MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.5s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	43.0s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 7.48sINFOros2_control_node[2026-06-03 23:24:02.929] [info] Received new action goal + 7.48sINFOros2_control_node[2026-06-03 23:24:02.929] [info] Accepted new action goal + 10.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.64sINFOros2_control_node[2026-06-03 23:24:06.095] [info] Received new action goal + 10.64sINFOros2_control_node[2026-06-03 23:24:06.095] [info] Accepted new action goal + 13.60sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 13.60sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.64sINFOros2_control_node[2026-06-03 23:24:09.088] [info] Received new action goal + 13.64sINFOros2_control_node[2026-06-03 23:24:09.088] [info] Accepted new action goal + 16.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 23.15sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.12% of iterations over budget over 2:10.003 of wall time (50/40205). Below 1% is expected on a non-realtime system.[0m + 23.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 24.31sINFOros2_control_node[2026-06-03 23:24:19.765] [info] Received new action goal + 24.31sINFOros2_control_node[2026-06-03 23:24:19.765] [info] Accepted new action goal + 25.49sINFOobjective_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 + 25.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 25.76sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.80sINFOros2_control_node[2026-06-03 23:24:21.249] [info] Received new action goal + 25.80sINFOros2_control_node[2026-06-03 23:24:21.249] [info] Accepted new action goal + 27.90sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.91sINFOros2_control_node[2026-06-03 23:24:23.366] [info] Received new action goal + 27.91sINFOros2_control_node[2026-06-03 23:24:23.366] [info] Accepted new action goal + 31.00sINFOros2_control_node[2026-06-03 23:24:26.455] [info] Received new action goal + 31.00sINFOros2_control_node[2026-06-03 23:24:26.455] [info] Accepted new action goal + 33.59sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 33.59sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.63sINFOros2_control_node[2026-06-03 23:24:29.078] [info] Received new action goal + 33.63sINFOros2_control_node[2026-06-03 23:24:29.078] [info] Accepted new action goal + 44.52sINFOros2_control_node[2026-06-03 23:24:39.970] [info] Received new action goal + 44.52sINFOros2_control_node[2026-06-03 23:24:39.970] [info] Accepted new action goal + 45.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780529081.12237287 seconds ×2 + 46.36sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780529081.81654024 seconds. ×2 + 46.37sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.37sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.58sINFOros2_control_node[2026-06-03 23:24:43.030] [info] Received new action goal + 47.58sINFOros2_control_node[2026-06-03 23:24:43.030] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	31.4s	2 errors · 76 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal + 26.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 26.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 26.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 27.07sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 27.07sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 27.25sINFOobjective_server_nodeFound path in 0 iterations (7.1e-07 s). + 27.25sINFOobjective_server_nodePath shortcutter: [X___________X] + 27.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 27.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 27.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 27.33sINFOobjective_server_nodeFound path in 1 iterations (0.00245027 s). + 27.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 27.43sINFOros2_control_node[2026-06-03 23:22:53.351] [info] Received new action goal + 27.43sINFOros2_control_node[2026-06-03 23:22:53.351] [info] Accepted new action goal + 29.95sINFOros2_control_node[2026-06-03 23:22:55.873] [info] Received new action goal + 29.95sINFOros2_control_node[2026-06-03 23:22:55.873] [info] Accepted new action goal + 31.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 31.73sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 31.73sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 33.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 33.69sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 33.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 34.13sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.13sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.45sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 34.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 34.55sINFOobjective_server_nodePath shortcutter: [X_____________X] + 34.55sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 34.55sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 34.63sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 34.63sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	31.0s	2 errors · 107 info
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.96sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 0.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780529156.19917393 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780529156.82486558 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.74sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.71sINFOobjective_server_nodeFound path in 7 iterations (0.00672067 s). + 2.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.78sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Received new action goal + 2.78sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Accepted new action goal + 11.29sINFOobjective_server_node[0;m[0;93m2026-06-03 23:26:06.524912288 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.29sINFOobjective_server_node[0;93m2026-06-03 23:26:06.524946089 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.76sINFOobjective_server_node[0;93m2026-06-03 23:26:07.000157945 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.76sINFOobjective_server_node[0;93m2026-06-03 23:26:07.000186635 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.86sINFOobjective_server_node[0;93m2026-06-03 23:26:07.103524651 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.87sINFOobjective_server_node[0;93m2026-06-03 23:26:07.105272104 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.87sINFOobjective_server_node[0;93m2026-06-03 23:26:07.105287485 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.14sINFOobjective_server_node[0;93m2026-06-03 23:26:07.378914297 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.16sINFOobjective_server_node[0;93m2026-06-03 23:26:07.394671038 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which 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 23:26:07.394705909 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.32sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization" + 13.32sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization"[0m + 13.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 17.71sINFOobjective_server_nodeFound path in 4 iterations (0.00321847 s). + 17.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 17.77sINFOobjective_server_nodeFound path in 12 iterations (0.00454942 s). + 17.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 17.84sINFOobjective_server_nodeFound path in 2 iterations (0.00263972 s). + 17.85sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 17.85sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 17.87sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 17.88sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 17.90sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 17.92sINFOobjective_server_nodeFound path in 14 iterations (0.00624735 s). + 17.94sINFOobjective_server_nodePath shortcutter: [X___________________________X_____________X_______________X] + 17.95sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 17.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 18.00sINFOobjective_server_nodeFound path in 12 iterations (0.00380606 s). + 18.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 18.04sINFOobjective_server_nodeFound path in 1 iterations (0.00291974 s). + 18.08sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 18.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 18.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 18.13sINFOobjective_server_nodeFound path in 4 iterations (0.003632 s). + 18.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 18.21sINFOobjective_server_nodeFound path in 4 iterations (0.00215399 s). + 18.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 18.28sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 18.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 18.34sINFOobjective_server_nodeFound path in 1 iterations (0.00357883 s). + 18.38sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 18.39sINFOobjective_server_nodeFound path in 1 iterations (0.00198059 s). + 18.45sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 18.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 18.50sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 18.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 18.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 18.61sINFOros2_control_node[2026-06-03 23:26:13.848] [info] Received new action goal + 18.61sINFOros2_control_node[2026-06-03 23:26:13.848] [info] Accepted new action goal + 23.