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 12.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780525417.95808959 seconds ×2 + 12.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780525418.56025696 seconds. ×2 + 12.90sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Received new action goal + 12.90sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Accepted new action goal + 13.18sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.18sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.18sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.18sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.25sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Received new action goal + 15.25sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	4 errors · 39 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780525646.44446850 seconds ×2 + 14.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780525647.00107431 seconds. ×2 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 14.32sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.33sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Received new action goal + 14.33sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Accepted new action goal + 14.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.004 of wall time (210/95503). Below 1% is expected on a non-realtime system.[0m + 14.59sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.59sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	4 errors · 69 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal + 11.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 11.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution" + 11.98sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 12.19sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X__________X] + 12.20sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 12.20sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 12.24sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 12.27sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 12.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 12.31sINFOobjective_server_nodeFound path in 1 iterations (0.00244292 s). + 12.38sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 12.40sINFOobjective_server_nodeFound path in 1 iterations (0.00302206 s). + 12.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 12.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 12.53sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 12.57sINFOros2_control_node[2026-06-03 22:23:26.450] [info] Received new action goal + 12.57sINFOros2_control_node[2026-06-03 22:23:26.450] [info] Accepted new action goal + 13.07sINFOros2_control_node[2026-06-03 22:23:26.945] [info] Got request to cancel active goal. + 13.07sINFOros2_control_node[2026-06-03 22:23:26.945] [info] Canceling active goal... + 13.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780525406.96174216 seconds ×2 + 13.54sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.001 of wall time (22/21715). Below 1% is expected on a non-realtime system.[0m + 13.67sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780525407.54460812 seconds. ×2 + 13.85sINFOros2_control_node[2026-06-03 22:23:27.727] [info] Received new action goal + 13.85sINFOros2_control_node[2026-06-03 22:23:27.727] [info] Accepted new action goal + 14.01sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.01sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.01sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.01sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.9s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 1.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 1.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 2.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 2.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.58sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 2.58sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.59sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 2.59sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.81sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 5.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.09sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 5.09sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 8.82sINFOros2_control_node[2026-06-03 22:22:31.424] [info] Received new action goal + 8.82sINFOros2_control_node[2026-06-03 22:22:31.424] [info] Accepted new action goal + 12.12sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 12.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.13sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 12.13sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 12.84sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 12.84sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 12.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 13.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 13.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 14.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 14.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 15.33sINFOobjective_server_nodePath shortcutter: [X______X] + 15.33sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 15.33sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	4 errors · 2 warnings · 74 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.09sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 12.09sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 12.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 12.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 12.81sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.81sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.32sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 14.32sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 14.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 14.82sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.82sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 14.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.98sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 15.33sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.33sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 15.33sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.33sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 15.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 15.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 15.83sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 15.83sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.7s	2 errors · 64 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.80sINFOros2_control_node[2026-06-03 22:23:11.628] [info] Received new action goal + 8.80sINFOros2_control_node[2026-06-03 22:23:11.628] [info] Accepted new action goal + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 11.13sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 11.13sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 13.11sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 13.12sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 13.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 13.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 13.95sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 13.95sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 14.88sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 14.88sINFOobjective_server_nodePath shortcutter: [X______X] + 14.89sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 14.89sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.6s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780525656.84017563 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780525657.42746806 seconds. ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Accepted new action goal + 0.75sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.75sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.61sINFOobjective_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: 1780525667.45764136 seconds ×2 + 11.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 11.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 11.33sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.33sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 11.88sINFOobjective_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 + 11.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 12.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 12.52sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 12.52sINFOobjective_server_nodePath shortcutter: [X___X] + 12.52sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 12.52sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780525646.44446850 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780525647.00107431 seconds. ×2 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.80sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Received new action goal + 0.80sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Accepted new action goal + 0.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.004 of wall time (210/95503). Below 1% is expected on a non-realtime system.[0m + 1.06sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.81sINFOros2_control_node[2026-06-03 22:27:31.254] [info] Received new action goal + 4.81sINFOros2_control_node[2026-06-03 22:27:31.254] [info] Accepted new action goal + 10.40sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780525656.84017563 seconds ×2 + 10.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780525657.42746806 seconds. ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 11.09sINFOobjective_server_nodePath shortcutter: [X________X] + 11.10sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Received new action goal + 11.10sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Accepted new action goal + 11.15sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.15sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 13.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	10.3s	51 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.93sINFOros2_control_node[2026-06-03 22:24:44.410] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-03 22:24:44.410] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780525485.56671023 seconds ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780525486.29465008 seconds. ×2 + 3.14sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.14sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.04sINFOros2_control_node[2026-06-03 22:24:47.518] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 22:24:47.518] [info] Accepted new action goal + 7.74sINFOobjective_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 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 8.63sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 8.64sINFOros2_control_node[2026-06-03 22:24:52.119] [info] Received new action goal + 8.64sINFOros2_control_node[2026-06-03 22:24:52.119] [info] Accepted new action goal + 12.35sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780525495.82478786 seconds ×2 + 12.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780525496.37662888 seconds. ×2 + 13.04sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 13.04sINFOobjective_server_nodePath shortcutter: [X___X] + 13.04sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Received new action goal + 13.04sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Accepted new action goal + 13.22sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event" + 13.22sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m + 14.31sINFOobjective_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 + 14.31sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.4s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal + 7.91sINFOobjective_server_node[0;93m2026-06-03 22:23:58.157931127 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 7.91sINFOobjective_server_node[0;93m2026-06-03 22:23:58.157967718 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.45sINFOobjective_server_node[0;93m2026-06-03 22:23:58.698314508 [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 + 8.45sINFOobjective_server_node[0;93m2026-06-03 22:23:58.698362599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.57sINFOobjective_server_node[0;93m2026-06-03 22:23:58.814143573 [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 + 8.57sINFOobjective_server_node[0;93m2026-06-03 22:23:58.816171099 [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 + 8.57sINFOobjective_server_node[0;93m2026-06-03 22:23:58.816187630 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.83sINFOobjective_server_node[0;93m2026-06-03 22:23:59.074351459 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.84sINFOobjective_server_node[0;93m2026-06-03 22:23:59.086448178 [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 + 8.84sINFOobjective_server_node[0;93m2026-06-03 22:23:59.086477678 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.14sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780525440.39082432 seconds ×2 + 10.41sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 10.41sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 10.74sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 10.92sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.92sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.92sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.92sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.20sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 11.20sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.70sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [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 + 11.70sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.80sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.80sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 11.80sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.07sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 12.09sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 12.09sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.93sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 12.93sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 12.99sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 13.