118
Total objective tests
34
Objectives passed
1
Objectives failed
83
Objectives skipped
10.9s
Avg test time
97%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives1 fail30 pass54 skip
| ✕ failed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 33.8s | 6 errors · 46 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal + 35.45sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 35.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 36.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 36.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 36.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 36.90sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 36.90sINFOobjective_server_nodePath shortcutter: [X_____________X] + 36.91sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 36.91sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 37.00sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 37.00sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 22 errors · 10507 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780526647.41882682 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526647.98238349 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.74sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.92sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2595 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2584 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2595 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2584 + 9.07sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.17sINFOjoint_trajectory_controllerGoal reached, success! ×51 + 9.17sINFOros2_control_nodeGoal reached, success![0m ×51 + 22.70sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 3:10.009 of wall time (381/58124). Below 1% is expected on a non-realtime system.[0m + 42.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.379086) + 42.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.379086)[0m + 43.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.799086) + 43.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.799086)[0m + 43.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.819086) + 43.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.819086)[0m + 43.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.039086) + 43.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.039086)[0m + 43.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.129086) + 43.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.139086) + 43.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.129086)[0m + 43.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.139086)[0m + 43.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.159086) + 43.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.159086)[0m + 44.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.529086) + 44.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.529086)[0m + 44.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.539086) + 44.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.539086)[0m + 44.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.699086) + 44.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.699086)[0m + 44.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526691.80465508 seconds ×2 + 44.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.879086) + 44.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.879086)[0m + 44.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526692.39427924 seconds. ×2 + 45.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 45.12sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 45.14sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 45.15sINFOros2_control_node[2026-06-03 22:44:52.568] [info] Received new action goal + 45.15sINFOros2_control_node[2026-06-03 22:44:52.568] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 129 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 7.02sINFOros2_control_node[2026-06-03 22:43:16.931] [info] Received new action goal + 7.02sINFOros2_control_node[2026-06-03 22:43:16.931] [info] Accepted new action goal + 10.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.20sINFOros2_control_node[2026-06-03 22:43:20.111] [info] Received new action goal + 10.20sINFOros2_control_node[2026-06-03 22:43:20.111] [info] Accepted new action goal + 13.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 13.18sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.21sINFOros2_control_node[2026-06-03 22:43:23.125] [info] Received new action goal + 13.21sINFOros2_control_node[2026-06-03 22:43:23.125] [info] Accepted new action goal + 16.19sINFOobjective_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 + 20.20sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.47% of iterations over budget over 2:10.007 of wall time (189/39863). Below 1% is expected on a non-realtime system.[0m + 22.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 23.95sINFOros2_control_node[2026-06-03 22:43:33.862] [info] Received new action goal + 23.95sINFOros2_control_node[2026-06-03 22:43:33.862] [info] Accepted new action goal + 25.12sINFOobjective_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 + 25.12sINFOobjective_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 + 25.39sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 25.40sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.43sINFOros2_control_node[2026-06-03 22:43:35.345] [info] Received new action goal + 25.43sINFOros2_control_node[2026-06-03 22:43:35.345] [info] Accepted new action goal + 27.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 27.55sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.57sINFOros2_control_node[2026-06-03 22:43:37.482] [info] Received new action goal + 27.57sINFOros2_control_node[2026-06-03 22:43:37.482] [info] Accepted new action goal + 30.63sINFOros2_control_node[2026-06-03 22:43:40.533] [info] Received new action goal + 30.63sINFOros2_control_node[2026-06-03 22:43:40.533] [info] Accepted new action goal + 33.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 33.21sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.25sINFOros2_control_node[2026-06-03 22:43:43.164] [info] Received new action goal + 33.25sINFOros2_control_node[2026-06-03 22:43:43.164] [info] Accepted new action goal + 44.55sINFOros2_control_node[2026-06-03 22:43:54.461] [info] Received new action goal + 44.55sINFOros2_control_node[2026-06-03 22:43:54.461] [info] Accepted new action goal + 45.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780526635.62737536 seconds ×2 + 46.45sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780526636.36868167 seconds. ×2 + 46.81sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.81sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.72sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 47.73sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.75sINFOros2_control_node[2026-06-03 22:43:57.664] [info] Received new action goal + 47.75sINFOros2_control_node[2026-06-03 22:43:57.664] [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 | 37.4s | 772 errors · 7001 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×929 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×929 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×1467 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×1081 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×1467 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×1081 + 0.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074) ×2 + 0.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074)[0m ×2 + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074) + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074)[0m + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073)[0m + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073)[0m + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073) + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074) + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073)[0m + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073) + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073)[0m + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074) + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073) ×2 + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073)[0m ×2 + 0.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074) + 0.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074)[0m + 0.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073) + 0.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074) ×2 + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074)[0m ×2 + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073)[0m + 1.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074) + 1.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073) + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073) ×2 + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073)[0m ×2 + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073) + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073)[0m + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074)[0m + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074) + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073) + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074)[0m + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073) + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073) + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073)[0m + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073)[0m + 1.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073) ×2 + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073)[0m ×2 + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073) + 1.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073)[0m + 2.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074)[0m + 2.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074) ×2 + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074)[0m ×2 + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073) + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073)[0m + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073) ×2 + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073)[0m ×2 + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074) ×2 + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074)[0m ×2 + 2.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073) + 2.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073) + 2.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073)[0m + 2.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073)[0m + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073) + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073) + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073)[0m + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073)[0m + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073) + 2.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073)[0m + 2.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073) ×2 + 2.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073)[0m ×2 + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074)[0m + 3.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526716.51534009 seconds ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780526717.20995927 seconds. ×2 + 3.89sINFOobjective_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 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.99sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 4.02sINFOros2_control_node[2026-06-03 22:45:17.394] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 22:45:17.395] [info] Accepted new action goal + 4.15sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.15sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m + 11.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 11.80sINFOros2_control_node[2026-06-03 22:45:25.175] [info] Received new action goal + 11.80sINFOros2_control_node[2026-06-03 22:45:25.175] [info] Accepted new action goal + 14.19sINFOros2_control_node[2026-06-03 22:45:27.570] [info] Received new action goal + 14.19sINFOros2_control_node[2026-06-03 22:45:27.570] [info] Accepted new action goal + 16.74sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.74% of iterations over budget over 4:10.009 of wall time (568/76357). Below 1% is expected on a non-realtime system.[0m + 20.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures" + 20.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures"[0m + 20.45sINFOobjective_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 + 20.49sINFOobjective_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 + 20.79sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 20.79sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 23.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.206424) + 23.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.206424)[0m + 23.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.216424) + 23.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.226424) + 23.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.236424) + 23.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.216424)[0m + 23.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.226424)[0m + 23.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.236424)[0m + 23.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.286423) + 23.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.286423)[0m + 24.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.406424) + 24.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.406424)[0m + 24.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.436424) + 24.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.436424)[0m + 24.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.876424) + 24.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.876424)[0m + 24.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.966424) + 24.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.966424)[0m + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.986423) + 24.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526737.986423)[0m + 24.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.006423) + 24.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.006423)[0m + 24.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.026423) + 24.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.026423)[0m + 24.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.036424) ×2 + 24.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.036424)[0m ×2 + 24.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.126424) + 24.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.126424)[0m + 24.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.326424) + 24.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.326424)[0m + 25.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.416424) + 25.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.416424)[0m + 25.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.646424) ×2 + 25.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.646424)[0m ×2 + 25.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.666424) + 25.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.666424)[0m + 25.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.676424) + 25.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526738.676424)[0m + 25.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.066424) + 25.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.066424)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.096424) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.096424)[0m + 25.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.136424) + 25.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.136424)[0m + 25.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.276424) + 25.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.276424)[0m + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.346424) + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.356424) + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.346424)[0m + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.356424)[0m + 26.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.416424) + 26.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.426424) + 26.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.416424)[0m + 26.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.426424)[0m + 26.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.446424) + 26.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.446424)[0m + 26.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.486423) + 26.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.486423)[0m + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.496424) + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.506423) + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.496424)[0m + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.506423)[0m + 26.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.586424) + 26.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.586424)[0m + 26.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.716424) + 26.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.716424)[0m + 26.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.736424) + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.736424)[0m + 26.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.766423) + 26.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.766423)[0m + 26.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.886424) + 26.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.896424) ×2 + 26.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.886424)[0m + 26.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.896424)[0m ×2 + 26.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.936424) + 26.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.936424)[0m + 26.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.946424) + 26.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526739.946424)[0m + 26.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.096424) + 26.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.106424) + 26.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.096424)[0m + 26.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.106424)[0m + 26.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.126424) + 26.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.126424)[0m + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.136424) + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.146424) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.136424)[0m + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.146424)[0m + 26.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.196424) + 26.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.196424)[0m + 26.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.306424) + 26.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.306424)[0m + 27.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.446424) + 27.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.446424)[0m + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.456424) + 27.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.456424)[0m + 27.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.506423) + 27.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.506423)[0m + 27.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.516424) + 27.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.516424)[0m + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.536424) + 27.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.536424)[0m + 27.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.576424) + 27.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.576424)[0m + 27.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.596424) + 27.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.596424)[0m + 27.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.616424) + 27.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.616424)[0m + 27.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.656424) + 27.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.656424)[0m + 27.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.746423) + 27.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.746423)[0m + 27.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.776424) + 27.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.776424)[0m + 27.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.876424) + 27.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.876424)[0m + 27.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.886424) + 27.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.886424)[0m + 27.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.926424) ×2 + 27.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.926424)[0m ×2 + 27.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.936424) + 27.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526740.936424)[0m + 27.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.016424) + 27.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.016424)[0m + 27.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.126424) + 27.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.126424)[0m + 27.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.166424) + 27.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.166424)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.176424) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.176424)[0m + 27.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.196424) + 27.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.196424)[0m + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.206424) + 27.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.206424)[0m + 27.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.306424) + 27.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.306424)[0m + 27.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.336424) ×2 + 27.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.336424)[0m ×2 + 27.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.356424) + 27.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.356424)[0m + 28.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.376424) + 28.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.376424)[0m + 28.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.536424) ×2 + 28.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.536424)[0m ×2 + 28.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.556424) + 28.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.566424) + 28.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.556424)[0m + 28.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.566424)[0m + 28.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.576424) + 28.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.576424)[0m + 28.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.626424) + 28.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.626424)[0m + 28.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.736424) + 28.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.736424)[0m + 28.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.766423) + 28.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.766423)[0m + 28.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.886424) + 28.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.886424)[0m + 28.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.926424) + 28.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.926424)[0m + 28.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.946424) + 28.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.946424)[0m + 28.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.956424) + 28.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.956424)[0m + 28.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.976424) + 28.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526741.976424)[0m + 28.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.016424) + 28.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.016424)[0m + 28.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.056424) + 28.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.056424)[0m + 28.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.166424) + 28.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.166424)[0m + 28.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.206424) ×2 + 28.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.206424)[0m ×2 + 28.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.226424) + 28.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.226424)[0m + 28.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.296424) + 28.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.306424) + 28.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.296424)[0m + 28.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.306424)[0m + 28.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.326424) + 28.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.326424)[0m + 28.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.346424) + 28.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.346424)[0m + 28.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.366424) + 28.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.366424)[0m + 29.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.386424) + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.386424)[0m + 29.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.446424) + 29.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.446424)[0m + 29.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.466424) + 29.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.466424)[0m + 29.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.586424) + 29.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.586424)[0m + 29.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.646424) + 29.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.646424)[0m + 29.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.766423) + 29.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.766423)[0m + 29.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.786423) + 29.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.786423)[0m + 29.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.806424) + 29.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.806424)[0m + 29.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.826424) ×2 + 29.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.826424)[0m ×2 + 29.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.996424) + 29.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526742.996424)[0m + 29.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.006423) + 29.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.016424) + 29.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.006423)[0m + 29.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.016424)[0m + 29.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.036424) + 29.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.036424)[0m + 29.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.086424) + 29.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.086424)[0m + 29.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.206424) + 29.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.206424)[0m + 29.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.226424) + 29.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.226424)[0m + 30.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.406424) + 30.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.406424)[0m + 30.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.426424) + 30.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.426424)[0m + 30.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.466424) + 30.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.466424)[0m + 30.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.506423) + 30.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.506423)[0m + 30.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.616424) + 30.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.616424)[0m + 30.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.636424) + 30.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.636424)[0m + 30.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.656424) + 30.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.656424)[0m + 30.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.666424) + 30.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.666424)[0m + 30.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.746423) + 30.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.756424) + 30.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.746423)[0m + 30.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.756424)[0m + 30.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.776424) + 30.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.776424)[0m + 30.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.796424) + 30.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.796424)[0m + 30.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.816424) ×2 + 30.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.816424)[0m ×2 + 30.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.896424) + 30.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526743.896424)[0m + 30.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.176424) + 30.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.176424)[0m + 30.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.196424) + 30.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.196424)[0m + 30.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.206424) + 30.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.206424)[0m + 30.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.246423) + 30.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.246423)[0m + 30.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.266423) + 30.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.266423)[0m + 31.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.416424) + 31.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.416424)[0m + 31.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.426424) + 31.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.436424) + 31.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.446424) ×2 + 31.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.426424)[0m + 31.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.456424) + 31.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.436424)[0m + 31.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.446424)[0m ×2 + 31.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.456424)[0m + 31.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.626424) + 31.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.626424)[0m + 31.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.636424) + 31.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.636424)[0m + 31.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.656424) ×2 + 31.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.656424)[0m ×2 + 31.