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 4:10.003 of wall time (158/77155). Below 1% is expected on a non-realtime system.[0m + 23.61sINFOros2_control_node[2026-06-03 23:26:18.850] [info] Received new action goal + 23.61sINFOros2_control_node[2026-06-03 23:26:18.850] [info] Accepted new action goal + 25.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 25.28sINFOros2_control_node[2026-06-03 23:26:20.522] [info] Received new action goal + 25.28sINFOros2_control_node[2026-06-03 23:26:20.522] [info] Accepted new action goal + 26.50sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 26.54sINFOros2_control_node[2026-06-03 23:26:21.779] [info] Received new action goal + 26.54sINFOros2_control_node[2026-06-03 23:26:21.779] [info] Accepted new action goal + 31.97sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780529187.20523190 seconds ×2 + 32.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780529187.95690703 seconds. ×2 + 32.93sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 32.93sINFOobjective_server_nodePath shortcutter: [X______X] + 32.93sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Received new action goal + 32.93sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Accepted new action goal + 32.98sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 32.98sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 32.98sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 32.98sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 32.98sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 32.98sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[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	24.9s	6 errors · 8641 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780529091.94668293 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780529092.54671335 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.05sINFOobjective_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 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.11sINFOobjective_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 + 4.60sINFOjoint_trajectory_controllerReceived new action goal ×2147 + 4.60sINFOjoint_trajectory_controllerAccepted new action goal ×2147 + 4.60sINFOros2_control_nodeReceived new action goal[0m ×2147 + 4.60sINFOros2_control_nodeAccepted new action goal[0m ×2147 + 9.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.21sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 9.21sINFOros2_control_nodeGoal reached, success![0m ×3 + 9.66sERRORobjective_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. ×6 + 24.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780529116.86530948 seconds ×2 + 25.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780529117.43937850 seconds. ×2 + 25.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 25.64sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 25.64sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 25.67sINFOros2_control_node[2026-06-03 23:25:17.619] [info] Received new action goal + 25.67sINFOros2_control_node[2026-06-03 23:25:17.619] [info] Accepted new action goal + 26.65sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 3:10.003 of wall time (103/58693). Below 1% is expected on a non-realtime system.[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	24.6s	6 errors · 9213 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2189 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2187 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2189 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2187 + 2.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×213 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×213 + 2.99sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780529116.86530948 seconds ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780529117.43937850 seconds. ×2 + 3.64sINFOobjective_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 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 3.76sINFOros2_control_node[2026-06-03 23:25:17.619] [info] Received new action goal + 3.76sINFOros2_control_node[2026-06-03 23:25:17.619] [info] Accepted new action goal + 4.74sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 3:10.003 of wall time (103/58693). Below 1% is expected on a non-realtime system.[0m + 7.54sINFOobjective_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 + 7.55sINFOobjective_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 + 16.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780529123.678356) that ends in the past (1780529129.868356) + 16.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780529123.678356) that ends in the past (1780529129.868356)[0m + 17.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780529123.678356) that ends in the past (1780529131.078356) + 17.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780529123.678356) that ends in the past (1780529131.078356)[0m + 27.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780529141.42022943 seconds ×2 + 28.14sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780529141.99923563 seconds. ×2 + 28.30sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 28.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.32sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Received new action goal + 28.32sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Accepted new action goal + 28.50sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.50sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	14.8s	2 errors · 1198 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×261 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×261 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×261 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×261 + 0.11sINFOjoint_trajectory_controllerGoal reached, success! ×56 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×56 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780529141.42022943 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780529141.99923563 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.78sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Accepted new action goal + 3.96sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.96sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.06sINFOros2_control_node[2026-06-03 23:25:47.459] [info] Received new action goal + 9.06sINFOros2_control_node[2026-06-03 23:25:47.459] [info] Accepted new action goal + 10.96sINFOros2_control_node[2026-06-03 23:25:49.361] [info] Received new action goal + 10.96sINFOros2_control_node[2026-06-03 23:25:49.361] [info] Accepted new action goal + 16.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 16.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 17.80sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 17.80sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780529156.19917393 seconds ×2 + 18.42sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780529156.82486558 seconds. ×2 + 18.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 18.43sINFOros2_control_nodeReceived & accepted new action goal[0m + 18.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 18.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 19.54sINFOobjective_server_nodeFound path in 7 iterations (0.00672067 s). + 19.60sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 19.62sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Received new action goal + 19.62sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Accepted new action goal
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.0s	23 errors · 2 warnings · 140 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780529248.27346563 seconds ×2 + 5.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.82sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.55sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.55sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.55sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.55sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.55sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.55sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.56sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.57sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.57sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.58sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.59sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.59sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.60sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.61sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.61sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.62sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.64sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.65sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.66sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.66sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.66sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.66sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.66sERRORui_teleop_bridgeTraceback (most recent call last): + 11.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.66sINFOcontroller_managerShutdown request received.... + 11.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.66sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 11.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.66sINFOui_teleop_bridgerclpy.shutdown() + 11.66sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.66sINFOui_teleop_bridge_shutdown(context=context) + 11.66sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.66sINFOui_teleop_bridgereturn context.shutdown() + 11.