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 13.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	2.8s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 22:23:58.157931127 [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 22:23:58.157967718 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.54sINFOobjective_server_node[0;93m2026-06-03 22:23:58.698314508 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.54sINFOobjective_server_node[0;93m2026-06-03 22:23:58.698362599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.66sINFOobjective_server_node[0;93m2026-06-03 22:23:58.814143573 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-03 22:23:58.816171099 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.66sINFOobjective_server_node[0;93m2026-06-03 22:23:58.816187630 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.92sINFOobjective_server_node[0;93m2026-06-03 22:23:59.074351459 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-03 22:23:59.086448178 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-03 22:23:59.086477678 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.23sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780525440.39082432 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.50sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 2.50sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 3.01sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.01sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.01sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.01sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.29sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 3.29sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.78sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [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 + 3.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.89sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 3.89sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 3.89sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.16sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 4.17sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 4.18sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.02sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 5.02sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 5.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 5.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 5.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.79sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.03sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.03sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.49sINFOobjective_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 + 6.50sINFOobjective_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 + 6.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 6.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.76sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.79sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 6.79sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780525429.61299419 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.3s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.24sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780525683.54495692 seconds. ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780525685.73508167 seconds ×2 + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
✓ passed	Close Gripper	close_gripper.xml	1.7s	12 warnings · 251 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.16sINFOobjective_server_node[2026-06-03 22:22:17.172] [moveit_pro_license] [info] + 0.16sINFOobjective_server_node************************************************* ×2 + 0.16sINFOobjective_server_node* MoveIt Pro License + 0.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.38sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.39sINFOcontroller_managerupdate rate is 600 Hz + 0.39sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.39sWARNcontroller_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. + 0.39sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.40sWARNros2_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 + 0.41sINFOobjective_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. + 0.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 0.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 0.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 0.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 0.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 0.48sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.48sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 0.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 0.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 0.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 0.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 0.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 0.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 0.49sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 0.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 0.49sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 0.61sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.61sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.62sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.72sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.72sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.80sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.80sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.85sINFOros2_control_node[2026-06-03 22:22:17.859] [info] Controller state will be published at 20 Hz. + 0.85sINFOros2_control_node[2026-06-03 22:22:17.860] [info] JointVelocityController 'on_configure' succeeded. + 0.85sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.85sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.85sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.85sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.85sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.85sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.85sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.85sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.88sINFOros2_control_node[2026-06-03 22:22:17.894] [info] Controller state will be published at 10 Hz. + 0.88sINFOros2_control_node[2026-06-03 22:22:17.895] [info] VelocityForceController 'on_configure' succeeded. + 0.89sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.89sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.89sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.89sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.90sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.90sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.90sINFOros2_control_node[2026-06-03 22:22:17.907] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.90sINFOros2_control_node[2026-06-03 22:22:17.907] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.92sINFOros2_control_node[2026-06-03 22:22:17.933] [info] First order lag filter time constant set to: 0.2 seconds + 0.92sINFOros2_control_node[2026-06-03 22:22:17.933] [info] Controller state will be published at 50 Hz. + 0.93sINFOros2_control_node[2026-06-03 22:22:17.938] [info] Registered `FollowJointTrajectory` action server. + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.96sINFOobjective_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. + 0.96sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.96sWARNobjective_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/. + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11654] + 1.14sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" + 1.15sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 1.15sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" + 1.15sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" + 1.15sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" + 1.15sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11656] + 1.15sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 1.15sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.15sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.15sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 1.16sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 1.16sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 1.16sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 1.16sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.16sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.16sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 1.16sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 1.16sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.16sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 1.16sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11642] + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11648] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11651] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11644] + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11646] + 1.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.47sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.52sINFOmove_group ×2 + 1.52sINFOmove_group[92mYou can start planning now![0m + 1.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.79sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.79sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 + 2.34sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.86sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 4.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 6.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 6.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 6.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 7.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 8.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 8.09sINFOobjective_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 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 8.17sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.18sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 8.18sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	77 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 6.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 6.68sINFOobjective_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 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780525429.61299419 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	2 errors · 36 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.24sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780525683.54495692 seconds. ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780525685.73508167 seconds ×2 + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.24sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780525683.54495692 seconds. ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780525685.73508167 seconds ×2 + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780525656.84017563 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780525657.42746806 seconds. ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 22:27:37.540] [info] Accepted new action goal + 0.75sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.75sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780525429.61299419 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.99sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 22:22:34.734] [info] Accepted new action goal + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Got request to cancel active goal. + 0.80sINFOros2_control_node[2026-06-03 22:22:35.440] [info] Canceling active goal... + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525355.46486497 seconds ×2 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525356.02389884 seconds. ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525356.15402102 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525356.79002690 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Received new action goal + 3.29sINFOros2_control_node[2026-06-03 22:22:37.935] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-03 22:23:03.253] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525384.64017844 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525385.21223235 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525385.29235125 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.87sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525385.84677815 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.11sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Received new action goal + 3.12sINFOros2_control_node[2026-06-03 22:23:05.950] [info] Accepted new action goal + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.37sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.46sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Received new action goal + 6.47sINFOros2_control_node[2026-06-03 22:23:09.300] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 24 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 (3e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 22:23:13.958] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-03 22:23:15.947] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525395.95917487 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525396.56534886 seconds. ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.90sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.90sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] + 3.84sINFOros2_control_node[2026-06-03 22:23:17.718] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 22:23:17.719] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 36 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00212667 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 22:23:36.019] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-03 22:23:36.019] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 22:23:36.461] [info] Accepted new action goal + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.11sINFOros2_control_nodeGot request to cancel goal[0m + 2.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780525417.95808959 seconds ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780525418.56025696 seconds. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.88sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Received new action goal + 2.88sINFOros2_control_node[2026-06-03 22:23:38.713] [info] Accepted new action goal + 3.15sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.15sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.22sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:23:41.058] [info] Accepted new action goal
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525430.24771714 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525430.31786704 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525430.87476087 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 22:23:50.994] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525433.00489688 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525433.55168700 seconds. ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view" + 3.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 22:23:53.666] [info] Accepted new action goal
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525440.98624706 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447120362 [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 + 0.79sINFOobjective_server_node[0;93m2026-06-03 22:24:01.447164043 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943008559 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-03 22:24:01.943040330 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.049775608 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051729453 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-03 22:24:02.051747363 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 22:24:02.319596774 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332899176 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 22:24:02.332932296 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525443.24173117 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525443.94859552 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-03 22:24:04.944] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	19 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780525495.82478786 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: 1780525496.37662888 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X___X] + 0.70sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 22:24:56.519] [info] Accepted new action goal + 0.87sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event" + 0.87sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m + 1.96sINFOobjective_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 + 1.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.02sINFOobjective_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 · 966 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×211 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×210 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×211 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×210 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×55 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×55 + 2.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525558.39844656 seconds ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525540.470358) that ends in the past (1780525558.500358)[0m + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780525559.00570440 seconds. ×2 + 3.59sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.68sINFOobjective_server_nodePath shortcutter: [X________________________X] + 3.69sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-03 22:25:59.190] [info] Accepted new action goal + 3.72sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view" + 3.73sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	6 errors · 740 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×23 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×23 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×171 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×168 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×171 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×168 + 2.90sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780525593.04731035 seconds ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535) + 2.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.132535)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.142535)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525575.332535) that ends in the past (1780525593.152535)[0m + 3.54sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780525593.68493819 seconds. ×2 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.89sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.89sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.56sINFOobjective_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 + 4.64sINFOobjective_server_nodeFound path in 6 iterations (0.00403943 s). + 4.69sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.71sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Received new action goal + 4.71sINFOros2_control_node[2026-06-03 22:26:34.849] [info] Accepted new action goal
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	24 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780525624.38891435 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780525625.09607291 seconds. ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Accepted new action goal + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	24 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780525624.38891435 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780525625.09607291 seconds. ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.97sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.97sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 22:27:05.340] [info] Accepted new action goal + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.00sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:27:12.913] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 22:27:14.669] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:27:15.456] [info] Canceling active goal... + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525635.47021246 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525636.05423880 seconds. ×2 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.30sINFOobjective_server_nodePath shortcutter: [X________X] + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 22:27:16.240] [info] Accepted new action goal + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.51sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	2 errors · 13 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780525646.44446850 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780525647.00107431 seconds. ×2 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.80sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Received new action goal + 0.80sINFOros2_control_node[2026-06-03 22:27:27.243] [info] Accepted new action goal + 0.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.004 of wall time (210/95503). Below 1% is expected on a non-realtime system.[0m + 1.06sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
− skipped	Register CAD Part	register_cad_part.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	2 errors · 36 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	2 errors · 36 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525667.45764136 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525668.07733774 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525668.14745975 seconds ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525668.69748282 seconds. ×2 + 1.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525668.71952939 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525669.26979804 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-03 22:27:49.362] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-03 22:27:52.680] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.24sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	2 errors · 2 warnings · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:27:59.550] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525679.56121111 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525680.18220329 seconds. ×2 + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.23sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525681.88233232 seconds ×2 + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.73sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525682.43709993 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525682.43851972 seconds ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.24sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.24sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525682.99574280 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525682.99625921 seconds ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.74sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	5.8s	40 errors · 23 warnings · 9297 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/2026-06-03-22-16-50-186365-2985b515d74c-10254 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.28sINFOros2_control_node-1process started with pid [10284] + 1.28sINFOmove_group-9process started with pid [10304] + 1.28sINFOparameter_manager_node-10process started with pid [10307] + 1.28sINFOwaypoint_manager_node-11process started with pid [10354] + 1.28sINFOmove_joint_resampler_node-12process started with pid [10356] + 1.28sINFOmove_end_effector_resampler_node-13process started with pid [10358] + 1.28sINFOobjective_server_node_main-14process started with pid [10360] + 1.28sINFOcomponent_container_mt-15process started with pid [10362] + 1.28sINFOexecute_objective_bridge-16process started with pid [10364] + 1.28sINFOui_teleop_bridge-17process started with pid [10366] + 1.28sINFOfoxglove_bridge-18process started with pid [10368] + 1.28sINFOtf2_web_republisher_node-19process started with pid [10370] + 1.28sINFOweb_video_server-20process started with pid [10372] + 1.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10286] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10288] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10290] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10292] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10294] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10298] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10301] + 1.32sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 1.32sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.32sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.44sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 1.45sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.48sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/parameter_events"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/move_joint"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.90sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 1.90sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 1.90sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/monitored_planning_scene"[0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/attached_collision_object"[0m + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.74sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/planning_scene_world"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/planning_scene"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 3.