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.756424) + 31.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.756424)[0m + 31.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.806424) + 31.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.806424)[0m + 31.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.826424) + 31.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.826424)[0m + 31.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.886424) ×2 + 31.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526744.886424)[0m ×2 + 31.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.046423) + 31.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.046423)[0m + 31.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.066424) + 31.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.066424)[0m + 31.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.086424) ×2 + 31.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.086424)[0m ×2 + 31.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.156424) + 31.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.156424)[0m + 31.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.166424) + 31.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.176424) + 31.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.186424) + 31.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.166424)[0m + 31.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.176424)[0m + 31.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.186424)[0m + 31.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.216424) + 31.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.226424) + 31.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.216424)[0m + 31.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.226424)[0m + 31.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.246423) + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.246423)[0m + 31.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.316424) + 31.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.316424)[0m + 31.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.336424) + 31.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.336424)[0m + 32.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.446424) + 32.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.446424)[0m + 32.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.466424) + 32.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.466424)[0m + 32.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.506423) ×2 + 32.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.506423)[0m ×2 + 32.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.526423) + 32.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.526423)[0m + 32.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.626424) + 32.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.626424)[0m + 32.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.646424) + 32.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.646424)[0m + 32.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.656424) + 32.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.666424) + 32.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.656424)[0m + 32.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.666424)[0m + 32.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.696424) ×2 + 32.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.696424)[0m ×2 + 32.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.846424) ×2 + 32.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.846424)[0m ×2 + 32.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.866424) + 32.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.866424)[0m + 32.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.876424) + 32.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.876424)[0m + 32.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.886424) + 32.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.886424)[0m + 32.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.936424) + 32.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526745.936424)[0m + 32.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.076424) + 32.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.076424)[0m + 32.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.206424) + 32.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.206424)[0m + 32.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.226424) + 32.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.226424)[0m + 32.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.266423) + 32.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.266423)[0m + 32.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.296424) + 32.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.296424)[0m + 32.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.356424) + 32.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.356424)[0m + 33.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.386424) ×2 + 33.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.386424)[0m ×2 + 33.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.406424) + 33.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.406424)[0m + 33.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.486423) + 33.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.486423)[0m + 33.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.506423) + 33.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.506423)[0m + 33.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.526423) + 33.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.526423)[0m + 33.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.536424) + 33.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.546423) + 33.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.536424)[0m + 33.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.546423)[0m + 33.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.636424) + 33.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.646424) + 33.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.636424)[0m + 33.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.646424)[0m + 33.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.656424) + 33.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.656424)[0m + 33.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.686424) + 33.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.686424)[0m + 33.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.696424) + 33.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.696424)[0m + 33.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.776424) + 33.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.776424)[0m + 33.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.806424) + 33.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.806424)[0m + 33.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.826424) + 33.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.826424)[0m + 33.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.846424) + 33.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.846424)[0m + 33.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.996424) + 33.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526746.996424)[0m + 33.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.036424) + 33.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.036424)[0m + 33.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.056424) + 33.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.056424)[0m + 33.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.176424) + 33.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.176424)[0m + 33.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.196424) + 33.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.196424)[0m + 33.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.226424) + 33.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.226424)[0m + 33.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.256424) + 33.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.256424)[0m + 34.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.406424) ×2 + 34.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.416424) + 34.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.426424) + 34.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.406424)[0m ×2 + 34.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.416424)[0m + 34.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.426424)[0m + 34.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.436424) + 34.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.446424) + 34.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.436424)[0m + 34.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.446424)[0m + 34.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.876424) + 34.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.876424)[0m + 34.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.896424) + 34.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.896424)[0m + 34.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.936424) + 34.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526747.936424)[0m + 34.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.206424) + 34.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.206424)[0m + 34.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.226424) ×2 + 34.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.226424)[0m ×2 + 34.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.256424) + 34.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.256424)[0m + 34.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.266423) + 34.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.276424) + 34.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.266423)[0m + 34.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.276424)[0m + 34.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.356424) + 34.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.356424)[0m + 35.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.376424) + 35.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.376424)[0m + 35.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.396424) + 35.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.396424)[0m + 35.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.416424) ×2 + 35.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.416424)[0m ×2 + 35.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.576424) + 35.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.576424)[0m + 35.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.616424) + 35.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.616424)[0m + 35.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.736424) + 35.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.746423) + 35.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.736424)[0m + 35.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.746423)[0m + 35.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.806424) + 35.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.806424)[0m + 35.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.966424) ×2 + 35.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.966424)[0m ×2 + 35.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.976424) + 35.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.976424)[0m + 35.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.996424) + 35.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.006423) + 35.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526748.996424)[0m + 35.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.006423)[0m + 35.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.036424) + 35.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.036424)[0m + 36.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.426424) + 36.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.426424)[0m + 36.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.466424) + 36.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.466424)[0m + 36.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.616424) + 36.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.616424)[0m + 36.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.636424) + 36.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.636424)[0m + 36.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.656424) + 36.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.656424)[0m + 36.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.676424) + 36.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.676424)[0m + 36.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.746423) + 36.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.746423)[0m + 36.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.756424) + 36.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.756424)[0m + 36.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.776424) + 36.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.786423) + 36.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.776424)[0m + 36.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.786423)[0m + 36.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.806424) + 36.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.806424)[0m + 36.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.816424) + 36.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.816424)[0m + 36.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.906424) ×2 + 36.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.906424)[0m ×2 + 36.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.946424) + 36.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526749.946424)[0m + 36.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.126424) + 36.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.126424)[0m + 36.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.246423) + 36.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.246423)[0m + 36.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.286423) + 36.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.286423)[0m + 37.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.456424) + 37.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.456424)[0m + 37.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.476424) ×2 + 37.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.476424)[0m ×2 + 37.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.486423) + 37.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.486423)[0m + 37.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.506423) + 37.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.506423)[0m + 37.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.566424) + 37.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526750.566424)[0m + 37.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424) + 37.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424)[0m + 37.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424) + 37.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424)[0m + 37.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423) + 37.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424) + 37.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423)[0m + 37.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424)[0m + 37.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424) ×2 + 37.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424)[0m ×2 + 37.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424) + 37.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424)[0m + 37.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424) + 37.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424)[0m + 38.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424) + 38.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424)[0m + 38.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424) + 38.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424)[0m + 38.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424) + 38.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424)[0m + 38.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424) + 38.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424)[0m + 38.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424) + 38.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424)[0m + 38.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424) + 38.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424)[0m + 38.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424) + 38.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424)[0m + 38.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424) + 38.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424)[0m + 38.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424) + 38.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424) ×2 + 38.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424)[0m + 38.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424)[0m ×2 + 38.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424) + 38.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424)[0m + 38.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424) + 38.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424)[0m + 38.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424) + 38.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424)[0m + 39.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424) + 39.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424)[0m + 39.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424) + 39.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424)[0m + 39.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423) + 39.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424) + 39.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423)[0m + 39.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424)[0m + 39.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424) + 39.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424)[0m + 39.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424) + 39.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424)[0m + 39.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424) + 39.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424)[0m + 39.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424) + 39.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424)[0m + 39.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424) ×2 + 39.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424)[0m ×2 + 39.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424) ×2 + 39.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424)[0m ×2 + 39.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424) + 39.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424)[0m + 39.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424) + 39.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424)[0m + 39.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424) + 39.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424)[0m + 39.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424) + 39.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424)[0m + 40.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424) + 40.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423) ×2 + 40.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424) + 40.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424)[0m + 40.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423)[0m ×2 + 40.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424)[0m + 40.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424) ×2 + 40.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424)[0m ×2 + 40.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423) + 40.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423)[0m + 40.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424) + 40.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424)[0m + 40.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424) + 40.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424)[0m + 40.51sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780526753.88408566 seconds ×2 + 40.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424) + 40.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424)[0m + 40.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424) ×2 + 40.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424)[0m ×2 + 40.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424) ×2 + 40.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424)[0m ×2 + 41.14sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780526754.52193666 seconds. ×2 + 41.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 41.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 41.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 41.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 42.31sINFOobjective_server_nodeFound path in 6 iterations (0.00529555 s). + 42.38sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 42.39sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Received new action goal + 42.39sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.9s | 104 errors · 1117 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×139 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×139 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×208 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×156 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×208 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×156 + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424)[0m + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423) + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423)[0m + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424) ×2 + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424)[0m ×2 + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424) + 0.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424)[0m + 0.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424) + 0.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424)[0m + 0.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424) + 0.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424) + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424)[0m + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424) + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424) ×2 + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424)[0m + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424)[0m ×2 + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424) + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424)[0m + 1.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424) + 1.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423) + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423)[0m + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424)[0m + 2.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424) + 2.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424) ×2 + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424)[0m ×2 + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424) ×2 + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424)[0m ×2 + 2.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424) + 2.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424)[0m + 2.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424) + 2.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424)[0m + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423) ×2 + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424) + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423)[0m ×2 + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424)[0m + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424) ×2 + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424)[0m ×2 + 2.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423) + 2.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423)[0m + 2.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424) + 2.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424)[0m + 3.14sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780526753.88408566 seconds ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424)[0m + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424) ×2 + 3.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424)[0m ×2 + 3.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424) ×2 + 3.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424)[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780526754.52193666 seconds. ×2 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.13sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.13sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.95sINFOobjective_server_nodeFound path in 6 iterations (0.00529555 s). + 5.01sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.02sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Received new action goal + 5.02sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Accepted new action goal + 14.62sINFOobjective_server_node[0;m[0;93m2026-06-03 22:46:05.365461017 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.62sINFOobjective_server_node[0;93m2026-06-03 22:46:05.365502400 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.12sINFOobjective_server_node[0;93m2026-06-03 22:46:05.864072804 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.12sINFOobjective_server_node[0;93m2026-06-03 22:46:05.864112747 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.23sINFOobjective_server_node[0;93m2026-06-03 22:46:05.978590190 [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 + 15.23sINFOobjective_server_node[0;93m2026-06-03 22:46:05.980823909 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.23sINFOobjective_server_node[0;93m2026-06-03 22:46:05.980847751 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.57sINFOobjective_server_node[0;93m2026-06-03 22:46:06.319010906 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.60sINFOobjective_server_node[0;93m2026-06-03 22:46:06.339463523 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.60sINFOobjective_server_node[0;93m2026-06-03 22:46:06.339542628 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.72sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 16.72sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 17.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.73sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures" + 17.73sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures"[0m + 18.23sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 18.23sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 21.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 21.25sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 21.26sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m + 21.56sINFOobjective_server_nodeFound path in 4 iterations (0.00280321 s). + 21.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________X____________________X] + 21.68sINFOobjective_server_nodeFound path in 12 iterations (0.00579547 s). + 21.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X___________________X] + 21.75sINFOobjective_server_nodeFound path in 1 iterations (0.002396 s). + 21.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 21.76sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 21.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 21.76sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m + 21.82sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 21.83sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 21.86sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 21.88sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 21.91sINFOobjective_server_nodePath shortcutter: [X______________________________________X] + 21.93sINFOobjective_server_nodeFound path in 12 iterations (0.00459854 s). + 21.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 22.01sINFOobjective_server_nodeFound path in 1 iterations (0.00362046 s). + 22.05sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 22.07sINFOobjective_server_nodeFound path in 2 iterations (0.00438641 s). + 22.11sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________________X] + 22.13sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 22.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 22.19sINFOobjective_server_nodeFound path in 4 iterations (0.00558522 s). + 22.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 22.30sINFOobjective_server_nodeFound path in 4 iterations (0.00279725 s). + 22.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] + 22.43sINFOobjective_server_nodeFound path in 1 iterations (0.00467058 s). + 22.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] + 22.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 22.59sINFOobjective_server_nodeFound path in 1 iterations (0.00307373 s). + 22.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X________________________X] + 22.68sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 22.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 22.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 22.75sINFOros2_control_node[2026-06-03 22:46:13.500] [info] Received new action goal + 22.75sINFOros2_control_node[2026-06-03 22:46:13.500] [info] Accepted new action goal + 27.75sINFOros2_control_node[2026-06-03 22:46:18.495] [info] Received new action goal + 27.75sINFOros2_control_node[2026-06-03 22:46:18.495] [info] Accepted new action goal + 29.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 29.32sINFOros2_control_node[2026-06-03 22:46:20.066] [info] Received new action goal + 29.32sINFOros2_control_node[2026-06-03 22:46:20.066] [info] Accepted new action goal + 30.54sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 30.58sINFOros2_control_node[2026-06-03 22:46:21.329] [info] Received new action goal + 30.58sINFOros2_control_node[2026-06-03 22:46:21.329] [info] Accepted new action goal + 36.03sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780526786.77217293 seconds ×2 + 36.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780526787.40793252 seconds. ×2 + 36.89sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 36.89sINFOobjective_server_nodePath shortcutter: [X______X] + 36.90sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Received new action goal + 36.90sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Accepted new action goal + 36.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 36.92sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 36.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 36.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 36.92sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 39.38sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 5:10.010 of wall time (693/94565). Below 1% is expected on a non-realtime system.[0m + 39.44sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 39.44sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 540 errors · 7953 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1728 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1458 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1728 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1458 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! ×775 + 1.69sINFOros2_control_nodeGoal reached, success![0m ×775 + 1.