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.66sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.66sINFOui_teleop_bridgeself.__context.shutdown() + 11.66sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.66sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.66sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.66sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.67sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.67sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.67sINFOcontroller_managerShutting down the controller manager. + 11.67sINFOros2_control_nodeShutdown request received....[0m + 11.67sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.67sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.67sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.67sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.67sINFOros2_control_nodeShutting down the controller manager.[0m + 11.74sINFOobjective_server_node[0;m[2026-06-03 23:27:34.550] [moveit_pro_license] [info] + 11.74sINFOobjective_server_node************************************************* ×2 + 11.74sINFOobjective_server_node* MoveIt Pro License + 11.74sINFOobjective_server_node* Application has successfully terminated + 11.79sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10430] + 11.79sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.80sINFOweb_video_server-20process has finished cleanly [pid 10474] + 11.82sERRORui_teleop_bridge-17process has died [pid 10426, 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_u63tnf84']. + 11.82sINFOobjective_server_nodecorrupted double-linked list + 11.82sERRORobjective_server_nodeStack trace (most recent call last) in thread 10809: + 11.83sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10416] + 11.83sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10418] + 11.83sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.84sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f187a83, in __clone + 11.84sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f0f6ac2, in + 11.84sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f48f988921b, in + 11.84sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f48f983d674, in + 11.84sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f48f982c339, in + 11.84sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f48f981cede, in + 11.84sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f107452, in free + 11.84sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f104e9f, in + 11.84sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f103968, in + 11.84sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f1037cb, in + 11.84sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f102cfb, in + 11.84sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f0eb676, in + 11.84sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f08a7f2, in abort + 11.84sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f0a4475, in raise + 11.84sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491f0f89fc, in pthread_kill + 11.84sERRORobjective_server_nodeAborted (Signal sent by tkill() 10420 0) + 11.84sINFOexecute_objective_bridge-16process has finished cleanly [pid 10424] + 11.85sINFOwaypoint_manager_node-11process has finished cleanly [pid 10414] + 11.87sINFOfoxglove_bridgeShutdown complete[0m + 12.33sERRORobjective_server_node_main-14process has died [pid 10420, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_3ieldwmn --params-file /tmp/launch_params_6gg8kucu --params-file /tmp/launch_params_7c27n03o --params-file /tmp/launch_params_7kw8s9_6 --params-file /tmp/launch_params_q223oz40 --params-file /tmp/launch_params_30dmlu9_']. + 12.33sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.70sINFOparameter_manager_node-10process has finished cleanly [pid 10367] + 12.82sINFOcomponent_container_mt-15process has finished cleanly [pid 10422] + 12.97sINFOmove_group-9process has finished cleanly [pid 10364] + 13.29sINFOros2_control_node-1process has finished cleanly [pid 10344] + 13.69sINFOfoxglove_bridge-18process has finished cleanly [pid 10428] + 13.69sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	2 errors · 71 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (8.34e-06 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00211441 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.21sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Accepted new action goal + 0.65sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Received new action goal + 0.65sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Accepted new action goal + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.41sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Accepted new action goal + 2.52sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Got request to cancel active goal. + 2.52sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780529012.82300663 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 3.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780529013.47040486 seconds. ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.35sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Received new action goal + 3.35sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Accepted new action goal + 3.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.72sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Received new action goal + 5.72sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Accepted new action goal + 14.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780529024.58346701 seconds ×2 + 14.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 14.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.89sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 15.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 15.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 15.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.56sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 15.56sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 17.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 18.12sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 18.24sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 18.25sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 18.25sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.1s	2 errors · 70 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Accepted new action goal + 8.86sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 8.87sINFOros2_control_node[2026-06-03 23:23:06.133] [info] Received new action goal + 8.87sINFOros2_control_node[2026-06-03 23:23:06.133] [info] Accepted new action goal + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 11.21sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 11.21sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 13.52sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 13.53sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 13.53sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 13.65sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 13.65sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 13.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 14.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 14.35sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 14.35sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 14.35sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 14.35sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 15.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 15.43sINFOobjective_server_nodePath shortcutter: [X______X] + 15.43sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 15.43sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.1s	4 errors · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780529209.42222476 seconds ×2 + 13.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780529209.97533917 seconds. ×2 + 13.80sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 13.80sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.82sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Received new action goal + 13.82sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Accepted new action goal + 13.97sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.97sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 1.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 1.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 2.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 2.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 2.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.64sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 2.64sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 4.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 5.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.14sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 5.14sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.86sINFOros2_control_node[2026-06-03 23:22:22.706] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-03 23:22:22.706] [info] Accepted new action goal + 12.15sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 12.16sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.16sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 12.16sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 12.96sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 12.96sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 13.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 13.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 13.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 14.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 14.48sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.48sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.42sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 15.42sINFOobjective_server_nodePath shortcutter: [X______X] + 15.43sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 15.43sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