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.23sINFOobjective_server_node[2026-06-03 22:16:53.937] [moveit_pro_license] [info] + 3.23sINFOobjective_server_node************************************************* ×6 + 3.23sINFOobjective_server_node* MoveIt Pro License ×3 + 3.23sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.34sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m + 3.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m + 3.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.41sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.41sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.42sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 3.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.50sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 3.62sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 3.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 3.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 3.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 3.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 3.74sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 3.74sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 3.75sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 3.75sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 3.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 3.81sINFOros2_control_node[2026-06-03 22:16:54.515] [info] Controller state will be published at 10 Hz. + 3.81sINFOros2_control_node[2026-06-03 22:16:54.516] [info] VelocityForceController 'on_configure' succeeded. + 3.81sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 3.84sINFOros2_control_node[2026-06-03 22:16:54.548] [info] Controller state will be published at 20 Hz. + 3.85sINFOros2_control_node[2026-06-03 22:16:54.549] [info] JointVelocityController 'on_configure' succeeded. + 3.85sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.85sINFOros2_control_node[2026-06-03 22:16:54.551] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.85sINFOros2_control_node[2026-06-03 22:16:54.551] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.87sINFOros2_control_node[2026-06-03 22:16:54.578] [info] First order lag filter time constant set to: 0.2 seconds + 3.87sINFOros2_control_node[2026-06-03 22:16:54.578] [info] Controller state will be published at 50 Hz. + 3.88sINFOros2_control_node[2026-06-03 22:16:54.583] [info] Registered `FollowJointTrajectory` action server. + 3.88sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 3.88sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.88sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.88sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.88sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.88sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.89sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 3.89sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.89sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 3.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.89sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 3.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.90sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 3.90sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/camera_info"[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 3.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 3.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 3.92sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 3.92sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/velocity_force_controller/command"[0m + 3.92sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m + 3.92sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 3.92sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/depth"[0m + 3.92sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_velocity_controller/controller_state"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/command"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/controller_state"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_state_broadcaster/transition_event"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 3.93sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/scene_camera/camera_info"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points"[0m + 3.94sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m ×2 + 4.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10298] + 4.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10301] + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10294] + 4.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10286] + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10290] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10288] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10292] + 4.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.40sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.40sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.43sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 4.44sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 4.44sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 4.44sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 4.44sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 4.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 4.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 4.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 4.51sINFOmove_group ×4 + 4.51sINFOmove_group[92mYou can start planning now![0m ×2 + 4.65sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m ×2 + 4.71sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 4.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 4.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 5.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525016.01956773 seconds. + 5.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525016.02973986 seconds + 5.71sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525016.57438350 seconds. + 5.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 6.22sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525017.63450384 seconds + 7.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525018.20707583 seconds. + 8.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525019.21722412 seconds + 9.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525019.77021146 seconds. + 9.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525019.78032303 seconds + 9.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525020.33834887 seconds. + 9.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525020.48895860 seconds + 10.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525021.12181377 seconds. + 10.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 10.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 10.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 10.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525021.16194177 seconds + 11.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525021.71184897 seconds. + 11.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (2.0731e-05 s). + 11.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 11.12sINFOros2_control_node[2026-06-03 22:17:01.819] [info] Received new action goal + 11.12sINFOros2_control_node[2026-06-03 22:17:01.819] [info] Accepted new action goal + 13.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×38 + 13.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.000 of wall time (1/3163). Below 1% is expected on a non-realtime system.[0m + 13.60sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.61sINFOros2_control_node[2026-06-03 22:17:04.315] [info] Received new action goal + 13.61sINFOros2_control_node[2026-06-03 22:17:04.315] [info] Accepted new action goal + 17.33sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 17.35sINFOros2_control_node[2026-06-03 22:17:08.057] [info] Received new action goal + 17.35sINFOros2_control_node[2026-06-03 22:17:08.057] [info] Accepted new action goal + 20.65sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 20.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 20.67sINFOros2_control_node[2026-06-03 22:17:11.368] [info] Received new action goal + 20.67sINFOros2_control_node[2026-06-03 22:17:11.368] [info] Accepted new action goal + 21.12sINFOros2_control_node[2026-06-03 22:17:11.822] [info] Got request to cancel active goal. + 21.12sINFOros2_control_node[2026-06-03 22:17:11.822] [info] Canceling active goal... + 21.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780525031.83961201 seconds + 21.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780525032.43133616 seconds. + 21.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780525032.55144835 seconds + 22.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780525033.09987259 seconds. + 22.82sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 23.53sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×4 + 23.53sINFOobjective_server_nodePath shortcutter: [X______X] ×7 + 23.54sINFOros2_control_node[2026-06-03 22:17:14.243] [info] Received new action goal + 23.54sINFOros2_control_node[2026-06-03 22:17:14.243] [info] Accepted new action goal + 42.44sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 42.95sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 44.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×3 + 44.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 44.29sINFOobjective_server_nodePath shortcutter: [X___________X] ×3 + 44.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 44.31sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×3 + 44.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×3 + 44.35sINFOobjective_server_nodeFound path in 1 iterations (0.00270311 s). + 44.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 44.47sINFOros2_control_node[2026-06-03 22:17:35.175] [info] Received new action goal + 44.47sINFOros2_control_node[2026-06-03 22:17:35.175] [info] Accepted new action goal + 44.47sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 46.99sINFOros2_control_node[2026-06-03 22:17:37.697] [info] Received new action goal + 46.99sINFOros2_control_node[2026-06-03 22:17:37.697] [info] Accepted new action goal + 48.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×10 + 48.76sINFOros2_control_node[2026-06-03 22:17:39.463] [info] Received new action goal + 48.76sINFOros2_control_node[2026-06-03 22:17:39.463] [info] Accepted new action goal + 50.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780525060.87004280 seconds + 50.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780525061.44508457 seconds. + 50.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780525061.53520131 seconds + 51.02sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 51.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780525062.20509648 seconds. + 51.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 51.61sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 51.62sINFOobjective_server_nodePath shortcutter: [X_____________X] + 51.62sINFOros2_control_node[2026-06-03 22:17:42.328] [info] Received new action goal + 51.62sINFOros2_control_node[2026-06-03 22:17:42.328] [info] Accepted new action goal + 54.95sINFOros2_control_node[2026-06-03 22:17:45.659] [info] Received new action goal + 54.95sINFOros2_control_node[2026-06-03 22:17:45.659] [info] Accepted new action goal + 57.28sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×3 + 57.28sINFOros2_control_node[2026-06-03 22:17:47.986] [info] Received new action goal + 57.28sINFOros2_control_node[2026-06-03 22:17:47.986] [info] Accepted new action goal + 59.62sINFOros2_control_node[2026-06-03 22:17:50.319] [info] Received new action goal + 59.62sINFOros2_control_node[2026-06-03 22:17:50.319] [info] Accepted new action goal + 61.52sINFOros2_control_node[2026-06-03 22:17:52.225] [info] Got request to cancel active goal. + 61.52sINFOros2_control_node[2026-06-03 22:17:52.225] [info] Canceling active goal... + 61.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780525072.24122262 seconds + 62.14sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780525072.84197521 seconds. + 62.61sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 62.61sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 63.32sINFOros2_control_node[2026-06-03 22:17:54.025] [info] Received new action goal + 63.32sINFOros2_control_node[2026-06-03 22:17:54.025] [info] Accepted new action goal + 72.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780525083.23229885 seconds + 73.08sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780525083.78031826 seconds. + 73.18sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 73.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 73.26sINFOros2_control_node[2026-06-03 22:18:03.963] [info] Received new action goal + 73.26sINFOros2_control_node[2026-06-03 22:18:03.963] [info] Accepted new action goal + 73.