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.379086) + 1.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.379086)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.799086) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.799086)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.819086) + 2.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526690.819086)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.039086) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.039086)[0m + 2.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.129086) + 2.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.139086) + 2.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.129086)[0m + 2.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.139086)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.159086) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.159086)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.529086) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.529086)[0m + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.539086) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.539086)[0m + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.699086) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.699086)[0m + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526691.80465508 seconds ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.879086) + 3.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526687.149086) that ends in the past (1780526691.879086)[0m + 3.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526692.39427924 seconds. ×2 + 3.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 3.88sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.90sINFOros2_control_node[2026-06-03 22:44:52.568] [info] Received new action goal + 3.90sINFOros2_control_node[2026-06-03 22:44:52.568] [info] Accepted new action goal + 7.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.82sINFOobjective_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 + 7.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 11.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.405073) + 11.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.405073)[0m + 12.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.685073) + 12.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.685073)[0m + 12.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.775074) + 12.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.775074)[0m + 12.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.795074) + 12.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.795074)[0m + 12.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.805073) + 12.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526700.805073)[0m + 12.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.025073) + 12.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.025073)[0m + 12.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.045074) + 12.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.055073) + 12.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.045074)[0m + 12.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.055073)[0m + 12.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.065073) + 12.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.065073)[0m + 12.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.465073) + 12.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.465073)[0m + 12.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.565073) + 12.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.565073)[0m + 13.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.705073) + 13.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.705073)[0m + 13.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.745073) + 13.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.745073)[0m + 13.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.865073) + 13.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.865073)[0m + 13.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.925073) + 13.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526701.925073)[0m + 13.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.225073) + 13.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.225073)[0m + 13.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.265073) + 13.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.265073)[0m + 13.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.335073) + 13.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.335073)[0m + 13.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.515074) + 13.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.515074)[0m + 13.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.535074) + 13.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.535074)[0m + 13.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.565073) + 13.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.565073)[0m + 13.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.585073) + 13.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526702.585073)[0m + 14.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.125073) + 14.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.125073)[0m + 14.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.175074) + 14.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.175074)[0m + 14.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.225073) + 14.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.225073)[0m + 14.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.245073) + 14.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.245073)[0m + 14.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.255074) + 14.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.255074)[0m + 14.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.355073) + 14.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.355073)[0m + 14.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.395074) + 14.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.395074)[0m + 14.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.415074) + 14.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.415074)[0m + 15.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.735074) + 15.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.735074)[0m + 15.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.745073) + 15.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.745073)[0m + 15.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.825073) + 15.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.825073)[0m + 15.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.955074) + 15.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.955074)[0m + 15.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.975074) + 15.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526703.975074)[0m + 15.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.015074) ×2 + 15.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.015074)[0m ×2 + 15.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.035074) + 15.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.035074)[0m + 15.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.255074) + 15.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.255074)[0m + 15.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.355073) + 15.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.355073)[0m + 15.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.415074) + 15.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.415074)[0m + 15.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.565073) + 15.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.565073)[0m + 15.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.625073) + 15.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.625073)[0m + 15.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.655074) + 15.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.655074)[0m + 16.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.685073) + 16.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.685073)[0m + 16.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.805073) + 16.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.805073)[0m + 16.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.835073) + 16.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.835073)[0m + 16.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.875073) + 16.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526704.875073)[0m + 16.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.185073) + 16.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.185073)[0m + 16.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.245073) + 16.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.245073)[0m + 16.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.265073) + 16.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.265073)[0m + 16.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.275074) + 16.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.275074)[0m + 16.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.425073) + 16.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.425073)[0m + 16.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.455074) + 16.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.455074)[0m + 16.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.475074) ×2 + 16.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.475074)[0m ×2 + 16.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.665073) + 17.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.665073)[0m + 17.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.695074) + 17.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.695074)[0m + 17.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.825073) + 17.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.825073)[0m + 17.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.845073) + 17.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.845073)[0m + 17.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.875073) + 17.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.875073)[0m + 17.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.925073) + 17.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.925073)[0m + 17.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.985073) + 17.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526705.985073)[0m + 17.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.075073) + 17.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.075073)[0m + 17.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.105073) + 17.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.105073)[0m + 17.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.115073) + 17.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.115073)[0m + 17.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.235074) + 17.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.235074)[0m + 17.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.265073) + 17.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.265073)[0m + 17.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.525073) + 17.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.525073)[0m + 17.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.565073) + 17.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.565073)[0m + 17.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.645073) + 17.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.645073)[0m + 18.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.675074) + 18.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.675074)[0m + 18.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.865073) + 18.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.865073)[0m + 18.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.895074) + 18.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.895074)[0m + 18.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.915074) ×2 + 18.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526706.915074)[0m ×2 + 18.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.125073) + 18.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.125073)[0m + 18.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.235074) + 18.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.235074)[0m + 18.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.255074) + 18.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.255074)[0m + 18.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.325073) + 18.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.325073)[0m + 18.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.335073) ×2 + 18.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.335073)[0m ×2 + 18.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.445073) + 18.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.445073)[0m + 18.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.495074) + 18.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.495074)[0m + 18.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.555073) + 18.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.555073)[0m + 18.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.595073) + 18.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.595073)[0m + 18.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.605073) + 18.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.605073)[0m + 18.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.625073) + 18.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.625073)[0m + 19.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.745073) + 19.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.745073)[0m + 19.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.765073) + 19.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.765073)[0m + 19.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.775074) + 19.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526707.775074)[0m + 19.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.035074) + 19.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.035074)[0m + 19.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.065073) + 19.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.065073)[0m + 19.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.095073) + 19.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.095073)[0m + 19.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.215074) + 19.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.215074)[0m + 19.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.255074) ×2 + 19.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.255074)[0m ×2 + 19.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.285074) + 19.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.285074)[0m + 19.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.435074) + 19.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.435074)[0m + 19.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.455074) ×2 + 19.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.455074)[0m ×2 + 19.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.475074) + 19.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.475074)[0m + 19.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.495074) + 19.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.495074)[0m + 20.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.695074) + 20.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.705073) + 20.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.695074)[0m + 20.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.705073)[0m + 20.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.745073) + 20.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.745073)[0m + 20.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.835073) + 20.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.845073) + 20.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.835073)[0m + 20.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.845073)[0m + 20.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.925073) + 20.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.925073)[0m + 20.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.975074) + 20.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526708.975074)[0m + 20.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.045074) + 20.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.045074)[0m + 20.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.115073) + 20.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.115073)[0m + 20.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.155074) + 20.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.155074)[0m + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.175074) + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.185073) + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.175074)[0m + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.185073)[0m + 20.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.295074) + 20.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.295074)[0m + 20.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.325073) + 20.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.325073)[0m + 20.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.335073) + 20.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.335073)[0m + 20.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.565073) + 20.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.565073)[0m + 20.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.625073) ×2 + 20.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.625073)[0m ×2 + 20.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.645073) + 20.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.645073)[0m + 21.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.755074) + 21.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.755074)[0m + 21.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.795074) + 21.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.795074)[0m + 21.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.805073) + 21.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.805073)[0m + 21.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.825073) + 21.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.825073)[0m + 21.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.975074) + 21.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.975074)[0m + 21.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.995074) + 21.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.005073) + 21.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526709.995074)[0m + 21.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.005073)[0m + 21.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.015074) + 21.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.015074)[0m + 21.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.225073) + 21.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.225073)[0m + 21.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.255074) + 21.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.255074)[0m + 21.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.325073) + 21.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.325073)[0m + 21.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.385073) + 21.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.385073)[0m + 21.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.445073) + 21.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.445073)[0m + 21.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.455074) + 21.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.455074)[0m + 21.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.545074) + 21.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.545074)[0m + 21.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.575073) + 21.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.575073)[0m + 21.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.605073) + 21.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.605073)[0m + 22.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.675074) + 22.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.685073) + 22.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.675074)[0m + 22.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.685073)[0m + 22.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.715074) + 22.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.715074)[0m + 22.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.745073) + 22.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.745073)[0m + 22.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.805073) + 22.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.805073)[0m + 22.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.825073) + 22.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.825073)[0m + 22.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.855073) + 22.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.855073)[0m + 22.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.865073) + 22.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.865073)[0m + 22.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.995074) + 22.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526710.995074)[0m + 22.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.135073) + 22.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.135073)[0m + 22.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.175074) + 22.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.175074)[0m + 22.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.195074) ×2 + 22.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.195074)[0m ×2 + 22.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.285074) + 22.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.285074)[0m + 22.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.305073) + 22.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.305073)[0m + 22.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.325073) + 22.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.325073)[0m + 22.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.355073) + 22.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.355073)[0m + 22.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.365073) + 22.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.365073)[0m + 22.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.515074) + 22.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.515074)[0m + 22.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.525073) ×2 + 22.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.525073)[0m ×2 + 22.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.535074) + 22.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.535074)[0m + 22.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.555073) + 22.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.555073)[0m + 23.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.785074) + 23.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.785074)[0m + 23.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.805073) + 23.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.805073)[0m + 23.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.885073) + 23.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.885073)[0m + 23.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.945073) + 23.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.945073)[0m + 23.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.975074) + 23.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526711.975074)[0m + 23.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.085073) + 23.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.085073)[0m + 23.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.115073) + 23.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.115073)[0m + 23.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.185073) + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.185073)[0m + 23.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.215074) + 23.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.215074)[0m + 23.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.245073) + 23.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.245073)[0m + 23.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.315073) + 23.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.325073) + 23.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.315073)[0m + 23.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.325073)[0m + 23.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.355073) + 23.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.355073)[0m + 23.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.385073) + 23.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.385073)[0m + 23.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.405073) + 23.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.405073)[0m + 23.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.535074) + 23.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.535074)[0m + 24.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.685073) ×2 + 24.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.685073)[0m ×2 + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.715074) + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.715074)[0m + 24.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.725073) + 24.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.725073)[0m + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.825073) + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.825073)[0m + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.835073) + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.835073)[0m + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.875073) + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.875073)[0m + 24.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.895074) + 24.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526712.895074)[0m + 24.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.025073) + 24.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.025073)[0m + 24.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.035074) + 24.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.035074)[0m + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.045074) + 24.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.045074)[0m + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.065073) ×2 + 24.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.065073)[0m ×2 + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.075073) + 24.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.075073)[0m + 24.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074) ×2 + 24.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074)[0m ×2 + 24.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074) + 24.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073) + 24.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074)[0m + 24.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073)[0m + 24.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073) + 24.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073)[0m + 25.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073) + 25.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073)[0m + 25.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073) + 25.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074) + 25.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073)[0m + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074)[0m + 25.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073) + 25.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073) + 25.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073)[0m + 25.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073)[0m + 25.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073) + 25.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073)[0m + 25.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074) + 25.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074)[0m + 25.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074) + 25.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074)[0m + 25.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073) ×2 + 25.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073)[0m ×2 + 25.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074) + 25.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074)[0m + 25.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073) + 25.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073)[0m + 25.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074) ×2 + 25.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074)[0m ×2 + 25.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074) + 25.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074)[0m + 25.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073) + 25.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073)[0m + 25.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073) + 25.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074)[0m + 25.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073) + 25.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073)[0m + 25.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073) ×2 + 25.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073)[0m ×2 + 25.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073) + 25.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073)[0m + 25.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073) + 25.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073)[0m + 26.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074) + 26.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074)[0m + 26.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074) + 26.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073) + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074)[0m + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073)[0m + 26.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073) + 26.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073) + 26.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073)[0m + 26.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073)[0m + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074) + 26.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074)[0m + 26.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073) ×2 + 26.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073)[0m ×2 + 26.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073) + 26.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073)[0m + 26.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073) + 26.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073)[0m + 26.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073) + 26.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073)[0m + 26.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073) + 26.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073)[0m + 26.