✓ 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: 1780529219.81241155 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: 1780529220.37351155 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Accepted new action goal + 2.57sINFOobjective_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: 1780529230.82369852 seconds ×2 + 11.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780529231.38209128 seconds. ×2 + 11.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 11.70sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.70sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 12.24sINFOobjective_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 + 12.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 12.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 12.95sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 12.95sINFOobjective_server_nodePath shortcutter: [X___X] + 12.96sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 12.96sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	2 errors · 72 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780529187.20523190 seconds ×2 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780529187.95690703 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.02sINFOobjective_server_nodePath shortcutter: [X______X] + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Received new action goal + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Accepted new action goal + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 5.59sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.59sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 6.09sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.09sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 7.56sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.56sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 7.57sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 7.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.60sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 7.60sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 7.61sINFOobjective_server_nodeFound path in 1 iterations (0.00216935 s). + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.70sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.72sINFOros2_control_node[2026-06-03 23:26:33.862] [info] Received new action goal + 7.72sINFOros2_control_node[2026-06-03 23:26:33.862] [info] Accepted new action goal + 10.24sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Received new action goal + 10.24sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 12.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 12.05sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 12.05sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 12.17sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 12.17sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 12.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 12.78sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 12.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.95sINFOobjective_server_nodePath shortcutter: [X________X] + 12.96sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 12.96sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 13.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 108 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.51sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.67sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.93sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.93sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.96sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 2.02sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 2.02sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 2.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 2.04sINFOobjective_server_nodeFound path in 1 iterations (0.00203142 s). + 2.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.13sINFOobjective_server_nodeFound path in 1 iterations (0.00361638 s). + 2.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780529001.86272335 seconds ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780529002.43916512 seconds. ×2 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 2.96sINFOobjective_server_nodePath shortcutter: [X______X] + 2.97sINFOros2_control_node[2026-06-03 23:23:22.635] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 23:23:22.635] [info] Accepted new action goal + 3.04sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.56sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 5.56sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m + 6.07sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.07sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.52sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 7.52sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 7.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 7.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 7.63sINFOobjective_server_nodeFound path in 1 iterations (0.0017439 s). + 7.71sINFOobjective_server_nodeFound path in 1 iterations (0.00297985 s). + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 7.85sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 7.89sINFOros2_control_node[2026-06-03 23:23:27.547] [info] Received new action goal + 7.89sINFOros2_control_node[2026-06-03 23:23:27.547] [info] Accepted new action goal + 10.63sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 10.63sINFOobjective_server_nodePath shortcutter: [X_X] + 10.63sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 10.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (8.34e-06 s). + 10.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.69sINFOobjective_server_nodeFound path in 1 iterations (0.00211441 s). + 10.77sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.83sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Received new action goal + 10.83sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Accepted new action goal + 11.28sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Received new action goal + 11.28sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Accepted new action goal + 13.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 13.04sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Received new action goal + 13.04sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Accepted new action goal + 13.15sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Got request to cancel active goal. + 13.15sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Canceling active goal... + 13.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780529012.82300663 seconds ×2 + 13.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780529013.47040486 seconds. ×2 + 13.98sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Received new action goal + 13.98sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Accepted new action goal + 14.15sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.15sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.15sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 16.35sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Received new action goal + 16.35sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	4 errors · 75 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal + 10.22sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.12% of iterations over budget over 1:10.003 of wall time (26/21682). Below 1% is expected on a non-realtime system.[0m + 11.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures" + 11.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures"[0m + 11.78sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.78sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 13.20sINFOobjective_server_nodePath shortcutter: [X__________X] + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 13.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 13.27sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 13.30sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 13.30sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 13.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 13.32sINFOobjective_server_nodeFound path in 1 iterations (0.00203142 s). + 13.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 13.41sINFOobjective_server_nodeFound path in 1 iterations (0.00361638 s). + 13.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 13.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780529001.86272335 seconds ×2 + 14.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780529002.43916512 seconds. ×2 + 14.25sINFOros2_control_node[2026-06-03 23:23:22.635] [info] Received new action goal + 14.25sINFOros2_control_node[2026-06-03 23:23:22.635] [info] Accepted new action goal + 14.32sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.32sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.32sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.32sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 16.84sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 16.84sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m + 17.34sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.35sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	Push Button	move_with_velocity_and_force.xml	10.8s	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 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-03 23:24:39.970] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-03 23:24:39.970] [info] Accepted new action goal + 2.