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.12% of iterations over budget over 1:10.001 of wall time (27/21677). Below 1% is expected on a non-realtime system.[0m + 75.69sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 76.20sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 77.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×5 + 77.66sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 77.67sINFOobjective_server_nodePath shortcutter: [X________________X] ×3 + 77.71sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 77.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 77.76sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×3 + 77.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 77.81sINFOobjective_server_nodeFound path in 1 iterations (0.00262319 s). + 77.90sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 77.93sINFOobjective_server_nodeFound path in 1 iterations (0.00406519 s). + 77.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 78.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 78.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 78.12sINFOros2_control_node[2026-06-03 22:18:08.823] [info] Received new action goal + 78.12sINFOros2_control_node[2026-06-03 22:18:08.823] [info] Accepted new action goal + 80.69sINFOobjective_server_nodePath shortcutter: [X_X] + 80.70sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 80.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 80.71sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 80.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 80.76sINFOobjective_server_nodeFound path in 1 iterations (0.00231408 s). + 80.84sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 80.87sINFOros2_control_node[2026-06-03 22:18:11.575] [info] Received new action goal + 80.87sINFOros2_control_node[2026-06-03 22:18:11.575] [info] Accepted new action goal + 81.32sINFOros2_control_node[2026-06-03 22:18:12.028] [info] Received new action goal + 81.32sINFOros2_control_node[2026-06-03 22:18:12.028] [info] Accepted new action goal + 83.10sINFOros2_control_node[2026-06-03 22:18:13.803] [info] Received new action goal + 83.10sINFOros2_control_node[2026-06-03 22:18:13.803] [info] Accepted new action goal + 83.53sINFOros2_control_node[2026-06-03 22:18:14.230] [info] Got request to cancel active goal. + 83.53sINFOros2_control_node[2026-06-03 22:18:14.230] [info] Canceling active goal... + 83.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780525094.24445128 seconds + 84.15sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780525094.85524821 seconds. + 84.29sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 84.29sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 84.32sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 84.33sINFOros2_control_node[2026-06-03 22:18:15.038] [info] Received new action goal + 84.33sINFOros2_control_node[2026-06-03 22:18:15.038] [info] Accepted new action goal + 86.72sINFOros2_control_node[2026-06-03 22:18:17.424] [info] Received new action goal + 86.72sINFOros2_control_node[2026-06-03 22:18:17.424] [info] Accepted new action goal + 95.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780525105.98579192 seconds + 95.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780525106.62158298 seconds. + 96.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 96.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 96.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780525106.89171386 seconds + 96.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780525107.44300246 seconds. + 96.85sINFOros2_control_node[2026-06-03 22:18:27.556] [info] Received new action goal + 96.85sINFOros2_control_node[2026-06-03 22:18:27.556] [info] Accepted new action goal + 98.86sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780525109.56315541 seconds + 99.41sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780525110.10969734 seconds. + 99.41sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 99.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 99.51sINFOros2_control_node[2026-06-03 22:18:30.214] [info] Received new action goal + 99.51sINFOros2_control_node[2026-06-03 22:18:30.214] [info] Accepted new action goal +104.31sINFOobjective_server_node[0;93m2026-06-03 22:18:35.016957309 [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 +104.31sINFOobjective_server_node[0;93m2026-06-03 22:18:35.016988540 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +104.84sINFOobjective_server_node[0;93m2026-06-03 22:18:35.549457674 [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 +104.85sINFOobjective_server_node[0;93m2026-06-03 22:18:35.549489155 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +104.96sINFOobjective_server_node[0;93m2026-06-03 22:18:35.667163649 [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 +104.97sINFOobjective_server_node[0;93m2026-06-03 22:18:35.669943077 [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 +104.97sINFOobjective_server_node[0;93m2026-06-03 22:18:35.669991919 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +105.23sINFOobjective_server_node[0;93m2026-06-03 22:18:35.938012050 [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 +105.25sINFOobjective_server_node[0;93m2026-06-03 22:18:35.950460518 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +105.25sINFOobjective_server_node[0;93m2026-06-03 22:18:35.950490689 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +106.57sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780525117.27881169 seconds +106.97sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m +107.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780525117.93870330 seconds. +107.47sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +107.47sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +107.71sINFOobjective_server_node[0;93m2026-06-03 22:18:38.415487200 [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 +107.71sINFOobjective_server_node[0;93m2026-06-03 22:18:38.415521251 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.20sINFOobjective_server_node[0;93m2026-06-03 22:18:38.906508604 [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 +108.20sINFOobjective_server_node[0;93m2026-06-03 22:18:38.906541335 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.30sINFOobjective_server_node[0;93m2026-06-03 22:18:39.003791607 [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 +108.30sINFOobjective_server_node[0;93m2026-06-03 22:18:39.006080111 [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 +108.30sINFOobjective_server_node[0;93m2026-06-03 22:18:39.006099951 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.59sINFOobjective_server_node[0;93m2026-06-03 22:18:39.288502347 [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 +108.60sINFOobjective_server_node[0;93m2026-06-03 22:18:39.306905282 [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 +108.60sINFOobjective_server_node[0;93m2026-06-03 22:18:39.306937572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +109.49sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m +109.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780525120.21108961 seconds +110.13sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780525120.82954693 seconds. +110.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +111.16sINFOobjective_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 +111.17sINFOobjective_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 +111.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +111.47sINFOros2_control_node[2026-06-03 22:18:42.176] [info] Received new action goal +111.47sINFOros2_control_node[2026-06-03 22:18:42.176] [info] Accepted new action goal +111.51sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m +114.36sINFOros2_control_node[2026-06-03 22:18:45.063] [info] Received new action goal +114.36sINFOros2_control_node[2026-06-03 22:18:45.063] [info] Accepted new action goal +117.54sINFOros2_control_node[2026-06-03 22:18:48.243] [info] Received new action goal +117.54sINFOros2_control_node[2026-06-03 22:18:48.243] [info] Accepted new action goal +120.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +120.54sINFOros2_control_node[2026-06-03 22:18:51.244] [info] Received new action goal +120.54sINFOros2_control_node[2026-06-03 22:18:51.245] [info] Accepted new action goal +123.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×5 +130.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +131.17sINFOros2_control_node[2026-06-03 22:19:01.872] [info] Received new action goal +131.17sINFOros2_control_node[2026-06-03 22:19:01.872] [info] Accepted new action goal +132.35sINFOobjective_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 +132.36sINFOobjective_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 +132.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +132.64sINFOros2_control_node[2026-06-03 22:19:03.345] [info] Received new action goal +132.64sINFOros2_control_node[2026-06-03 22:19:03.345] [info] Accepted new action goal +133.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 2:10.007 of wall time (74/40204). Below 1% is expected on a non-realtime system.[0m +134.77sINFOros2_control_node[2026-06-03 22:19:05.473] [info] Received new action goal +134.77sINFOros2_control_node[2026-06-03 22:19:05.473] [info] Accepted new action goal +137.80sINFOros2_control_node[2026-06-03 22:19:08.503] [info] Received new action goal +137.80sINFOros2_control_node[2026-06-03 22:19:08.503] [info] Accepted new action goal +140.20sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +140.23sINFOros2_control_node[2026-06-03 22:19:10.935] [info] Received new action goal +140.23sINFOros2_control_node[2026-06-03 22:19:10.935] [info] Accepted new action goal +150.92sINFOros2_control_node[2026-06-03 22:19:21.623] [info] Received new action goal +150.92sINFOros2_control_node[2026-06-03 22:19:21.623] [info] Accepted new action goal +152.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780525162.77971673 seconds +152.80sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780525163.50865293 seconds. +152.85sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +154.01sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +154.01sINFOobjective_server_nodePath shortcutter: [X__________________________X] +154.03sINFOros2_control_node[2026-06-03 22:19:24.734] [info] Received new action goal +154.03sINFOros2_control_node[2026-06-03 22:19:24.734] [info] Accepted new action goal +160.07sINFOobjective_server_nodePath shortcutter: [X________________________X] +160.08sINFOros2_control_node[2026-06-03 22:19:30.782] [info] Received new action goal +160.08sINFOros2_control_node[2026-06-03 22:19:30.782] [info] Accepted new action goal +163.69sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780525174.39879441 seconds +164.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780525175.00067043 seconds. +164.44sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m +164.45sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +164.45sINFOros2_control_node[2026-06-03 22:19:35.154] [info] Received new action goal +164.45sINFOros2_control_node[2026-06-03 22:19:35.154] [info] Accepted new action goal +165.73sINFOobjective_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 +165.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +166.84sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×3 +166.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +168.63sINFOros2_control_nodeReceived new action goal[0m ×4000 +168.63sINFOros2_control_nodeAccepted new action goal[0m ×3994 +174.02sINFOros2_control_nodeGoal reached, success![0m ×100 +182.09sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures"[0m +182.59sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +189.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780525199.81930447 seconds +189.69sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780525200.39038801 seconds. +189.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: 'Found a self-collision involving the bodies 'base_link <-> upper_arm_link'. Colliding links define a padding value of 0.01 m.' +189.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` did not succeed at time: 1780525200.54054904 seconds +190.56sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780525201.26136494 seconds. +190.66sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m +190.68sINFOros2_control_node[2026-06-03 22:20:01.384] [info] Received new action goal +190.68sINFOros2_control_node[2026-06-03 22:20:01.384] [info] Accepted new action goal +193.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 3:10.009 of wall time (127/58743). Below 1% is expected on a non-realtime system.[0m +194.65sINFOros2_control_node[2026-06-03 22:20:05.355] [info] Received new action goal +194.65sINFOros2_control_node[2026-06-03 22:20:05.355] [info] Accepted new action goal +196.55sINFOros2_control_node[2026-06-03 22:20:07.249] [info] Received new action goal +196.55sINFOros2_control_node[2026-06-03 22:20:07.249] [info] Accepted new action goal +201.24sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m +201.74sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +207.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525214.471164) that ends in the past (1780525217.961164)[0m +208.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525214.471164) that ends in the past (1780525219.151164)[0m +209.