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074) + 26.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074)[0m + 26.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074) + 26.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074)[0m + 26.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074) + 26.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074)[0m + 26.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074) + 26.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074)[0m + 27.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073) + 27.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073)[0m + 27.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074) + 27.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074)[0m + 27.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074) + 27.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074)[0m + 27.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074) ×2 + 27.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074)[0m ×2 + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073) + 27.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073)[0m + 27.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073) ×2 + 27.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073)[0m ×2 + 27.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074) ×2 + 27.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074)[0m ×2 + 27.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073) + 27.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073) + 27.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073)[0m + 27.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073)[0m + 27.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073) + 27.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073) + 27.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073)[0m + 27.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073)[0m + 27.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073) + 27.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073)[0m + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073) ×2 + 27.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073)[0m ×2 + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073) + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073)[0m + 27.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073) + 27.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073)[0m + 27.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073) + 27.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074)[0m + 27.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074)[0m + 27.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526716.51534009 seconds ×2 + 28.54sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780526717.20995927 seconds. ×2 + 28.69sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 28.72sINFOros2_control_node[2026-06-03 22:45:17.394] [info] Received new action goal + 28.72sINFOros2_control_node[2026-06-03 22:45:17.395] [info] Accepted new action goal + 28.86sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 28.86sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 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 22:43:54.461] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-03 22:43:54.461] [info] Accepted new action goal + 2.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780526635.62737536 seconds ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780526636.36868167 seconds. ×2 + 3.20sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.20sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.14sINFOros2_control_node[2026-06-03 22:43:57.664] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 22:43:57.664] [info] Accepted new action goal + 7.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 10.28sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.29sINFOros2_control_node[2026-06-03 22:44:03.814] [info] Received new action goal + 10.29sINFOros2_control_node[2026-06-03 22:44:03.814] [info] Accepted new action goal + 13.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780526647.41882682 seconds ×2 + 14.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526647.98238349 seconds. ×2 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 14.61sINFOobjective_server_nodePath shortcutter: [X___X] + 14.63sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Received new action goal + 14.63sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Accepted new action goal + 14.81sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 14.81sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m + 15.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.90sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 43 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780526566.73975492 seconds ×2 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780526567.31444097 seconds. ×2 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.37sINFOobjective_server_nodePath shortcutter: [X________X] + 2.37sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Received new action goal + 2.37sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Accepted new action goal + 2.52sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.81sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Received new action goal + 4.81sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Accepted new action goal + 13.38sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780526578.46217513 seconds ×2 + 13.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526579.01981807 seconds. ×2 + 13.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780526579.08996439 seconds ×2 + 14.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 14.82sINFOobjective_server_nodePath shortcutter: [X______X] + 14.83sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 14.83sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 16.83sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 24 errors · 2 warnings · 145 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 0.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.50sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 0.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780526846.39014459 seconds. ×2 + 0.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 0.68sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 0.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 0.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780526846.39214110 seconds ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.01sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 1.01sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 1.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780526846.95531726 seconds. ×2 + 1.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780526846.95579863 seconds ×2 + 1.51sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 1.51sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 1.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780526847.50865054 seconds. ×2 + 3.52sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 3.52sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 3.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780526849.39880919 seconds ×2 + 3.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.03sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.24sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 4.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 6:10.013 of wall time (779/112917). Below 1% is expected on a non-realtime system.[0m + 9.24sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.24sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.24sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.24sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.25sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.26sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.26sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.26sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 9.26sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 9.27sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 9.28sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.29sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.29sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.30sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.31sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.32sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.33sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.35sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.37sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 9.38sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 9.38sINFOcontroller_managerShutdown request received.... + 9.38sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.38sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.38sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 9.38sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.38sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.38sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.38sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.38sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.38sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.38sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.38sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.38sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.38sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.38sINFOcontroller_managerShutting down the controller manager. + 9.38sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 9.38sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 9.38sERRORui_teleop_bridgeTraceback (most recent call last): + 9.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 9.38sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 9.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 9.38sINFOui_teleop_bridgerclpy.shutdown() + 9.38sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 9.38sINFOui_teleop_bridge_shutdown(context=context) + 9.38sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 9.38sINFOui_teleop_bridgereturn context.shutdown() + 9.38sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 9.38sINFOui_teleop_bridgeself.__context.shutdown() + 9.38sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 9.38sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.38sINFOros2_control_nodeShutdown request received....[0m + 9.38sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 9.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 9.38sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 9.38sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 9.38sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 9.38sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 9.38sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 9.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 9.38sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 9.38sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 9.38sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 9.38sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 9.39sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 9.39sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 9.39sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 9.39sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 9.39sINFOros2_control_nodeShutting down the controller manager.[0m + 9.43sINFOobjective_server_node[0;m[2026-06-03 22:47:35.143] [moveit_pro_license] [info] + 9.43sINFOobjective_server_node************************************************* ×2 + 9.43sINFOobjective_server_node* MoveIt Pro License + 9.43sINFOobjective_server_node* Application has successfully terminated + 9.48sINFOtf2_web_republisher_node-19process has finished cleanly [pid 11814] + 9.48sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 9.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 9.49sINFOweb_video_server-20process has finished cleanly [pid 11824] + 9.51sERRORobjective_server_nodeStack trace (most recent call last): + 9.52sERRORui_teleop_bridge-17process has died [pid 11783, 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_d5rbnvgv']. + 9.53sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 9.53sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e6519864e4, in _start + 9.53sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f6ddd7e3f, in __libc_start_main + 9.53sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f6ddd7d96, in + 9.53sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f6ddf360f, in exit + 9.53sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7f6ddf3494, in + 9.53sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f7f6e27c251, in spdlog::details::registry::~registry() + 9.53sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f7f6e286e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 9.53sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e65198bcba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 9.53sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e651988bf3, in spdlog_ros::RosSink::~RosSink() + 9.53sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e65198de01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 9.53sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e771b2e, in rclcpp::Node::~Node() + 9.53sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e74cd39, in + 9.53sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e77b0b9, in + 9.53sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e77b000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 9.53sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e74cd39, in + 9.53sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7f6e751b31, in rclcpp::CallbackGroup::~CallbackGroup() + 9.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f7f1dde93f0]) + 9.53sERRORmove_end_effector_resampler_nodeStack trace (most recent call last): + 9.54sINFOmove_end_effector_resampler_node#8 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 9.54sINFOmove_end_effector_resampler_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/move_end_effector_resampler_node", at 0x55c7327aa264, in _start + 9.54sINFOmove_end_effector_resampler_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa0baace3f, in __libc_start_main + 9.54sINFOmove_end_effector_resampler_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa0baacd96, in + 9.54sINFOmove_end_effector_resampler_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa0bac860f, in exit + 9.54sINFOmove_end_effector_resampler_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa0bac8494, in + 9.54sINFOmove_end_effector_resampler_node#2 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7ffa0bf4f251, in spdlog::details::registry::~registry() + 9.54sINFOmove_end_effector_resampler_node#1 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7ffa0bf59e21, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 9.54sINFOmove_end_effector_resampler_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa0bb283fe, in free + 9.54sERRORmove_end_effector_resampler_nodeSegmentation fault (Signal sent by the kernel [(nil)]) + 9.54sERRORmove_end_effector_resampler_node-13process has died [pid 11775, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/move_end_effector_resampler_node --ros-args --log-level error --ros-args -r __node:=move_end_effector_resampler_node --params-file /tmp/launch_params_43vu2sq1']. + 9.54sINFOmove_joint_resampler_node-12process has finished cleanly [pid 11773] + 9.55sINFOwaypoint_manager_node-11process has finished cleanly [pid 11771] + 9.55sINFOexecute_objective_bridge-16process has finished cleanly [pid 11781] + 9.58sINFOfoxglove_bridgeShutdown complete[0m + 10.23sERRORobjective_server_node_main-14process has died [pid 11777, 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_5tbhk9se --params-file /tmp/launch_params_tieekrq8 --params-file /tmp/launch_params_6k1cfdgh --params-file /tmp/launch_params_3awzauxe --params-file /tmp/launch_params_2uciiq0i --params-file /tmp/launch_params_witmzkys']. + 10.23sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 10.40sINFOparameter_manager_node-10process has finished cleanly [pid 11733] + 10.47sINFOcomponent_container_mt-15process has finished cleanly [pid 11779] + 10.53sINFOmove_group-9process has finished cleanly [pid 11729] + 11.10sINFOros2_control_node-1process has finished cleanly [pid 11710] + 11.39sINFOfoxglove_bridge-18process has finished cleanly [pid 11796] + 11.39sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780526819.24427271 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780526819.80786657 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Accepted new action goal + 0.73sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.73sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 11.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 11.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 11.83sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.83sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 12.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 12.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 12.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 12.98sINFOobjective_server_nodePath shortcutter: [X___X] + 12.99sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 12.99sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 2 errors · 73 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: 1780526786.77217293 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780526787.40793252 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Accepted new action goal + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 4.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 5:10.010 of wall time (693/94565). Below 1% is expected on a non-realtime system.[0m + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m + 4.97sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.97sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). + 6.79sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.80sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.86sINFOobjective_server_nodeFound path in 1 iterations (0.00275459 s). + 6.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 6.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.98sINFOros2_control_node[2026-06-03 22:46:32.695] [info] Received new action goal + 6.98sINFOros2_control_node[2026-06-03 22:46:32.695] [info] Accepted new action goal + 6.99sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution" + 6.99sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m + 9.50sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Received new action goal + 9.50sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 11.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.28sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 11.28sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 12.04sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 12.05sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Canceling active goal... + 12.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780526797.77277851 seconds ×2 + 12.76sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 12.94sINFOobjective_server_nodePath shortcutter: [X________X] + 12.95sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 12.96sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 13.10sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.10sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 32 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780526555.74303961 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780526556.29928851 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] + 0.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.79sINFOros2_control_node[2026-06-03 22:42:36.532] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-03 22:42:36.532] [info] Accepted new action goal + 9.34sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures" + 9.35sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures"[0m + 9.84sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 9.85sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780526566.73975492 seconds ×2 + 11.57sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780526567.31444097 seconds. ×2 + 11.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 11.71sINFOobjective_server_nodePath shortcutter: [X________X] + 11.72sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Received new action goal + 11.72sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Accepted new action goal + 11.86sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 11.86sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.15sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Received new action goal + 14.15sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Accepted new action goal | ||||
| ✓ 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: 1780526485.62534451 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 0.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 1.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 1.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 2.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 2.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.91sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 4.48sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 4.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 5.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.28sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 5.28sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal + 8.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 9.01sINFOros2_control_node[2026-06-03 22:41:34.634] [info] Received new action goal + 9.01sINFOros2_control_node[2026-06-03 22:41:34.634] [info] Accepted new action goal + 12.32sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 12.32sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.33sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 12.33sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 13.12sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 13.12sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 13.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 13.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 13.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 14.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 14.94sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.94sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 15.65sINFOobjective_server_nodePath shortcutter: [X______X] + 15.66sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 15.66sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 4 errors · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780526808.75483036 seconds ×2 + 14.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780526809.34597158 seconds. ×2 + 14.18sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.18sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 14.41sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.42sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Received new action goal + 14.42sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 4 errors · 39 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m + 7.38sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.43% of iterations over budget over 1:10.006 of wall time (92/21490). Below 1% is expected on a non-realtime system.[0m + 13.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780526555.74303961 seconds ×2 + 13.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780526556.29928851 seconds. ×2 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 13.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.79sINFOros2_control_node[2026-06-03 22:42:36.532] [info] Received new action goal + 13.79sINFOros2_control_node[2026-06-03 22:42:36.532] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 4 errors · 50 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal + 5.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.29sINFOros2_control_node[2026-06-03 22:47:15.548] [info] Received new action goal + 5.29sINFOros2_control_node[2026-06-03 22:47:15.548] [info] Accepted new action goal + 5.29sINFOros2_control_node[2026-06-03 22:47:15.549] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Canceling active goal... + 12.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780526842.36018562 seconds ×2 + 12.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526842.92526484 seconds. ×2 + 12.93sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 12.93sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 15.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 15.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 15.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 6 errors · 54 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×3 + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 4.83sINFOros2_control_node[2026-06-03 22:42:18.134] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-03 22:42:18.134] [info] Accepted new action goal + 7.17sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 7.18sINFOros2_control_node[2026-06-03 22:42:20.481] [info] Received new action goal + 7.18sINFOros2_control_node[2026-06-03 22:42:20.481] [info] Accepted new action goal + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 9.54sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 9.54sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 11.54sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 11.54sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 11.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 12.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 12.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 12.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 12.38sINFOobjective_server_nodePath shortcutter: [X______X] + 12.39sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 12.39sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 12.64sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 12.64sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 12.64sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 12.64sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 2 errors · 30 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780526808.75483036 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780526809.34597158 seconds. ×2 + 0.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.88sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.89sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Received new action goal + 0.89sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Accepted new action goal + 4.90sINFOros2_control_node[2026-06-03 22:46:53.650] [info] Received new action goal + 4.90sINFOros2_control_node[2026-06-03 22:46:53.650] [info] Accepted new action goal + 10.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780526819.24427271 seconds ×2 + 11.05sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780526819.80786657 seconds. ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 11.16sINFOobjective_server_nodePath shortcutter: [X________X] + 11.18sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Received new action goal + 11.18sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Accepted new action goal + 11.22sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 11.22sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 13.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526579.01981807 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: 1780526579.08996439 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 2.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 + 3.47sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526582.49265909 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.47sINFOobjective_server_node[0;93m2026-06-03 22:43:07.493839438 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.48sINFOobjective_server_node[0;93m2026-06-03 22:43:07.493888761 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.06sINFOobjective_server_node[0;93m2026-06-03 22:43:08.077915917 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.06sINFOobjective_server_node[0;93m2026-06-03 22:43:08.077956259 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.20sINFOobjective_server_node[0;93m2026-06-03 22:43:08.221567007 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.21sINFOobjective_server_node[0;93m2026-06-03 22:43:08.224802485 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.21sINFOobjective_server_node[0;93m2026-06-03 22:43:08.224850118 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.54sINFOobjective_server_node[0;93m2026-06-03 22:43:08.555703604 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.55sINFOobjective_server_node[0;93m2026-06-03 22:43:08.570006667 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.55sINFOobjective_server_node[0;93m2026-06-03 22:43:08.570051370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.90sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 11.24sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 11.25sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 11.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 11.75sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.75sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.75sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.75sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.16sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.16sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.67sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.67sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.79sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.79sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.79sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.11sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.12sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.12sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.97sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 14.27sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 14.27sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 14.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 14.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.70sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 14.72sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 14.77sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 14.77sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 14.78sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 14.78sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.5s | 2 errors · 2 warnings · 44 info |