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780529081.12237287 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780529081.81654024 seconds. ×2 + 2.94sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.94sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.14sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.15sINFOros2_control_node[2026-06-03 23:24:43.030] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-03 23:24:43.030] [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 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 9.39sINFOobjective_server_nodePath shortcutter: [X________________________X] + 9.41sINFOros2_control_node[2026-06-03 23:24:48.290] [info] Received new action goal + 9.41sINFOros2_control_node[2026-06-03 23:24:48.290] [info] Accepted new action goal + 13.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780529091.94668293 seconds ×2 + 13.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780529092.54671335 seconds. ×2 + 13.83sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 13.83sINFOobjective_server_nodePath shortcutter: [X___X] + 13.84sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Received new action goal + 13.84sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Accepted new action goal + 14.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 15.11sINFOobjective_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 + 15.12sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	4 errors · 2 warnings · 73 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780529230.82369852 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Accepted new action goal + 5.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.25sINFOros2_control_node[2026-06-03 23:27:16.077] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-03 23:27:16.077] [info] Accepted new action goal + 5.26sINFOros2_control_node[2026-06-03 23:27:16.077] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 7.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 5:10.006 of wall time (174/95652). Below 1% is expected on a non-realtime system.[0m + 11.99sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 11.99sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 11.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 12.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 12.78sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.78sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 13.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 14.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 14.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 14.29sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.29sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.29sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.29sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 14.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 14.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 14.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 14.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	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: 1780529209.42222476 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780529209.97533917 seconds. ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Accepted new action goal + 0.94sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.94sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.79sINFOros2_control_node[2026-06-03 23:26:54.216] [info] Received new action goal + 4.80sINFOros2_control_node[2026-06-03 23:26:54.216] [info] Accepted new action goal + 10.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780529219.81241155 seconds ×2 + 10.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780529220.37351155 seconds. ×2 + 11.01sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.01sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 11.05sINFOobjective_server_nodePath shortcutter: [X________X] + 11.06sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Received new action goal + 11.06sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Accepted new action goal + 12.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.3s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 7.76sINFOobjective_server_node[0;93m2026-06-03 23:23:52.889395870 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 7.76sINFOobjective_server_node[0;93m2026-06-03 23:23:52.889423180 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.29sINFOobjective_server_node[0;93m2026-06-03 23:23:53.417928262 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.29sINFOobjective_server_node[0;93m2026-06-03 23:23:53.417961772 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.41sINFOobjective_server_node[0;93m2026-06-03 23:23:53.533665877 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.41sINFOobjective_server_node[0;93m2026-06-03 23:23:53.535975674 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.41sINFOobjective_server_node[0;93m2026-06-03 23:23:53.536008085 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.67sINFOobjective_server_node[0;93m2026-06-03 23:23:53.797085672 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.69sINFOobjective_server_node[0;93m2026-06-03 23:23:53.810733141 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.69sINFOobjective_server_node[0;93m2026-06-03 23:23:53.810775552 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.01sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780529035.13236284 seconds ×2 + 10.33sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 10.33sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 10.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 10.83sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.83sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.83sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.83sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.23sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.23sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.71sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.71sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.81sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.81sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.81sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.08sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.10sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.10sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 13.34sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 13.34sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 13.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 13.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.62sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.85sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.85sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 23:23:52.889395870 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which 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 23:23:52.889423180 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.53sINFOobjective_server_node[0;93m2026-06-03 23:23:53.417928262 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.53sINFOobjective_server_node[0;93m2026-06-03 23:23:53.417961772 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.64sINFOobjective_server_node[0;93m2026-06-03 23:23:53.533665877 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 23:23:53.535975674 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 23:23:53.536008085 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.91sINFOobjective_server_node[0;93m2026-06-03 23:23:53.797085672 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.92sINFOobjective_server_node[0;93m2026-06-03 23:23:53.810733141 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.92sINFOobjective_server_node[0;93m2026-06-03 23:23:53.810775552 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.24sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780529035.13236284 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.56sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.56sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 3.07sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.07sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.07sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.07sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.46sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.46sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.95sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.95sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.04sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.04sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.04sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [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 23:23:57.209589655 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.33sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.33sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.22sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 5.58sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.58sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 5.