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525214.471164) that ends in the past (1780525220.341164)[0m +212.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525214.471164) that ends in the past (1780525222.721164)[0m ×2 +212.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780525214.471164) that ends in the past (1780525223.261164)[0m +221.56sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780525232.26525903 seconds +222.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780525232.87951493 seconds. +222.44sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +223.28sINFOobjective_server_nodeFound path in 6 iterations (0.00423323 s). +223.33sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +223.34sINFOros2_control_node[2026-06-03 22:20:34.048] [info] Received new action goal +223.34sINFOros2_control_node[2026-06-03 22:20:34.048] [info] Accepted new action goal +231.76sINFOobjective_server_node[0;m[0;93m2026-06-03 22:20:42.466384793 [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 +231.76sINFOobjective_server_node[0;93m2026-06-03 22:20:42.466413113 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +232.23sINFOobjective_server_node[0;93m2026-06-03 22:20:42.936461056 [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 +232.23sINFOobjective_server_node[0;93m2026-06-03 22:20:42.936498457 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +232.33sINFOobjective_server_node[0;93m2026-06-03 22:20:43.032127494 [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 +232.33sINFOobjective_server_node[0;93m2026-06-03 22:20:43.034480850 [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 +232.33sINFOobjective_server_node[0;93m2026-06-03 22:20:43.034509570 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +232.60sINFOobjective_server_node[0;93m2026-06-03 22:20:43.304369062 [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 +232.62sINFOobjective_server_node[0;93m2026-06-03 22:20:43.320535904 [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 +232.62sINFOobjective_server_node[0;93m2026-06-03 22:20:43.320567585 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +233.51sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m +236.84sINFOobjective_server_nodeFound path in 4 iterations (0.00215497 s). +236.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +236.92sINFOobjective_server_nodeFound path in 14 iterations (0.00442007 s). +236.95sINFOobjective_server_nodePath shortcutter: [X_________________________X____________X________________X] +236.98sINFOobjective_server_nodeFound path in 1 iterations (0.00208942 s). +237.01sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] +237.03sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). +237.05sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +237.05sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m +237.06sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 +237.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +237.12sINFOobjective_server_nodeFound path in 12 iterations (0.00472176 s). +237.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] +237.19sINFOobjective_server_nodeFound path in 1 iterations (0.00318399 s). +237.22sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] +237.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +237.28sINFOobjective_server_nodeFound path in 4 iterations (0.0034523 s). +237.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] +237.36sINFOobjective_server_nodeFound path in 4 iterations (0.00201037 s). +237.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] +237.45sINFOobjective_server_nodeFound path in 1 iterations (0.00386775 s). +237.49sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] +237.51sINFOobjective_server_nodeFound path in 1 iterations (0.00201348 s). +237.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_________________________X] +237.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +237.63sINFOobjective_server_nodeFound path in 0 iterations (5.91e-07 s). +237.69sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] +237.79sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] +237.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +237.93sINFOros2_control_node[2026-06-03 22:20:48.636] [info] Received new action goal +237.93sINFOros2_control_node[2026-06-03 22:20:48.636] [info] Accepted new action goal +242.94sINFOros2_control_node[2026-06-03 22:20:53.648] [info] Received new action goal +242.94sINFOros2_control_node[2026-06-03 22:20:53.648] [info] Accepted new action goal +244.58sINFOros2_control_node[2026-06-03 22:20:55.288] [info] Received new action goal +244.58sINFOros2_control_node[2026-06-03 22:20:55.288] [info] Accepted new action goal +245.80sINFOobjective_server_nodePlanning for 4 path waypoints. +245.83sINFOros2_control_node[2026-06-03 22:20:56.533] [info] Received new action goal +245.83sINFOros2_control_node[2026-06-03 22:20:56.533] [info] Accepted new action goal +251.04sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780525261.73967075 seconds +251.68sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +251.68sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +251.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780525262.40765953 seconds. +251.89sINFOros2_control_node[2026-06-03 22:21:02.597] [info] Received new action goal +251.89sINFOros2_control_node[2026-06-03 22:21:02.597] [info] Accepted new action goal +252.19sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +252.19sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m +252.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event"[0m +253.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 4:10.011 of wall time (171/77216). Below 1% is expected on a non-realtime system.[0m +255.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m +255.71sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +257.12sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). +257.16sINFOobjective_server_nodeFound path in 1 iterations (0.0028717 s). +257.23sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m +257.23sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +257.25sINFOros2_control_node[2026-06-03 22:21:07.954] [info] Received new action goal +257.25sINFOros2_control_node[2026-06-03 22:21:07.954] [info] Accepted new action goal +259.79sINFOros2_control_node[2026-06-03 22:21:10.493] [info] Received new action goal +259.79sINFOros2_control_node[2026-06-03 22:21:10.493] [info] Accepted new action goal +261.61sINFOros2_control_node[2026-06-03 22:21:12.310] [info] Received new action goal +261.61sINFOros2_control_node[2026-06-03 22:21:12.310] [info] Accepted new action goal +262.02sINFOros2_control_node[2026-06-03 22:21:12.727] [info] Got request to cancel active goal. +262.02sINFOros2_control_node[2026-06-03 22:21:12.727] [info] Canceling active goal... +262.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780525272.74165058 seconds +262.71sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780525273.41412687 seconds. +262.79sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +262.80sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +262.88sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). +262.89sINFOros2_control_node[2026-06-03 22:21:13.597] [info] Received new action goal +262.89sINFOros2_control_node[2026-06-03 22:21:13.597] [info] Accepted new action goal +264.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +273.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780525283.72441435 seconds +273.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780525284.27049088 seconds. +273.77sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). +273.80sINFOros2_control_node[2026-06-03 22:21:24.504] [info] Received new action goal +273.80sINFOros2_control_node[2026-06-03 22:21:24.504] [info] Accepted new action goal +273.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +277.81sINFOros2_control_node[2026-06-03 22:21:28.511] [info] Received new action goal +277.81sINFOros2_control_node[2026-06-03 22:21:28.511] [info] Accepted new action goal +283.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780525294.09795785 seconds +283.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780525294.65379214 seconds. +283.96sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m +284.07sINFOros2_control_node[2026-06-03 22:21:34.778] [info] Received new action goal +284.07sINFOros2_control_node[2026-06-03 22:21:34.778] [info] Accepted new action goal +294.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780525304.72398734 seconds +294.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780525305.34319496 seconds. +294.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780525305.41331720 seconds +295.04sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +295.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780525305.96512318 seconds. +295.28sINFOobjective_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 '' +295.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780525305.98704720 seconds +295.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780525306.53885317 seconds. +295.95sINFOros2_control_node[2026-06-03 22:21:46.652] [info] Received new action goal +295.95sINFOros2_control_node[2026-06-03 22:21:46.652] [info] Accepted new action goal +299.26sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +299.26sINFOros2_control_node[2026-06-03 22:21:49.962] [info] Received new action goal +299.26sINFOros2_control_node[2026-06-03 22:21:49.962] [info] Accepted new action goal +299.26sINFOros2_control_node[2026-06-03 22:21:49.962] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +306.02sINFOros2_control_node[2026-06-03 22:21:56.729] [info] Got request to cancel active goal. +306.03sINFOros2_control_node[2026-06-03 22:21:56.729] [info] Canceling active goal... +306.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780525316.73329926 seconds +306.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780525317.35580349 seconds. +307.15sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m +308.17sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m +308.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780525319.15592551 seconds +308.67sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +309.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780525319.71455693 seconds. +309.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +309.01sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +309.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +309.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780525319.71607995 seconds +309.18sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +309.18sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m +309.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780525320.26691055 seconds. +309.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780525320.26745915 seconds +309.68sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m +310.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780525320.81701541 seconds. +311.19sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures"[0m +311.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780525322.07715368 seconds +311.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +311.93sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +313.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.014 of wall time (194/95696). Below 1% is expected on a non-realtime system.[0m +316.94sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.94sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +316.95sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +316.96sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +316.96sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +316.97sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +316.97sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +316.98sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +316.99sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +316.99sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +317.00sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +317.01sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +317.02sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +317.02sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +317.03sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +317.03sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +317.03sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +317.04sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +317.04sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +317.04sERRORui_teleop_bridgeTraceback (most recent call last): +317.04sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +317.04sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +317.04sINFOui_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 +317.04sINFOui_teleop_bridgerclpy.shutdown() +317.04sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +317.04sINFOui_teleop_bridge_shutdown(context=context) +317.04sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +317.04sINFOui_teleop_bridgereturn context.shutdown() +317.04sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +317.04sINFOui_teleop_bridgeself.