+ 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780526842.36018562 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526842.92526484 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780526846.39014459 seconds. ×2 + 4.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 4.04sINFOobjective_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 + 4.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780526846.39214110 seconds ×2 + 4.37sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.37sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 4.37sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 4.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780526846.95531726 seconds. ×2 + 4.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780526846.95579863 seconds ×2 + 4.87sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 4.87sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 5.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780526847.50865054 seconds. ×2 + 6.88sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.88sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 7.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780526849.39880919 seconds ×2 + 7.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.1s | 58 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 22:43:07.493839438 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which 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 22:43:07.493888761 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.58sINFOobjective_server_node[0;93m2026-06-03 22:43:08.077915917 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-03 22:43:08.077956259 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.73sINFOobjective_server_node[0;93m2026-06-03 22:43:08.221567007 [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 + 0.73sINFOobjective_server_node[0;93m2026-06-03 22:43:08.224802485 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.73sINFOobjective_server_node[0;93m2026-06-03 22:43:08.224850118 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.06sINFOobjective_server_node[0;93m2026-06-03 22:43:08.555703604 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 22:43:08.570006667 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.08sINFOobjective_server_node[0;93m2026-06-03 22:43:08.570051370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.42sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 2.77sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 3.27sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.27sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.27sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.69sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.69sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.20sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.20sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.63sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [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 + 4.65sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.65sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.50sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 5.80sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 5.80sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 6.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 6.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.23sINFOobjective_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 + 6.25sINFOobjective_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 + 6.30sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 6.30sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.57sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.8s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780526578.46217513 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526579.01981807 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780526579.08996439 seconds ×2 + 1.30sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 + 4.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526582.49265909 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 4.17sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Accepted new action goal + 4.25sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view" + 4.25sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 243 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.07sINFOobjective_server_node[2026-06-03 22:41:19.901] [moveit_pro_license] [info] + 0.07sINFOobjective_server_node************************************************* ×2 + 0.07sINFOobjective_server_node* MoveIt Pro License + 0.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector" + 0.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m + 0.18sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description" + 0.18sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m + 0.24sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.24sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.24sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.24sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.24sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.24sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.25sINFOcontroller_managerupdate rate is 600 Hz + 0.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.25sWARNcontroller_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. + 0.25sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.25sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.26sWARNros2_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 + 0.26sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.26sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.32sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.32sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.33sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.33sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.33sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.38sINFOobjective_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. + 0.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.58sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.59sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.60sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11718] + 0.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.73sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/points" + 0.73sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/points"[0m + 0.74sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth" + 0.74sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/color" + 0.74sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth"[0m + 0.74sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/color"[0m + 0.74sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/visual_markers" + 0.74sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth" + 0.74sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color" + 0.74sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/visual_markers"[0m + 0.74sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m + 0.75sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color"[0m + 0.75sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/camera_info" + 0.75sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points" + 0.75sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/camera_info"[0m + 0.75sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points"[0m + 0.75sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event" + 0.75sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event" + 0.75sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.75sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event"[0m + 0.76sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.76sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap" + 0.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.76sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state" + 0.76sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event" + 0.76sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event" + 0.76sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.76sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.76sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" + 0.76sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/joint_trajectory" + 0.76sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/blackboard_contents" + 0.76sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.76sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/blackboard_contents"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/behavior_tree_status" + 0.76sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/state" + 0.76sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.76sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/behavior_tree_status"[0m + 0.76sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/state"[0m + 0.77sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.77sINFOros2_control_node[2026-06-03 22:41:20.601] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.77sINFOros2_control_node[2026-06-03 22:41:20.601] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.85sINFOros2_control_node[2026-06-03 22:41:20.684] [info] First order lag filter time constant set to: 0.2 seconds + 0.85sINFOros2_control_node[2026-06-03 22:41:20.684] [info] Controller state will be published at 50 Hz. + 0.86sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.86sINFOros2_control_node[2026-06-03 22:41:20.691] [info] Registered `FollowJointTrajectory` action server. + 0.86sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.86sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.86sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.86sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.90sINFOros2_control_node[2026-06-03 22:41:20.733] [info] Controller state will be published at 20 Hz. + 0.90sINFOros2_control_node[2026-06-03 22:41:20.734] [info] JointVelocityController 'on_configure' succeeded. + 0.90sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.90sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.91sINFOobjective_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. + 0.91sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.94sINFOros2_control_node[2026-06-03 22:41:20.772] [info] Controller state will be published at 10 Hz. + 0.94sINFOros2_control_node[2026-06-03 22:41:20.774] [info] VelocityForceController 'on_configure' succeeded. + 0.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11720] + 1.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.20sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.22sWARNobjective_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/. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11726] + 1.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11716] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11723] + 1.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11712] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11714] + 1.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.34sINFOmove_group ×2 + 1.34sINFOmove_group[92mYou can start planning now![0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 1.49sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 1.50sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 1.50sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/controller_state" + 1.50sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/controller_state"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/controller_state" + 1.50sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/command" + 1.50sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.50sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/controller_state"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/command"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/wrench" + 1.50sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 1.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 1.86sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 + 2.59sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.59sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.11sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 + 4.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 5.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 6.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 6.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 7.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 7.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 7.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 62 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 6.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 6.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 6.83sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.84sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 6.84sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 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: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780526578.46217513 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526579.01981807 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780526579.08996439 seconds ×2 + 1.30sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 + 4.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526582.49265909 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 4.17sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Accepted new action goal + 4.25sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view" + 4.25sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 warnings · 42 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526842.92526484 seconds. ×2 + 0.26sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.26sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 2.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.29sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780526846.39014459 seconds. ×2 + 3.47sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.47sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780526846.39214110 seconds ×2 + 3.80sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.80sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.80sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.80sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780526846.95531726 seconds. ×2 + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780526846.95579863 seconds ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 4.30sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780526847.50865054 seconds. ×2 + 6.31sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.31sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780526849.39880919 seconds ×2 + 6.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.82sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.03sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 warnings · 41 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 2.53sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 3.03sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.03sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780526846.39014459 seconds. ×2 + 3.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.21sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780526846.39214110 seconds ×2 + 3.54sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.54sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.54sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.54sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780526846.95531726 seconds. ×2 + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780526846.95579863 seconds ×2 + 4.04sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 4.04sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780526847.50865054 seconds. ×2 + 6.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780526849.39880919 seconds ×2 + 6.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.77sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 6:10.013 of wall time (779/112917). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:41:37.954] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 22:41:38.739] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526498.76554942 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526499.32037163 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526499.44049978 seconds ×2 + 2.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526500.09151578 seconds. ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Received new action goal + 3.43sINFOros2_control_node[2026-06-03 22:41:41.285] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526533.30240083 seconds ×2 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526534.02872872 seconds. ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526534.07889915 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526534.64923453 seconds. ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.45sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Received new action goal + 1.46sINFOros2_control_node[2026-06-03 22:42:14.763] [info] Accepted new action goal + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.55sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 22:42:22.841] [info] Accepted new action goal + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Got request to cancel active goal. + 2.10sINFOros2_control_node[2026-06-03 22:42:24.839] [info] Canceling active goal... + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526544.85198665 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526545.49245358 seconds. ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Received new action goal + 2.96sINFOros2_control_node[2026-06-03 22:42:25.696] [info] Accepted new action goal + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution" + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 18 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780526566.73975492 seconds ×2 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780526567.31444097 seconds. ×2 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.37sINFOobjective_server_nodePath shortcutter: [X________X] + 2.37sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Received new action goal + 2.37sINFOros2_control_node[2026-06-03 22:42:47.458] [info] Accepted new action goal + 2.52sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.81sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Received new action goal + 4.81sINFOros2_control_node[2026-06-03 22:42:49.895] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780526578.46217513 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526579.01981807 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780526579.08996439 seconds ×2 + 1.30sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.44sINFOobjective_server_nodePath shortcutter: [X______X] + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 1.45sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 3.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 | ||||
| − 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: 1780526579.01981807 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: 1780526579.08996439 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 2.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 + 3.47sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526582.49265909 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − 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: 1780526579.01981807 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: 1780526579.08996439 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526579.75790215 seconds. ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Received new action goal + 0.89sINFOros2_control_node[2026-06-03 22:42:59.912] [info] Accepted new action goal + 2.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526581.91804981 seconds ×2 + 3.47sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526582.49265909 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Received new action goal + 3.61sINFOros2_control_node[2026-06-03 22:43:02.626] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526589.91578817 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/masks_visualization"[0m + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526590.52560329 seconds. ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.85sINFOfoxglove_bridgeRemoving channel 62 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.85sINFOfoxglove_bridgeRemoving channel 61 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181300344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.27sINFOobjective_server_node[0;93m2026-06-03 22:43:11.181336336 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685458456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.78sINFOobjective_server_node[0;93m2026-06-03 22:43:11.685531370 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.89sINFOobjective_server_node[0;93m2026-06-03 22:43:11.810024674 [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 + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812478427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 22:43:11.812502758 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.21sINFOobjective_server_node[0;93m2026-06-03 22:43:12.126554505 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139493139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.22sINFOobjective_server_node[0;93m2026-06-03 22:43:12.139528561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526592.99029064 seconds ×2 + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/masks_visualization"[0m + 3.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526593.64250422 seconds. ×2 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 3.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.88sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 22:43:14.066] [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: 1780526647.41882682 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526647.98238349 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.74sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-03 22:44:08.152] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.92sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 134 errors · 1228 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×152 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×152 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×261 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×194 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×261 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×194 + 0.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074) ×2 + 0.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.415074)[0m ×2 + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074) + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.475074)[0m + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.485073)[0m + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.645073)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.725073)[0m + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073) + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074) + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.765073)[0m + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.775074)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073) + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.855073)[0m + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.865073)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.885073)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526713.915074)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074) + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.015074)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073) ×2 + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.055073)[0m ×2 + 0.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074) + 0.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.175074)[0m + 0.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073) + 0.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.205073)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074) ×2 + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.235074)[0m ×2 + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.255074)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.345073)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.355073)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.385073)[0m + 1.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074) + 1.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.415074)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073) + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.555073)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073) ×2 + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.575073)[0m ×2 + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.585073)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073) + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.605073)[0m + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526714.935074)[0m + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074) + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073) + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.015074)[0m + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.025073)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073) + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073) + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.065073)[0m + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.075073)[0m + 1.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.215074)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073) ×2 + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.245073)[0m ×2 + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.265073)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.335073)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073) + 1.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.355073)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.375073)[0m + 2.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.395074)[0m + 2.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.415074)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.535074)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.545074)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.665073)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.695074)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.715074)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074) ×2 + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.735074)[0m ×2 + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073) + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.825073)[0m + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073) ×2 + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.845073)[0m ×2 + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074) ×2 + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526715.895074)[0m ×2 + 2.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073) + 2.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073) + 2.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.065073)[0m + 2.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.075073)[0m + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073) + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073) + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.085073)[0m + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.095073)[0m + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073) + 2.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.135073)[0m + 2.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073) ×2 + 2.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.325073)[0m ×2 + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.405073)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.425073)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.465073)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.475074)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526699.535074) that ends in the past (1780526716.495074)[0m + 3.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526716.51534009 seconds ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780526717.20995927 seconds. ×2 + 3.89sINFOobjective_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 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.99sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 4.02sINFOros2_control_node[2026-06-03 22:45:17.394] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 22:45:17.395] [info] Accepted new action goal + 4.15sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.15sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 104 errors · 1022 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×139 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×139 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×208 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×156 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×208 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×156 + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.136424)[0m + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.166424)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423) + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.246423)[0m + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.256424)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424) ×2 + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.276424)[0m ×2 + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424) + 0.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.296424)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.316424)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.386424)[0m + 0.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424) + 0.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.406424)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.426424)[0m + 0.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424) + 0.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.446424)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.646424)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424) + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.776424)[0m + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.796424)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.946424)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424) + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424) ×2 + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.966424)[0m + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.976424)[0m ×2 + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526751.996424)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424) + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.036424)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.336424)[0m + 1.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424) + 1.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.676424)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.756424)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423) + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.766423)[0m + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.776424)[0m + 2.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424) + 2.