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.08sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.08sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.88sINFOobjective_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 + 6.89sINFOobjective_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 + 7.09sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 7.09sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 7.16sINFOobjective_server_nodePath shortcutter: [X____________X] + 7.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 7.20sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 7.20sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780529024.58346701 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 0.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 1.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.25sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.82sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal + 4.33sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.33sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Close Gripper	close_gripper.xml	1.6s	12 warnings · 251 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.03sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.03sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.04sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 0.04sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 0.19sINFOobjective_server_node[2026-06-03 23:22:08.530] [moveit_pro_license] [info] + 0.19sINFOobjective_server_node************************************************* ×2 + 0.19sINFOobjective_server_node* MoveIt Pro License + 0.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 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 + 0.25sWARNros2_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 + 0.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.38sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.38sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.38sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.38sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.38sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.38sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.38sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.44sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.44sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.44sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.44sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.46sINFOobjective_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. + 0.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.47sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.47sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.55sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.55sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.55sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.55sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.55sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.56sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.56sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap" + 0.56sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.56sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers" + 0.57sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m + 0.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.57sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info" + 0.57sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m + 0.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points" + 0.57sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 0.58sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state" + 0.58sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory" + 0.58sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state" + 0.58sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 0.58sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench" + 0.59sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector" + 0.59sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states" + 0.59sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 0.59sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents" + 0.59sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status" + 0.59sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points" + 0.59sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info" + 0.59sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth" + 0.59sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth"[0m + 0.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10350] + 0.72sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.72sINFOros2_control_node[2026-06-03 23:22:09.056] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.72sINFOros2_control_node[2026-06-03 23:22:09.056] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.79sINFOros2_control_node[2026-06-03 23:22:09.128] [info] First order lag filter time constant set to: 0.2 seconds + 0.79sINFOros2_control_node[2026-06-03 23:22:09.128] [info] Controller state will be published at 50 Hz. + 0.80sINFOros2_control_node[2026-06-03 23:22:09.132] [info] Registered `FollowJointTrajectory` action server. + 0.80sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.80sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.80sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.80sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.80sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.80sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.83sINFOros2_control_node[2026-06-03 23:22:09.164] [info] Controller state will be published at 20 Hz. + 0.83sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.83sINFOros2_control_node[2026-06-03 23:22:09.165] [info] JointVelocityController 'on_configure' succeeded. + 0.83sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.86sINFOros2_control_node[2026-06-03 23:22:09.196] [info] Controller state will be published at 10 Hz. + 0.86sINFOros2_control_node[2026-06-03 23:22:09.197] [info] VelocityForceController 'on_configure' succeeded. + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.87sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOobjective_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. + 0.89sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10354] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10361] + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10358] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10348] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10346] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10352] + 1.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 1.27sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 1.27sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 1.27sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.27sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 1.27sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 1.27sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 1.28sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 1.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.43sINFOmove_group ×2 + 1.43sINFOmove_group[92mYou can start planning now![0m + 1.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 2.38sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.38sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 2.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.89sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 5.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 6.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 7.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 7.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 8.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 8.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 8.14sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.15sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 8.15sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	2 errors · 2 warnings · 40 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780529248.27346563 seconds ×2
✓ passed	Open Gripper	open_gripper.xml	1.6s	1 warning · 94 info
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 0.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×2 + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 6.80sINFOobjective_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 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Accepted new action goal
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [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: 1780529024.58346701 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 0.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 1.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.25sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.82sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal + 4.33sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.33sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[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: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Accepted new action goal