__context.shutdown() +317.04sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +317.04sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +317.04sINFOros2_control_nodeShutdown request received....[0m +317.04sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +317.04sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +317.04sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +317.04sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +317.04sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +317.04sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +317.04sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +317.04sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +317.04sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +317.04sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +317.04sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +317.04sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +317.04sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +317.04sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +317.04sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +317.04sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +317.04sINFOros2_control_nodeShutting down the controller manager.[0m +317.09sINFOobjective_server_node[0;m[2026-06-03 22:22:07.789] [moveit_pro_license] [info] +317.09sINFOobjective_server_node* Application has successfully terminated +317.16sINFOobjective_server_nodecorrupted double-linked list +317.16sERRORobjective_server_nodeStack trace (most recent call last) in thread 10749: +317.18sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +317.18sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f46912eaa83, in __clone +317.18sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4691259ac2, in +317.18sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f466b9ed21b, in +317.18sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f466b9a1674, in +317.18sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f466b990339, in +317.18sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f466b980ede, in +317.18sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f469126a452, in free +317.18sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4691267e9f, in +317.18sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f469126691a, in +317.18sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f46912667cb, in +317.18sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4691265cfb, in +317.18sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f469124e676, in +317.18sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f46911ed7f2, in abort +317.18sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4691207475, in raise +317.18sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f469125b9fc, in pthread_kill +317.18sERRORobjective_server_nodeAborted (Signal sent by tkill() 10360 0) +317.18sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10370] +317.18sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +317.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +317.19sINFOweb_video_server-20process has finished cleanly [pid 10372] +317.21sERRORui_teleop_bridge-17process has died [pid 10366, 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_nxy2s06t']. +317.24sINFOfoxglove_bridgeShutdown complete[0m +317.82sERRORobjective_server_node_main-14process has died [pid 10360, 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_qcwdujx1 --params-file /tmp/launch_params_ryuvxuuz --params-file /tmp/launch_params_ry1q0rlw --params-file /tmp/launch_params_rm42n1d6 --params-file /tmp/launch_params_8cvznjmn --params-file /tmp/launch_params_9v08s0a0']. +317.82sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +318.02sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10358] +318.03sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10356] +318.04sINFOexecute_objective_bridge-16process has finished cleanly [pid 10364] +318.07sINFOparameter_manager_node-10process has finished cleanly [pid 10307] +318.09sINFOwaypoint_manager_node-11process has finished cleanly [pid 10354] +318.12sINFOcomponent_container_mt-15process has finished cleanly [pid 10362] +318.34sINFOmove_group-9process has finished cleanly [pid 10304] +319.05sINFOros2_control_node-1process has finished cleanly [pid 10284] +319.07sINFOfoxglove_bridge-18process has finished cleanly [pid 10368] +319.07sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +323.30sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-22-22-13-495966-2985b515d74c-11610 +324.47sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +324.53sINFOros2_control_node-1process started with pid [11640] +324.53sINFOmove_group-9process started with pid [11660] +324.53sINFOparameter_manager_node-10process started with pid [11663] +324.53sINFOwaypoint_manager_node-11process started with pid [11701] +324.53sINFOmove_joint_resampler_node-12process started with pid [11703] +324.53sINFOmove_end_effector_resampler_node-13process started with pid [11705] +324.53sINFOobjective_server_node_main-14process started with pid [11707] +324.53sINFOcomponent_container_mt-15process started with pid [11709] +324.53sINFOexecute_objective_bridge-16process started with pid [11711] +324.53sINFOui_teleop_bridge-17process started with pid [11713] +324.53sINFOfoxglove_bridge-18process started with pid [11715] +324.53sINFOtf2_web_republisher_node-19process started with pid [11719] +324.53sINFOweb_video_server-20process started with pid [11724] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11642] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11644] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11646] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11648] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11651] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11654] +324.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11656] +324.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +324.73sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +324.74sINFOfoxglove_bridgeServer listening on port 3201 +324.75sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +324.76sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" +324.76sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m +324.76sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m +324.76sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" +324.77sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m +324.78sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" +324.78sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m +324.79sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" +324.80sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" +324.80sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m +324.80sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +324.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +324.81sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +324.82sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" +324.82sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m +324.83sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" +324.83sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" +324.83sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" +324.83sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" +324.83sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" +324.83sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" +324.83sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m +324.83sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m +324.83sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m +325.29sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +325.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" +325.49sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m +325.51sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" +325.51sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m +325.51sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +325.52sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" +325.52sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" +325.52sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" +325.52sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" +325.52sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +325.52sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +325.52sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +325.52sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" +325.52sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m +325.52sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" +325.52sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" +325.52sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m +325.52sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m +325.52sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +325.55sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +325.55sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +325.59sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +325.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +326.47sINFOobjective_server_node[2026-06-03 22:22:17.172] [moveit_pro_license] [info] +326.70sINFOcontroller_managerupdate rate is 600 Hz +326.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +326.70sWARNcontroller_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. +326.77sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +326.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" +326.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m +326.78sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" +326.78sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m +326.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +326.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' +326.79sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" +326.79sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" +326.79sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" +326.79sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" +326.79sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" +326.79sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" +326.79sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" +326.79sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m +326.79sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" +326.79sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" +326.79sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" +326.80sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m +326.80sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m +326.80sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m +326.80sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" +326.80sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" +326.80sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m +326.80sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m +326.92sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +326.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +326.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +326.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +326.94sINFOcontroller_managerLoading controller 'velocity_force_controller' +326.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +327.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +327.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +327.02sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +327.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +327.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +327.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +327.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +327.10sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +327.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +327.16sINFOros2_control_node[2026-06-03 22:22:17.859] [info] Controller state will be published at 20 Hz. +327.16sINFOros2_control_node[2026-06-03 22:22:17.860] [info] JointVelocityController 'on_configure' succeeded. +327.16sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +327.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +327.16sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +327.16sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +327.16sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +327.16sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +327.19sINFOros2_control_node[2026-06-03 22:22:17.894] [info] Controller state will be published at 10 Hz. +327.19sINFOros2_control_node[2026-06-03 22:22:17.895] [info] VelocityForceController 'on_configure' succeeded. +327.19sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +327.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +327.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +327.19sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +327.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +327.20sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +327.20sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +327.20sINFOros2_control_node[2026-06-03 22:22:17.907] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +327.20sINFOros2_control_node[2026-06-03 22:22:17.907] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +327.23sINFOros2_control_node[2026-06-03 22:22:17.933] [info] First order lag filter time constant set to: 0.2 seconds +327.23sINFOros2_control_node[2026-06-03 22:22:17.933] [info] Controller state will be published at 50 Hz. +327.23sINFOros2_control_node[2026-06-03 22:22:17.938] [info] Registered `FollowJointTrajectory` action server. +327.24sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +327.