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.796424)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.816424)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.826424)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.896424)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424) ×2 + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.926424)[0m ×2 + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424) ×2 + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526752.966424)[0m ×2 + 2.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424) + 2.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.146424)[0m + 2.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.166424)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.296424)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424) + 2.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.336424)[0m + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423) ×2 + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424) + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.476424)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.486423)[0m ×2 + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.496424)[0m + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424) ×2 + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.516424)[0m ×2 + 2.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423) + 2.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.526423)[0m + 2.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424) + 2.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.566424)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.756424)[0m + 3.14sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780526753.88408566 seconds ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.896424)[0m + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424) ×2 + 3.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.916424)[0m ×2 + 3.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424) ×2 + 3.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526736.786423) that ends in the past (1780526753.976424)[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780526754.52193666 seconds. ×2 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.13sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.13sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.95sINFOobjective_server_nodeFound path in 6 iterations (0.00529555 s). + 5.01sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.02sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Received new action goal + 5.02sINFOros2_control_node[2026-06-03 22:45:55.767] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 25 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: 1780526786.77217293 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780526787.40793252 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Accepted new action goal + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 4.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 5:10.010 of wall time (693/94565). Below 1% is expected on a non-realtime system.[0m + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 25 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: 1780526786.77217293 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780526787.40793252 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 22:46:27.641] [info] Accepted new action goal + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.95sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.95sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 4.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 5:10.010 of wall time (693/94565). Below 1% is expected on a non-realtime system.[0m + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.47sINFOfoxglove_bridgeAdvertising new channel 73 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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_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 22:46:35.217] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 22:46:35.217] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 22:46:36.991] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [info] Got request to cancel active goal. + 2.54sINFOros2_control_node[2026-06-03 22:46:37.758] [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: 1780526797.77277851 seconds ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526798.47455263 seconds. ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-03 22:46:38.670] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.59sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.60sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 12 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780526808.75483036 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780526809.34597158 seconds. ×2 + 0.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.88sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.89sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Received new action goal + 0.89sINFOros2_control_node[2026-06-03 22:46:49.640] [info] Accepted new action goal | ||||
| − 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: 1780526819.24427271 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780526819.80786657 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 22:46:59.931] [info] Accepted new action goal + 0.73sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.73sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [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: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [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: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526830.25805712 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526830.82439470 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526830.89855552 seconds ×2 + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.81sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526831.52967215 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526831.55469322 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526832.12418556 seconds. ×2 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-03 22:47:12.237] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 14 info |
+ 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780526842.36018562 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526842.92526484 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 14 info |
+ 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 22:47:22.354] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780526842.36018562 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526842.92526484 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.83sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 3.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526845.75543118 seconds ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [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: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [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: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [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: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [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: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [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: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 348 errors · 23 warnings · 11696 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/2026-06-03-22-34-49-364452-d43470e08f93-10269 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.75sINFOros2_control_node-1process started with pid [10299] + 1.76sINFOmove_group-9process started with pid [10319] + 1.76sINFOparameter_manager_node-10process started with pid [10322] + 1.76sINFOwaypoint_manager_node-11process started with pid [10360] + 1.76sINFOmove_joint_resampler_node-12process started with pid [10362] + 1.76sINFOmove_end_effector_resampler_node-13process started with pid [10364] + 1.76sINFOobjective_server_node_main-14process started with pid [10366] + 1.76sINFOcomponent_container_mt-15process started with pid [10368] + 1.76sINFOexecute_objective_bridge-16process started with pid [10370] + 1.76sINFOui_teleop_bridge-17process started with pid [10372] + 1.76sINFOfoxglove_bridge-18process started with pid [10374] + 1.76sINFOtf2_web_republisher_node-19process started with pid [10376] + 1.76sINFOweb_video_server-20process started with pid [10380] + 1.77sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10301] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10303] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10305] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10307] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10309] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10313] + 1.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10316] + 1.80sWARNros2_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 + 1.80sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.98sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.11sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 2.12sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.62sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.62sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.69sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/joint_states"[0m ×2 + 2.70sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.84sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.97sINFOobjective_server_node[2026-06-03 22:34:54.010] [moveit_pro_license] [info] + 3.97sINFOobjective_server_node************************************************* ×6 + 3.97sINFOobjective_server_node* MoveIt Pro License ×3 + 3.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m ×2 + 4.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.12sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.20sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.25sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.25sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.26sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.26sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.26sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.42sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.47sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.60sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.61sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.61sINFOros2_control_node[2026-06-03 22:34:54.644] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.61sINFOros2_control_node[2026-06-03 22:34:54.644] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.64sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.64sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_force_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/points"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/depth"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_velocity_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/color"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/blackboard_contents"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/behavior_tree_status"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/points"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/camera_info"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/depth"[0m + 4.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.68sINFOros2_control_node[2026-06-03 22:34:54.719] [info] First order lag filter time constant set to: 0.2 seconds + 4.68sINFOros2_control_node[2026-06-03 22:34:54.720] [info] Controller state will be published at 50 Hz. + 4.69sINFOros2_control_node[2026-06-03 22:34:54.726] [info] Registered `FollowJointTrajectory` action server. + 4.69sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.73sINFOros2_control_node[2026-06-03 22:34:54.765] [info] Controller state will be published at 20 Hz. + 4.73sINFOros2_control_node[2026-06-03 22:34:54.766] [info] JointVelocityController 'on_configure' succeeded. + 4.73sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.73sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.73sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.73sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.73sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.75sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.79sINFOros2_control_node[2026-06-03 22:34:54.823] [info] Controller state will be published at 10 Hz. + 4.79sINFOros2_control_node[2026-06-03 22:34:54.825] [info] VelocityForceController 'on_configure' succeeded. + 4.79sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.79sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.79sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.79sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.97sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 4.97sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.97sWARNobjective_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 + 4.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10309] + 5.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10316] + 5.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10303] + 5.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10307] + 5.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10313] + 5.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10305] + 5.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10301] + 5.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.13sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.28sINFOmove_group ×4 + 5.28sINFOmove_group[92mYou can start planning now![0m ×2 + 5.39sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/command"[0m + 5.39sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/trajectory_execution_event"[0m + 5.39sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/controller_state"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/controller_state"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/command"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/controller_state"[0m + 5.40sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 5.40sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 5.41sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m ×2 + 5.71sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 5.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 6.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526096.38795328 seconds. + 6.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526096.39815569 seconds + 6.50sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526096.94746995 seconds. + 6.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×19 + 7.02sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526098.05765343 seconds + 8.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526098.63551736 seconds. + 9.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526099.64568067 seconds + 10.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526100.19820666 seconds. + 10.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526100.22833633 seconds + 10.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526100.79150772 seconds. + 10.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526100.94194913 seconds + 11.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526101.59712911 seconds. + 11.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526101.63727021 seconds + 12.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526102.20849347 seconds. + 12.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 12.30sINFOobjective_server_nodeFound path in 0 iterations (1.6361e-05 s). + 12.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 12.31sINFOros2_control_node[2026-06-03 22:35:02.353] [info] Received new action goal + 12.32sINFOros2_control_node[2026-06-03 22:35:02.353] [info] Accepted new action goal + 14.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.000 of wall time (15/3154). Below 1% is expected on a non-realtime system.[0m + 14.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×3 + 14.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.90sINFOros2_control_node[2026-06-03 22:35:04.934] [info] Received new action goal + 14.90sINFOros2_control_node[2026-06-03 22:35:04.934] [info] Accepted new action goal + 18.62sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 18.63sINFOros2_control_node[2026-06-03 22:35:08.673] [info] Received new action goal + 18.63sINFOros2_control_node[2026-06-03 22:35:08.673] [info] Accepted new action goal + 21.94sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 21.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 21.95sINFOros2_control_node[2026-06-03 22:35:11.993] [info] Received new action goal + 21.95sINFOros2_control_node[2026-06-03 22:35:11.993] [info] Accepted new action goal + 22.27sINFOros2_control_node[2026-06-03 22:35:12.311] [info] Got request to cancel active goal. + 22.28sINFOros2_control_node[2026-06-03 22:35:12.313] [info] Canceling active goal... + 22.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780526112.33232665 seconds + 22.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780526112.94415569 seconds. + 23.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780526113.06428456 seconds + 23.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780526113.62840247 seconds. + 23.65sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 24.72sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 24.72sINFOobjective_server_nodePath shortcutter: [X______X] ×6 + 24.73sINFOros2_control_node[2026-06-03 22:35:14.772] [info] Received new action goal + 24.73sINFOros2_control_node[2026-06-03 22:35:14.772] [info] Accepted new action goal + 56.75sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. + 56.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780526146.78861785 seconds + 57.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780526147.54329324 seconds. + 57.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780526147.60342169 seconds + 58.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780526148.17176843 seconds. + 58.23sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×5 + 58.23sINFOobjective_server_nodePath shortcutter: [X_____________X] + 58.25sINFOros2_control_node[2026-06-03 22:35:48.286] [info] Received new action goal + 58.25sINFOros2_control_node[2026-06-03 22:35:48.286] [info] Accepted new action goal + 58.43sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 61.60sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 61.61sINFOros2_control_node[2026-06-03 22:35:51.646] [info] Received new action goal + 61.61sINFOros2_control_node[2026-06-03 22:35:51.646] [info] Accepted new action goal + 63.94sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 63.94sINFOros2_control_node[2026-06-03 22:35:53.983] [info] Received new action goal + 63.94sINFOros2_control_node[2026-06-03 22:35:53.983] [info] Accepted new action goal + 66.31sINFOros2_control_node[2026-06-03 22:35:56.343] [info] Received new action goal + 66.31sINFOros2_control_node[2026-06-03 22:35:56.343] [info] Accepted new action goal + 68.28sINFOros2_control_node[2026-06-03 22:35:58.317] [info] Got request to cancel active goal. + 68.28sINFOros2_control_node[2026-06-03 22:35:58.317] [info] Canceling active goal... + 68.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780526158.32494688 seconds + 68.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780526158.95432496 seconds. + 69.00sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 69.00sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m + 69.12sINFOros2_control_node[2026-06-03 22:35:59.158] [info] Received new action goal + 69.12sINFOros2_control_node[2026-06-03 22:35:59.158] [info] Accepted new action goal + 74.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (112/21527). Below 1% is expected on a non-realtime system.[0m + 74.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures"[0m + 75.05sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 76.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×3 + 76.69sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 76.80sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 76.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×3 + 76.81sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 76.81sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 76.82sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×3 + 76.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×3 + 76.87sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 76.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 76.92sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 + 76.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 76.96sINFOobjective_server_nodeFound path in 1 iterations (0.00251784 s). + 77.05sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 77.06sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 77.08sINFOobjective_server_nodeFound path in 1 iterations (0.0043028 s). + 77.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 77.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×3 + 77.31sINFOros2_control_node[2026-06-03 22:36:07.344] [info] Received new action goal + 77.31sINFOros2_control_node[2026-06-03 22:36:07.344] [info] Accepted new action goal + 79.38sINFOros2_control_node[2026-06-03 22:36:09.414] [info] Got request to cancel active goal. + 79.38sINFOros2_control_node[2026-06-03 22:36:09.414] [info] Canceling active goal... + 79.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780526169.44196343 seconds + 79.99sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780526170.02694845 seconds. + 80.11sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 80.12sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 80.18sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). + 80.19sINFOros2_control_node[2026-06-03 22:36:10.230] [info] Received new action goal + 80.19sINFOros2_control_node[2026-06-03 22:36:10.230] [info] Accepted new action goal + 85.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 85.46sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×3 + 85.54sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 85.59sINFOobjective_server_nodeFound path in 1 iterations (0.00323028 s). + 85.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 85.70sINFOobjective_server_nodeFound path in 1 iterations (0.00358627 s). + 85.78sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 85.90sINFOros2_control_node[2026-06-03 22:36:15.933] [info] Received new action goal + 85.90sINFOros2_control_node[2026-06-03 22:36:15.933] [info] Accepted new action goal + 88.63sINFOobjective_server_nodePath shortcutter: [X_X] + 88.63sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 88.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 88.64sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 88.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 88.71sINFOobjective_server_nodeFound path in 1 iterations (0.00259314 s). + 88.81sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 88.86sINFOros2_control_node[2026-06-03 22:36:18.903] [info] Received new action goal + 88.86sINFOros2_control_node[2026-06-03 22:36:18.903] [info] Accepted new action goal + 89.31sINFOros2_control_node[2026-06-03 22:36:19.345] [info] Received new action goal + 89.31sINFOros2_control_node[2026-06-03 22:36:19.345] [info] Accepted new action goal + 90.27sINFOros2_control_node[2026-06-03 22:36:20.307] [info] Got request to cancel active goal. + 90.27sINFOros2_control_node[2026-06-03 22:36:20.307] [info] Canceling active goal... + 90.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780526180.32604933 seconds + 90.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780526180.94596982 seconds. + 91.06sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 91.07sINFOros2_control_node[2026-06-03 22:36:21.109] [info] Received new action goal + 91.07sINFOros2_control_node[2026-06-03 22:36:21.109] [info] Accepted new action goal + 91.24sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 91.24sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 93.55sINFOros2_control_node[2026-06-03 22:36:23.590] [info] Received new action goal + 93.55sINFOros2_control_node[2026-06-03 22:36:23.590] [info] Accepted new action goal +102.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780526192.15214157 seconds +102.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780526192.71390700 seconds. +102.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 +102.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 +102.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780526192.78409171 seconds +103.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780526193.34673095 seconds. +103.43sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +103.44sINFOros2_control_node[2026-06-03 22:36:33.480] [info] Received new action goal +103.44sINFOros2_control_node[2026-06-03 22:36:33.480] [info] Accepted new action goal +105.45sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780526195.48688054 seconds +106.10sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780526196.13442707 seconds. +106.23sINFOros2_control_node[2026-06-03 22:36:36.270] [info] Received new action goal +106.23sINFOros2_control_node[2026-06-03 22:36:36.270] [info] Accepted new action goal +106.36sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m +110.83sINFOobjective_server_node[0;93m2026-06-03 22:36:40.871444837 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +110.83sINFOobjective_server_node[0;93m2026-06-03 22:36:40.871479379 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +111.38sINFOobjective_server_node[0;93m2026-06-03 22:36:41.415463007 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +111.38sINFOobjective_server_node[0;93m2026-06-03 22:36:41.415505169 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +111.52sINFOobjective_server_node[0;93m2026-06-03 22:36:41.557430006 [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 +111.52sINFOobjective_server_node[0;93m2026-06-03 22:36:41.559913600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +111.52sINFOobjective_server_node[0;93m2026-06-03 22:36:41.559960013 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +111.87sINFOobjective_server_node[0;93m2026-06-03 22:36:41.910112823 [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 +111.89sINFOobjective_server_node[0;93m2026-06-03 22:36:41.928225434 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +111.89sINFOobjective_server_node[0;93m2026-06-03 22:36:41.928267727 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +113.24sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780526203.27949810 seconds +113.44sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m +113.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780526203.87127757 seconds. +113.94sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +113.94sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +114.43sINFOobjective_server_node[0;93m2026-06-03 22:36:44.471955869 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +114.43sINFOobjective_server_node[0;93m2026-06-03 22:36:44.472003681 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +114.94sINFOobjective_server_node[0;93m2026-06-03 22:36:44.977634125 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +114.94sINFOobjective_server_node[0;93m2026-06-03 22:36:44.977675728 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +115.06sINFOobjective_server_node[0;93m2026-06-03 22:36:45.098888935 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +115.06sINFOobjective_server_node[0;93m2026-06-03 22:36:45.101415291 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.06sINFOobjective_server_node[0;93m2026-06-03 22:36:45.101446783 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +115.40sINFOobjective_server_node[0;93m2026-06-03 22:36:45.435841281 [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 +115.42sINFOobjective_server_node[0;93m2026-06-03 22:36:45.454167142 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.42sINFOobjective_server_node[0;93m2026-06-03 22:36:45.454220145 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780526206.29923844 seconds +116.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m +116.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780526207.02653098 seconds. +117.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 +117.09sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 +117.38sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +117.41sINFOros2_control_node[2026-06-03 22:36:47.446] [info] Received new action goal +117.41sINFOros2_control_node[2026-06-03 22:36:47.446] [info] Accepted new action goal +117.48sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +117.48sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m +120.25sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +120.29sINFOros2_control_node[2026-06-03 22:36:50.322] [info] Received new action goal +120.29sINFOros2_control_node[2026-06-03 22:36:50.322] [info] Accepted new action goal +123.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×7 +123.50sINFOros2_control_node[2026-06-03 22:36:53.542] [info] Received new action goal +123.50sINFOros2_control_node[2026-06-03 22:36:53.542] [info] Accepted new action goal +126.81sINFOros2_control_node[2026-06-03 22:36:56.851] [info] Received new action goal +126.81sINFOros2_control_node[2026-06-03 22:36:56.851] [info] Accepted new action goal +129.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 +134.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.53% of iterations over budget over 2:10.004 of wall time (212/39876). Below 1% is expected on a non-realtime system.[0m +136.53sINFOobjective_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 +137.47sINFOros2_control_node[2026-06-03 22:37:07.512] [info] Received new action goal +137.47sINFOros2_control_node[2026-06-03 22:37:07.512] [info] Accepted new action goal +138.65sINFOobjective_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 +138.66sINFOobjective_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 +138.93sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 +138.97sINFOros2_control_node[2026-06-03 22:37:09.011] [info] Received new action goal +138.97sINFOros2_control_node[2026-06-03 22:37:09.011] [info] Accepted new action goal +141.09sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +141.10sINFOros2_control_node[2026-06-03 22:37:11.143] [info] Received new action goal +141.10sINFOros2_control_node[2026-06-03 22:37:11.143] [info] Accepted new action goal +144.14sINFOros2_control_node[2026-06-03 22:37:14.183] [info] Received new action goal +144.15sINFOros2_control_node[2026-06-03 22:37:14.183] [info] Accepted new action goal +146.77sINFOros2_control_node[2026-06-03 22:37:16.810] [info] Received new action goal +146.77sINFOros2_control_node[2026-06-03 22:37:16.810] [info] Accepted new action goal +157.54sINFOros2_control_node[2026-06-03 22:37:27.582] [info] Received new action goal +157.54sINFOros2_control_node[2026-06-03 22:37:27.582] [info] Accepted new action goal +158.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780526248.73876309 seconds +159.40sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +159.46sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780526249.49937320 seconds. +160.68sINFOobjective_server_nodePath shortcutter: [X__________________________X] +160.69sINFOros2_control_node[2026-06-03 22:37:30.729] [info] Received new action goal +160.69sINFOros2_control_node[2026-06-03 22:37:30.729] [info] Accepted new action goal +166.