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 41 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780529248.27346563 seconds ×2 + 5.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.82sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.5s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780529248.27346563 seconds ×2 + 5.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.82sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.55sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.1s	22 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780529187.20523190 seconds ×2 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780529187.95690703 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.02sINFOobjective_server_nodePath shortcutter: [X______X] + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Received new action goal + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Accepted new action goal + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.1s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [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: 1780529091.94668293 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780529092.54671335 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 23:24:52.720] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.05sINFOobjective_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 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.11sINFOobjective_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	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:22:26.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-03 23:22:26.810] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780528946.84888864 seconds ×2 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780528947.44905567 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780528947.57923412 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780528948.14302778 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.35sINFOobjective_server_nodePath shortcutter: [X______X] + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Received new action goal + 3.36sINFOros2_control_node[2026-06-03 23:22:29.276] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 23:22:57.646] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780528979.03318810 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780528979.61160159 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780528979.70172238 seconds ×2 + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.79sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780528980.37169337 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-03 23:23:00.475] [info] Accepted new action goal + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Received new action goal + 6.55sINFOros2_control_node[2026-06-03 23:23:03.814] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 23:23:08.473] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:10.793] [info] Accepted new action goal + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Got request to cancel active goal. + 2.53sINFOros2_control_node[2026-06-03 23:23:10.912] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780528990.92577410 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780528991.51471043 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Received new action goal + 4.32sINFOros2_control_node[2026-06-03 23:23:12.697] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 38 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (8.34e-06 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00211441 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.21sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-03 23:23:30.495] [info] Accepted new action goal + 0.65sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Received new action goal + 0.65sINFOros2_control_node[2026-06-03 23:23:30.936] [info] Accepted new action goal + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.41sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-03 23:23:32.702] [info] Accepted new action goal + 2.52sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Got request to cancel active goal. + 2.52sINFOros2_control_node[2026-06-03 23:23:32.809] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780529012.82300663 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780529013.47040486 seconds. ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.35sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Received new action goal + 3.35sINFOros2_control_node[2026-06-03 23:23:33.643] [info] Accepted new action goal + 3.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.72sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Received new action goal + 5.72sINFOros2_control_node[2026-06-03 23:23:36.013] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	33 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780529024.58346701 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 0.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 1.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.25sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 1.27sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.82sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780529025.12530446 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 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: 1780529025.12530446 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780529025.18542171 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780529025.73052239 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 23:23:45.848] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780529027.85063863 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780529028.40753412 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-03 23:23:48.540] [info] Accepted new action goal + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.79sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.34sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780529035.79150009 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353693975 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.90sINFOobjective_server_node[0;93m2026-06-03 23:23:56.353722476 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835041178 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.38sINFOobjective_server_node[0;93m2026-06-03 23:23:56.835076149 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.931227300 [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 + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933181429 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-03 23:23:56.933200729 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-03 23:23:57.209589655 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221185002 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.77sINFOobjective_server_node[0;93m2026-06-03 23:23:57.221211723 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780529038.10887480 seconds ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780529038.74217391 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.60sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Received new action goal + 4.64sINFOros2_control_node[2026-06-03 23:24:00.087] [info] Accepted new action goal
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	1170 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×261 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×261 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×261 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×261 + 0.11sINFOjoint_trajectory_controllerGoal reached, success! ×56 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×56 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780529141.42022943 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780529141.99923563 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.78sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-03 23:25:42.183] [info] Accepted new action goal + 3.96sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.96sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	2 errors · 20 info
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.96sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 0.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780529156.19917393 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780529156.82486558 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.74sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.71sINFOobjective_server_nodeFound path in 7 iterations (0.00672067 s). + 2.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.78sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Received new action goal + 2.78sINFOros2_control_node[2026-06-03 23:25:58.019] [info] Accepted new action goal