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +327.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +327.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +327.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11654] +327.45sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" +327.45sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m +327.45sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" +327.45sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" +327.46sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" +327.46sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" +327.46sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" +327.46sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m +327.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11656] +327.46sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" +327.46sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" +327.46sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" +327.46sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" +327.46sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" +327.46sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m +327.46sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" +327.46sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m +327.47sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" +327.47sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" +327.47sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m +327.47sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +327.47sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" +327.47sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" +327.47sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m +327.47sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m +327.47sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" +327.47sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" +327.47sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m +327.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11642] +327.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11648] +327.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11651] +327.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11644] +327.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11646] +328.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" +328.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 +328.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 +328.65sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +329.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 +329.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +329.16sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +330.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 +330.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 +331.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 +332.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 +332.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 3.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.56sINFOros2_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. + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 6.46sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.74sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.74sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 3.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.56sINFOros2_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. + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 6.46sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2
− skipped	—	addtovector.xml	0.0s	13 warnings · 210 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/2026-06-03-22-22-13-495966-2985b515d74c-11610 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.17sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.22sINFOros2_control_node-1process started with pid [11640] + 1.22sINFOmove_group-9process started with pid [11660] + 1.22sINFOparameter_manager_node-10process started with pid [11663] + 1.22sINFOwaypoint_manager_node-11process started with pid [11701] + 1.22sINFOmove_joint_resampler_node-12process started with pid [11703] + 1.22sINFOmove_end_effector_resampler_node-13process started with pid [11705] + 1.22sINFOobjective_server_node_main-14process started with pid [11707] + 1.22sINFOcomponent_container_mt-15process started with pid [11709] + 1.22sINFOexecute_objective_bridge-16process started with pid [11711] + 1.22sINFOui_teleop_bridge-17process started with pid [11713] + 1.22sINFOfoxglove_bridge-18process started with pid [11715] + 1.22sINFOtf2_web_republisher_node-19process started with pid [11719] + 1.22sINFOweb_video_server-20process started with pid [11724] + 1.23sINFOparameter_manager_nodeStarted parameter manager node. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11642] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11644] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11646] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11648] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11651] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11654] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11656] + 1.24sWARNros2_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 + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.43sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.44sINFOfoxglove_bridgeServer listening on port 3201 + 1.44sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" + 1.45sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.48sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 1.50sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" + 1.50sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.51sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.52sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.52sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" + 1.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" + 1.52sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" + 1.52sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" + 1.52sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 1.53sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.53sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m + 1.53sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m + 1.53sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m + 1.53sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m + 1.53sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 1.92sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.92sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.92sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 1.98sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.18sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 2.19sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 2.21sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 2.21sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.21sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.21sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.21sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 2.21sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.21sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 2.22sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.22sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.22sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.22sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.22sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.22sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.16sINFOobjective_server_node[2026-06-03 22:22:17.172] [moveit_pro_license] [info] + 3.16sINFOobjective_server_node************************************************* ×2 + 3.16sINFOobjective_server_node* MoveIt Pro License + 3.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.40sINFOcontroller_managerupdate rate is 600 Hz + 3.40sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.40sWARNcontroller_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. + 3.40sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.40sWARNros2_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 + 3.42sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.48sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.49sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.49sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 3.49sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 3.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 3.62sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.62sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.62sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.62sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.70sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.70sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.72sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.72sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.80sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.80sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.85sINFOros2_control_node[2026-06-03 22:22:17.859] [info] Controller state will be published at 20 Hz. + 3.85sINFOros2_control_node[2026-06-03 22:22:17.860] [info] JointVelocityController 'on_configure' succeeded. + 3.85sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.85sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.85sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.85sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.85sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.85sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.85sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.86sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.86sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.86sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	77 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 6.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 6.68sINFOobjective_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 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	77 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 6.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 6.68sINFOobjective_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 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	77 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.38sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780525339.23245549 seconds. ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780525339.24260855 seconds ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780525339.78626800 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.45sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 6.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 6.68sINFOobjective_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 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	45 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 3.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.56sINFOros2_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. + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780525340.95655465 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 3.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.56sINFOros2_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. + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.3492e-05 s). + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 4.24sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 6.46sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [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: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	execute_mtc_solution_jtc.xml	0.1s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	execute_mtc_solution.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780525341.53176069 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780525342.60191751 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780525343.14525938 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780525343.16541862 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780525343.70689845 seconds. ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780525343.85735226 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780525344.48538160 seconds. ×2 + 2.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780525344.53552413 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780525345.09024835 seconds. ×2 + 3.57sINFOobjective_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 (4.3492e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 22:22:25.195] [info] Accepted new action goal + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3116). Below 1% is expected on a non-realtime system.[0m + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-03 22:22:27.694] [info] Accepted new action goal