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +166.76sINFOobjective_server_nodePath shortcutter: [X________________________X] +166.79sINFOros2_control_node[2026-06-03 22:37:36.833] [info] Received new action goal +166.80sINFOros2_control_node[2026-06-03 22:37:36.833] [info] Accepted new action goal +170.40sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780526260.43953514 seconds +170.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526261.00516558 seconds. +171.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m +171.15sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). +171.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +171.16sINFOros2_control_node[2026-06-03 22:37:41.199] [info] Received new action goal +171.16sINFOros2_control_node[2026-06-03 22:37:41.199] [info] Accepted new action goal +172.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 +172.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +175.40sINFOros2_control_nodeReceived new action goal[0m ×4732 +175.40sINFOros2_control_nodeAccepted new action goal[0m ×4419 +179.51sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×7 +179.61sINFOros2_control_nodeGoal reached, success![0m ×1332 +187.19sERRORobjective_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. +194.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.61% of iterations over budget over 3:10.006 of wall time (356/58170). Below 1% is expected on a non-realtime system.[0m +208.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526298.42607570 seconds +208.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780526299.00707316 seconds. +209.14sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 +209.15sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 +209.16sINFOros2_control_node[2026-06-03 22:38:19.202] [info] Received new action goal +209.16sINFOros2_control_node[2026-06-03 22:38:19.202] [info] Accepted new action goal +218.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526308.419095)[0m +218.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526308.429095)[0m +218.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526308.449095)[0m ×2 +219.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.079095)[0m +219.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.179095)[0m +219.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.219095)[0m +219.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.239095)[0m ×2 +219.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.639095)[0m +219.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.839095)[0m +219.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.849095)[0m +219.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526309.859095)[0m +219.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.029095)[0m +220.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.049095)[0m +220.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.489095)[0m +220.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.539095)[0m +220.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.629095)[0m +220.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.679095)[0m +220.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526310.999095)[0m +221.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.269095)[0m +221.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.279095)[0m +221.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.289095)[0m ×2 +221.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.499095)[0m +221.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.659095)[0m +221.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.729095)[0m +221.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.899095)[0m +221.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526311.939095)[0m +222.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.039095)[0m +222.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.079095)[0m +222.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.089095)[0m +222.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.469095)[0m +222.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.499095)[0m +222.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.709095)[0m +222.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.729095)[0m ×2 +222.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.739095)[0m +222.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.909095)[0m +222.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.939095)[0m +222.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526312.949095)[0m +223.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.139095)[0m +223.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.349095)[0m +223.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.389095)[0m +223.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.479095)[0m +223.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.489095)[0m +223.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.509095)[0m +223.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.549095)[0m +223.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.829095)[0m +223.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.869095)[0m +223.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526313.989095)[0m +223.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.019095)[0m +223.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.029095)[0m +224.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.179095)[0m +224.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.199095)[0m +224.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.209095)[0m +224.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.219095)[0m +224.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.229095)[0m +224.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.419095)[0m +224.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.629095)[0m +224.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.649095)[0m +224.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.699095)[0m +224.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.889095)[0m +224.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.979095)[0m +224.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526314.989095)[0m +224.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.019095)[0m +225.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.039095)[0m +225.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.139095)[0m +225.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.179095)[0m +225.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.529095)[0m +225.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.699095)[0m +225.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.709095)[0m +225.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.719095)[0m +225.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.729095)[0m +225.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526315.779095)[0m +226.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.119095)[0m +226.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.149095)[0m ×2 +226.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.369095)[0m +226.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.379095)[0m +226.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.469095)[0m +226.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.479095)[0m +226.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.489095)[0m +226.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.539095)[0m +226.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.619095)[0m +226.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.859095)[0m +226.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526316.989095)[0m +226.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.029095)[0m ×2 +227.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.169095)[0m +227.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.199095)[0m +227.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.209095)[0m +227.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.219095)[0m +227.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.449095)[0m +227.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.629095)[0m +227.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.969095)[0m +227.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526317.989095)[0m ×2 +227.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.019095)[0m +228.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.039095)[0m +228.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.119095)[0m +228.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.149095)[0m +228.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.169095)[0m +228.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.349095)[0m +228.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.499095)[0m +228.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.519095)[0m +228.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.669095)[0m ×2 +228.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.679095)[0m +228.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526318.699095)[0m ×2 +229.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.089095)[0m +229.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.299095)[0m +229.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.329095)[0m +229.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.369095)[0m +229.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.449095)[0m +229.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.479095)[0m +229.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.489095)[0m +229.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.589095)[0m +229.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.619095)[0m +229.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.809095)[0m +229.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526319.919095)[0m +230.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.119095)[0m +230.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.129095)[0m ×2 +230.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.149095)[0m +230.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.159095)[0m +230.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.379095)[0m +230.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.529095)[0m +230.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.559095)[0m +230.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.889095)[0m +230.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.899095)[0m +230.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.909095)[0m +230.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526320.949095)[0m +231.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.069095)[0m +231.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.359095)[0m +231.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.389095)[0m +231.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.419095)[0m ×2 +231.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.569095)[0m +231.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.579095)[0m ×2 +231.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.589095)[0m +231.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526321.649095)[0m +232.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.089095)[0m +232.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.269095)[0m +232.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.289095)[0m +232.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.339095)[0m +232.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.349095)[0m +232.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.369095)[0m +232.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.379095)[0m +232.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.399095)[0m +232.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.419095)[0m +232.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.479095)[0m +232.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.499095)[0m +232.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.549095)[0m ×2 +232.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.839095)[0m +232.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.889095)[0m +232.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526322.909095)[0m +233.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526323.049095)[0m ×2 +233.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526323.059095)[0m +233.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526323.069095)[0m +233.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780526323.07183266 seconds +233.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526306.019095) that ends in the past (1780526323.079095)[0m +233.64sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +233.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780526323.69959426 seconds. +233.83sINFOros2_control_node[2026-06-03 22:38:43.864] [info] Received new action goal +233.83sINFOros2_control_node[2026-06-03 22:38:43.864] [info] Accepted new action goal +234.14sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m +234.14sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m +239.55sINFOros2_control_node[2026-06-03 22:38:49.586] [info] Received new action goal +239.55sINFOros2_control_node[2026-06-03 22:38:49.586] [info] Accepted new action goal +242.05sINFOros2_control_node[2026-06-03 22:38:52.084] [info] Received new action goal +242.05sINFOros2_control_node[2026-06-03 22:38:52.084] [info] Accepted new action goal +250.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.566783)[0m +250.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.576783)[0m +250.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.586783)[0m +250.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.596783)[0m ×2 +250.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.756783)[0m +250.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.786783)[0m +250.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.966783)[0m +250.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526340.996783)[0m +251.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.036783)[0m ×2 +251.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.156783)[0m +251.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.176783)[0m ×2 +251.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.206783)[0m +251.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.226783)[0m +251.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.296782)[0m +251.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.306783)[0m +251.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.336783)[0m +251.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.356783)[0m +251.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.366783)[0m +251.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.376783)[0m +251.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.766783)[0m +251.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.986783)[0m +251.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526341.996783)[0m ×2 +251.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.006783)[0m +251.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.016783)[0m +252.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.416783)[0m +252.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.626783)[0m +252.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.656783)[0m +252.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.736783)[0m +252.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.756783)[0m +252.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.786783)[0m +252.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526342.806783)[0m ×2 +253.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526343.236783)[0m +253.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526343.266783)[0m +253.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526343.426783)[0m +253.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526343.436783)[0m ×2 +254.15sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 4:10.008 of wall time (517/76321). Below 1% is expected on a non-realtime system.[0m +254.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.186783)[0m +254.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.226783)[0m +254.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.236783)[0m +254.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.246783)[0m +254.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.336783)[0m +254.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.656783)[0m +254.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.856783)[0m +254.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.866783)[0m +254.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526344.876783)[0m +255.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526345.636783)[0m +255.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526345.666783)[0m ×2 +255.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526345.676783)[0m +255.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526345.686783)[0m +255.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526345.696783)[0m +256.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526346.086783)[0m +256.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526346.106783)[0m ×2 +256.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526346.306783)[0m +256.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526346.316782)[0m +256.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526346.326783)[0m +257.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.046783)[0m ×2 +257.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.056782)[0m +257.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.086783)[0m +257.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.106783)[0m ×2 +257.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.116783)[0m +257.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.726783)[0m ×2 +257.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.746783)[0m ×2 +257.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.756783)[0m +257.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526347.956783)[0m +258.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.386783)[0m +258.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.456783)[0m +258.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.466783)[0m +258.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.476783)[0m +258.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.496783)[0m +258.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.516783)[0m +258.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.596783)[0m +258.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526348.636783)[0m +259.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.146783)[0m +259.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.156783)[0m +259.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.166783)[0m +259.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.176783)[0m +259.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.186783)[0m ×2 +259.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.236783)[0m +259.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.606783)[0m +259.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.946783)[0m +259.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.966783)[0m +259.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526349.986783)[0m ×2 +259.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526350.006783)[0m ×2 +260.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526350.666783)[0m ×2 +260.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526350.686783)[0m ×2 +260.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526350.726783)[0m +261.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526351.456783)[0m +261.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526351.466783)[0m +261.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526351.496783)[0m +261.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526351.516783)[0m +262.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526352.226783)[0m ×2 +262.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526352.246783)[0m ×2 +263.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.036783)[0m +263.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.066783)[0m +263.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.076783)[0m +263.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.086783)[0m +263.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.096783)[0m +263.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.176783)[0m +263.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.516783)[0m +263.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.556782)[0m +263.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.726783)[0m +263.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.736783)[0m ×2 +263.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.756783)[0m ×2 +263.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526353.806783)[0m +264.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526354.506783)[0m +264.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526354.546783)[0m +265.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.196783)[0m +265.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.206783)[0m +265.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.216783)[0m ×2 +265.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.256783)[0m +265.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.276783)[0m +265.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526355.916783)[0m +265.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.016783)[0m +266.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.056782)[0m +266.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.066783)[0m +266.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.126783)[0m +266.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.716783)[0m ×2 +266.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.726783)[0m +266.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.736783)[0m +266.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526356.746783)[0m +267.23sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780526357.27098560 seconds +267.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526357.316782)[0m +267.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526357.336783)[0m ×2 +267.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526357.356783)[0m ×2 +267.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780526340.236783) that ends in the past (1780526357.376783)[0m +267.98sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780526358.01831937 seconds. +268.48sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +269.11sINFOobjective_server_nodeFound path in 6 iterations (0.00712716 s). +269.19sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +269.21sINFOros2_control_node[2026-06-03 22:39:19.244] [info] Received new action goal +269.21sINFOros2_control_node[2026-06-03 22:39:19.244] [info] Accepted new action goal +280.03sINFOobjective_server_node[0;m[0;93m2026-06-03 22:39:30.068356423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +280.03sINFOobjective_server_node[0;93m2026-06-03 22:39:30.068398886 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +280.52sINFOobjective_server_node[0;93m2026-06-03 22:39:30.558765213 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +280.52sINFOobjective_server_node[0;93m2026-06-03 22:39:30.558805515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +280.65sINFOobjective_server_node[0;93m2026-06-03 22:39:30.685062474 [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 +280.65sINFOobjective_server_node[0;93m2026-06-03 22:39:30.687559710 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +280.65sINFOobjective_server_node[0;93m2026-06-03 22:39:30.687600433 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +281.02sINFOobjective_server_node[0;93m2026-06-03 22:39:31.053366926 [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 +281.04sINFOobjective_server_node[0;93m2026-06-03 22:39:31.072743182 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +281.04sINFOobjective_server_node[0;93m2026-06-03 22:39:31.072789645 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +282.09sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m +286.63sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m +286.86sINFOobjective_server_nodeFound path in 4 iterations (0.00363659 s). +286.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +286.99sINFOobjective_server_nodeFound path in 12 iterations (0.00568812 s). +287.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +287.10sINFOobjective_server_nodeFound path in 1 iterations (0.00309981 s). +287.16sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] +287.22sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +287.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +287.30sINFOobjective_server_nodeFound path in 12 iterations (0.00639923 s). +287.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] +287.40sINFOobjective_server_nodeFound path in 2 iterations (0.00534181 s). +287.44sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] +287.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +287.51sINFOobjective_server_nodeFound path in 4 iterations (0.00490838 s). +287.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +287.61sINFOobjective_server_nodeFound path in 4 iterations (0.00316573 s). +287.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X_______________________X] +287.71sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 +287.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] +287.79sINFOobjective_server_nodeFound path in 1 iterations (0.00464144 s). +287.85sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] +287.87sINFOobjective_server_nodeFound path in 1 iterations (0.00267491 s). +287.94sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] +287.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +288.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +288.14sINFOros2_control_node[2026-06-03 22:39:38.182] [info] Received new action goal +288.14sINFOros2_control_node[2026-06-03 22:39:38.182] [info] Accepted new action goal +293.15sINFOros2_control_node[2026-06-03 22:39:43.185] [info] Received new action goal +293.15sINFOros2_control_node[2026-06-03 22:39:43.185] [info] Accepted new action goal +294.83sINFOros2_control_node[2026-06-03 22:39:44.867] [info] Received new action goal +294.83sINFOros2_control_node[2026-06-03 22:39:44.867] [info] Accepted new action goal +296.04sINFOobjective_server_nodePlanning for 4 path waypoints. +296.08sINFOros2_control_node[2026-06-03 22:39:46.119] [info] Received new action goal +296.08sINFOros2_control_node[2026-06-03 22:39:46.119] [info] Accepted new action goal +301.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780526391.54363728 seconds +302.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780526392.20080209 seconds. +302.31sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +302.31sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +302.31sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m +302.40sINFOros2_control_node[2026-06-03 22:39:52.435] [info] Received new action goal +302.40sINFOros2_control_node[2026-06-03 22:39:52.435] [info] Accepted new action goal +304.84sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m +305.34sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +308.37sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m +308.61sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). +308.68sINFOobjective_server_nodeFound path in 1 iterations (0.00263162 s). +308.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] +308.79sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +308.81sINFOros2_control_node[2026-06-03 22:39:58.849] [info] Received new action goal +308.81sINFOros2_control_node[2026-06-03 22:39:58.849] [info] Accepted new action goal +311.33sINFOros2_control_node[2026-06-03 22:40:01.371] [info] Received new action goal +311.33sINFOros2_control_node[2026-06-03 22:40:01.371] [info] Accepted new action goal +312.28sINFOros2_control_node[2026-06-03 22:40:02.322] [info] Got request to cancel active goal. +312.28sINFOros2_control_node[2026-06-03 22:40:02.322] [info] Canceling active goal... +312.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780526402.36215758 seconds +313.00sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780526403.04307246 seconds. +313.16sINFOros2_control_node[2026-06-03 22:40:03.198] [info] Received new action goal +313.16sINFOros2_control_node[2026-06-03 22:40:03.198] [info] Accepted new action goal +313.42sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +313.42sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +314.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.67% of iterations over budget over 5:10.010 of wall time (632/94688). Below 1% is expected on a non-realtime system.[0m +315.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +323.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780526413.32332873 seconds +323.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780526413.88178897 seconds. +324.00sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +324.12sINFOros2_control_node[2026-06-03 22:40:14.156] [info] Received new action goal +324.12sINFOros2_control_node[2026-06-03 22:40:14.156] [info] Accepted new action goal +328.14sINFOros2_control_node[2026-06-03 22:40:18.178] [info] Received new action goal +328.14sINFOros2_control_node[2026-06-03 22:40:18.178] [info] Accepted new action goal +333.72sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780526423.76348162 seconds +334.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780526424.38411999 seconds. +334.57sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +334.58sINFOros2_control_node[2026-06-03 22:40:24.620] [info] Received new action goal +334.58sINFOros2_control_node[2026-06-03 22:40:24.621] [info] Accepted new action goal +334.61sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m +344.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780526434.82440305 seconds +345.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780526435.38418531 seconds. +345.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780526435.50433993 seconds +345.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +346.02sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780526436.06183481 seconds. +346.05sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' +346.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780526436.08438516 seconds +346.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780526436.72803020 seconds. +346.79sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). +346.79sINFOros2_control_node[2026-06-03 22:40:36.831] [info] Received new action goal +346.79sINFOros2_control_node[2026-06-03 22:40:36.831] [info] Accepted new action goal +350.09sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +350.09sINFOros2_control_node[2026-06-03 22:40:40.131] [info] Received new action goal +350.09sINFOros2_control_node[2026-06-03 22:40:40.132] [info] Accepted new action goal +350.09sINFOros2_control_node[2026-06-03 22:40:40.132] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +356.79sINFOros2_control_node[2026-06-03 22:40:46.828] [info] Got request to cancel active goal. +356.79sINFOros2_control_node[2026-06-03 22:40:46.828] [info] Canceling active goal... +356.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780526446.83335614 seconds +357.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780526447.39450049 seconds. +357.80sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m +359.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m +360.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780526450.10462713 seconds +360.33sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +360.62sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780526450.66070175 seconds. +360.62sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +360.62sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +360.62sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +360.62sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780526450.66299462 seconds +360.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +360.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m +361.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780526451.30562282 seconds. +361.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780526451.30616021 seconds +361.33sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m +361.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780526451.86640072 seconds. +373.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m +373.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780526463.58653760 seconds +373.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +374.17sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +374.17sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.63% of iterations over budget over 6:10.010 of wall time (714/113099). Below 1% is expected on a non-realtime system.[0m +379.17sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.18sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.19sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.19sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.19sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +379.19sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +379.20sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +379.21sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +379.22sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +379.22sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +379.23sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +379.24sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +379.24sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +379.25sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +379.26sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +379.28sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +379.30sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +379.30sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +379.30sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +379.30sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +379.30sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +379.30sERRORui_teleop_bridgeTraceback (most recent call last): +379.30sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +379.30sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +379.30sINFOui_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 +379.30sINFOui_teleop_bridgerclpy.shutdown() +379.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +379.30sINFOui_teleop_bridge_shutdown(context=context) +379.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +379.30sINFOui_teleop_bridgereturn context.shutdown() +379.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +379.30sINFOui_teleop_bridgeself.__context.shutdown() +379.30sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +379.30sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +379.30sINFOros2_control_nodeShutdown request received....[0m +379.30sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +379.30sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +379.30sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +379.30sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +379.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +379.30sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +379.30sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +379.30sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +379.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +379.30sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +379.30sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +379.30sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +379.30sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +379.30sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +379.30sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +379.31sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +379.31sINFOros2_control_nodeShutting down the controller manager.[0m +379.37sINFOobjective_server_node[0;m[2026-06-03 22:41:09.407] [moveit_pro_license] [info] +379.37sINFOobjective_server_node* Application has successfully terminated +379.41sINFOweb_video_server-20process has finished cleanly [pid 10380] +379.41sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10376] +379.41sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +379.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +379.45sERRORui_teleop_bridge-17process has died [pid 10372, 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_fp46fvfj']. +379.45sERRORobjective_server_nodeStack trace (most recent call last): +379.45sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10364] +379.46sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10362] +379.47sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +379.47sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e43c9a24e4, in _start +379.47sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91a1a1e3f, in __libc_start_main +379.47sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91a1a1d96, in +379.47sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91a1bd60f, in exit +379.47sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa91a1bd494, in +379.47sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa91a646251, in spdlog::details::registry::~registry() +379.47sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa91a650e66, 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() +379.47sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e43c9a7cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +379.47sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e43c9a4bf3, in spdlog_ros::RosSink::~RosSink() +379.47sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e43c9a9e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +379.47sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab3bb2e, in rclcpp::Node::~Node() +379.47sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab16d39, in +379.47sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab450b9, in +379.47sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab45000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +379.47sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab16d39, in +379.47sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa91ab1bb31, in rclcpp::CallbackGroup::~CallbackGroup() +379.47sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa8ce1ae3f0]) +379.47sINFOexecute_objective_bridge-16process has finished cleanly [pid 10370] +379.48sINFOparameter_manager_node-10process has finished cleanly [pid 10322] +379.49sINFOwaypoint_manager_node-11process has finished cleanly [pid 10360] +379.50sINFOfoxglove_bridgeShutdown complete[0m +379.76sERRORros2_control_nodeStack trace (most recent call last): +379.77sINFOros2_control_node#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +379.77sINFOros2_control_node#13 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56411dad8ec4, in +379.77sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25fe2ce3f, in __libc_start_main +379.77sINFOros2_control_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25fe2cd8f, in +379.77sINFOros2_control_node#10 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56411dad872e, in +379.77sINFOros2_control_node#9 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56411dad91b3, in +379.77sINFOros2_control_node#8 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd2603985a7, in rclcpp::Executor::~Executor() +379.77sINFOros2_control_node#7 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd260387d39, in +379.77sINFOros2_control_node#6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd2603a5742, in +379.77sINFOros2_control_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd26040c55f, in +379.77sINFOros2_control_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd260387d39, in +379.77sINFOros2_control_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd2603b607c, in rclcpp::node_interfaces::NodeBase::~NodeBase() +379.77sINFOros2_control_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd2603b6000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +379.77sINFOros2_control_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd260387d39, in +379.77sINFOros2_control_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fd26038cb31, in rclcpp::CallbackGroup::~CallbackGroup() +379.77sERRORros2_control_nodeSegmentation fault (Address not mapped to object [0x7fd221640ac8]) +380.02sERRORros2_control_node-1process has died [pid 10299, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_bphxy4cj --params-file /tmp/launch_params_ogbbi8s7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0f7b4q3k --params-file /tmp/launch_params_5ci565v9']. +380.24sERRORobjective_server_node_main-14process has died [pid 10366, 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_lokadf9_ --params-file /tmp/launch_params_w8wa95c7 --params-file /tmp/launch_params_cjdmu_20 --params-file /tmp/launch_params_kg3nm72i --params-file /tmp/launch_params_na_qhxso --params-file /tmp/launch_params_4vvcdntp']. +380.24sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +380.43sINFOcomponent_container_mt-15process has finished cleanly [pid 10368] +380.60sINFOmove_group-9process has finished cleanly [pid 10319] +381.32sINFOfoxglove_bridge-18process has finished cleanly [pid 10374] +381.32sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +386.01sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-22-41-15-383583-d43470e08f93-11680 +387.59sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +387.69sINFOros2_control_node-1process started with pid [11710] +387.69sINFOmove_group-9process started with pid [11729] +387.69sINFOparameter_manager_node-10process started with pid [11733] +387.69sINFOwaypoint_manager_node-11process started with pid [11771] +387.69sINFOmove_joint_resampler_node-12process started with pid [11773] +387.69sINFOmove_end_effector_resampler_node-13process started with pid [11775] +387.69sINFOobjective_server_node_main-14process started with pid [11777] +387.69sINFOcomponent_container_mt-15process started with pid [11779] +387.69sINFOexecute_objective_bridge-16process started with pid [11781] +387.69sINFOui_teleop_bridge-17process started with pid [11783] +387.70sINFOfoxglove_bridge-18process started with pid [11796] +387.70sINFOtf2_web_republisher_node-19process started with pid [11814] +387.70sINFOweb_video_server-20process started with pid [11824] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11712] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11714] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11716] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11718] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11720] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11723] +387.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11726] +387.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +387.89sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +387.90sINFOfoxglove_bridgeServer listening on port 3201 +387.91sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +387.91sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m +387.92sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" +387.92sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +388.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +388.03sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +388.53sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +388.58sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static" +388.58sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static"[0m +388.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic" +388.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m +388.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/planning_scene_world" +388.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/planning_scene_world"[0m +388.66sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene" +388.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene"[0m +388.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat" +388.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m +388.67sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf" +388.67sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf"[0m +388.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_joint" +388.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_joint"[0m +388.68sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector" +388.68sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector"[0m +388.68sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/do_teleoperate/result" +388.68sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +388.68sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/feedback" +388.68sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/cancel" +388.68sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/monitored_planning_scene" +388.68sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/robot_description" +388.69sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +388.69sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/joint_states" +388.69sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/store_joint_state" +388.69sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +388.69sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +388.69sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/monitored_planning_scene"[0m +388.69sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/robot_description"[0m +388.69sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/store_joint_state"[0m +388.69sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +388.69sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object" +388.69sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +388.69sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object"[0m +388.69sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object" +388.69sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint" +388.69sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" +388.69sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" +388.70sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object"[0m +388.70sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint"[0m +388.70sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +388.70sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m +388.70sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +388.72sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +388.74sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +389.87sINFOobjective_server_node[2026-06-03 22:41:19.901] [moveit_pro_license] [info] +389.97sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" +389.97sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector" +389.97sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description" +390.05sINFOcontroller_managerupdate rate is 600 Hz +390.05sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +390.05sWARNcontroller_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. +390.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +390.12sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +390.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +390.12sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +390.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +390.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +390.13sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +390.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +390.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +390.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +390.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +390.21sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +390.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +390.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +390.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +390.38sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +390.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' +390.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +390.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11718] +390.48sINFOcontroller_managerLoading controller 'velocity_force_controller' +390.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +390.53sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/points" +390.53sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/points"[0m +390.53sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth" +390.53sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/color" +390.53sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/depth"[0m +390.53sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/color"[0m +390.54sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/visual_markers" +390.54sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth" +390.54sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color" +390.54sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/visual_markers"[0m +390.54sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m +390.54sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color"[0m +390.55sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/camera_info" +390.55sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points" +390.55sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/camera_info"[0m +390.55sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points"[0m +390.55sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event" +390.55sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event" +390.55sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event"[0m +390.55sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event"[0m +390.55sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +390.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +390.55sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +390.55sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +390.55sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +390.55sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap" +390.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state" +390.56sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event" +390.56sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event" +390.56sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +390.56sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event" +390.56sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" +390.56sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/joint_trajectory" +390.56sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/blackboard_contents" +390.56sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" +390.56sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/joint_trajectory"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/blackboard_contents"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/behavior_tree_status" +390.56sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/state" +390.56sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +390.56sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/behavior_tree_status"[0m +390.56sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/state"[0m +390.56sINFOros2_control_node[2026-06-03 22:41:20.601] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +390.56sINFOros2_control_node[2026-06-03 22:41:20.601] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +390.65sINFOros2_control_node[2026-06-03 22:41:20.684] [info] First order lag filter time constant set to: 0.2 seconds +390.65sINFOros2_control_node[2026-06-03 22:41:20.684] [info] Controller state will be published at 50 Hz. +390.65sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +390.65sINFOros2_control_node[2026-06-03 22:41:20.691] [info] Registered `FollowJointTrajectory` action server. +390.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +390.66sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +390.70sINFOros2_control_node[2026-06-03 22:41:20.733] [info] Controller state will be published at 20 Hz. +390.70sINFOros2_control_node[2026-06-03 22:41:20.734] [info] JointVelocityController 'on_configure' succeeded. +390.70sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +390.73sINFOros2_control_node[2026-06-03 22:41:20.772] [info] Controller state will be published at 10 Hz. +390.74sINFOros2_control_node[2026-06-03 22:41:20.774] [info] VelocityForceController 'on_configure' succeeded. +390.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +390.75sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +390.75sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +390.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11720] +391.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11726] +391.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11716] +391.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11723] +391.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11712] +391.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11714] +391.29sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" +391.29sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m +391.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" +391.29sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" +391.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/controller_state" +391.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/controller_state"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/controller_state" +391.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/command" +391.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" +391.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/controller_state"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/command"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/wrench" +391.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/wrench"[0m +391.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" +392.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 +392.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 +392.39sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +392.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 +392.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +392.90sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +394.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 +394.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 +395.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 +396.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 +396.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 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: 1780526484.61509037 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 4.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 4.39sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 6.07sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.87sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.87sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 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: 1780526484.61509037 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 4.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 4.39sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 6.07sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 2 warnings · 112 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-22-41-15-383583-d43470e08f93-11680 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.59sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.69sINFOros2_control_node-1process started with pid [11710] + 1.69sINFOmove_group-9process started with pid [11729] + 1.69sINFOparameter_manager_node-10process started with pid [11733] + 1.69sINFOwaypoint_manager_node-11process started with pid [11771] + 1.69sINFOmove_joint_resampler_node-12process started with pid [11773] + 1.69sINFOmove_end_effector_resampler_node-13process started with pid [11775] + 1.69sINFOobjective_server_node_main-14process started with pid [11777] + 1.69sINFOcomponent_container_mt-15process started with pid [11779] + 1.69sINFOexecute_objective_bridge-16process started with pid [11781] + 1.69sINFOui_teleop_bridge-17process started with pid [11783] + 1.69sINFOfoxglove_bridge-18process started with pid [11796] + 1.69sINFOtf2_web_republisher_node-19process started with pid [11814] + 1.69sINFOweb_video_server-20process started with pid [11824] + 1.69sINFOparameter_manager_nodeStarted parameter manager node. + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11712] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11714] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11716] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11718] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11720] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11723] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11726] + 1.70sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.70sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.89sINFOfoxglove_bridgeServer listening on port 3201 + 1.89sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.90sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.91sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.03sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.03sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.38sINFOros2_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. + 2.38sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.53sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.57sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static" + 2.57sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static"[0m + 2.58sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic" + 2.58sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m + 2.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/planning_scene_world" + 2.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/planning_scene_world"[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene" + 2.66sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene"[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat" + 2.66sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf" + 2.66sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf"[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_joint" + 2.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_joint"[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector" + 2.67sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.68sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.68sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.68sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/monitored_planning_scene" + 2.68sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/robot_description" + 2.68sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/joint_states" + 2.68sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/store_joint_state" + 2.68sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/monitored_planning_scene"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/robot_description"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/joint_states"[0m + 2.68sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object" + 2.69sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object"[0m + 2.69sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object" + 2.69sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint" + 2.69sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.69sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" + 2.69sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object"[0m + 2.69sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint"[0m + 2.69sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.69sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m + 2.70sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.73sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.89sINFOwaypoint_manager_nodeStarted waypoint manager node. | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780526482.29742050 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780526482.30763483 seconds ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780526482.86669898 seconds. ×2 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 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: 1780526484.61509037 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 4.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 4.39sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780526484.03692365 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: 1780526484.61509037 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 4.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 4.39sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 4.50sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 6.07sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.8s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780526484.61509037 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780526485.62534451 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780526486.19125700 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780526486.21138668 seconds ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780526486.77972150 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780526486.93059516 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780526487.55981636 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780526487.81996083 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780526488.40932822 seconds. ×2 + 3.81sINFOobjective_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 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.7591e-05 s). + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Received new action goal + 3.92sINFOros2_control_node[2026-06-03 22:41:28.535] [info] Accepted new action goal + 5.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.32% of iterations over budget over 0:10.000 of wall time (10/3132). Below 1% is expected on a non-realtime system.[0m + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-03 22:41:30.904] [info] Accepted new action goal | ||||