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	22 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780529187.20523190 seconds ×2 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780529187.95690703 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.02sINFOobjective_server_nodePath shortcutter: [X______X] + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Received new action goal + 2.02sINFOros2_control_node[2026-06-03 23:26:28.170] [info] Accepted new action goal + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.07sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.07sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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 23:26:36.384] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 23:26:36.384] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-03 23:26:38.200] [info] Accepted new action goal + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Got request to cancel active goal. + 1.93sINFOros2_control_node[2026-06-03 23:26:38.317] [info] Canceling active goal... + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780529198.32101464 seconds ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780529198.93197966 seconds. ×2 + 2.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.71sINFOobjective_server_nodePath shortcutter: [X________X] + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Received new action goal + 2.73sINFOros2_control_node[2026-06-03 23:26:39.110] [info] Accepted new action goal + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.90sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.63sINFOobjective_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: 1780529209.42222476 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780529209.97533917 seconds. ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 23:26:50.203] [info] Accepted new action goal + 0.94sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.94sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780529219.81241155 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: 1780529220.37351155 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 23:27:00.476] [info] Accepted new action goal + 2.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [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: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [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: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Accepted new action goal
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [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: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [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: 1780529230.82369852 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 `Reset MuJoCo Robot` starting at time: 1780529231.38209128 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 `Reset MuJoCo Robot` succeeded at time: 1780529231.45221829 seconds ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780529232.00766134 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780529232.05004811 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780529232.65397358 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 23:27:12.767] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 23:27:22.814] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780529242.81843996 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780529243.36435509 seconds. ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780529244.45903277 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780529245.02014327 seconds. ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780529245.02286029 seconds ×2 + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.30sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.30sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780529245.57564735 seconds. ×2 + 2.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780529245.57613921 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780529246.22230530 seconds. ×2

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

7 skip

− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [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: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [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: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [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: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [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: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	6.0s	14 warnings · 336 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/2026-06-03-23-22-04-708604-ad9776b959d9-10314 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.26sINFOros2_control_node-1process started with pid [10344] + 1.26sINFOmove_group-9process started with pid [10364] + 1.26sINFOparameter_manager_node-10process started with pid [10367] + 1.26sINFOwaypoint_manager_node-11process started with pid [10414] + 1.26sINFOmove_joint_resampler_node-12process started with pid [10416] + 1.26sINFOmove_end_effector_resampler_node-13process started with pid [10418] + 1.26sINFOobjective_server_node_main-14process started with pid [10420] + 1.26sINFOcomponent_container_mt-15process started with pid [10422] + 1.26sINFOexecute_objective_bridge-16process started with pid [10424] + 1.26sINFOui_teleop_bridge-17process started with pid [10426] + 1.26sINFOfoxglove_bridge-18process started with pid [10428] + 1.26sINFOtf2_web_republisher_node-19process started with pid [10430] + 1.26sINFOweb_video_server-20process started with pid [10474] + 1.26sINFOparameter_manager_nodeStarted parameter manager node. + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10346] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10348] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10350] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10352] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10354] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10358] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10361] + 1.28sWARNros2_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 + 1.28sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.44sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.45sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.45sINFOfoxglove_bridgeServer listening on port 3201 + 1.45sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.47sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" + 1.48sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" + 1.49sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" + 1.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" + 1.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 1.77sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.77sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.78sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 1.82sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/goal" + 1.82sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 1.82sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 1.82sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.21sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world" + 2.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene" + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.14sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.14sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 3.14sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 3.30sINFOobjective_server_node[2026-06-03 23:22:08.530] [moveit_pro_license] [info] + 3.30sINFOobjective_server_node************************************************* ×2 + 3.30sINFOobjective_server_node* MoveIt Pro License + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.35sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.36sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.36sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.36sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.36sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.48sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.48sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.55sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.55sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.55sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.55sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.55sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.55sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.56sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.66sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.66sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.66sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.66sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap" + 3.67sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers" + 3.68sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m + 3.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.68sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info" + 3.68sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m + 3.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points" + 3.68sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points"[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.68sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state" + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory" + 3.69sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state" + 3.69sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.69sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench" + 3.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector" + 3.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states" + 3.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 3.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents" + 3.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status" + 3.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points" + 3.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info" + 3.70sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth"[0m + 3.75sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10350] + 3.83sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.83sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.83sINFOros2_control_node[2026-06-03 23:22:09.056] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.83sINFOros2_control_node[2026-06-03 23:22:09.056] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.90sINFOros2_control_node[2026-06-03 23:22:09.128] [info] First order lag filter time constant set to: 0.2 seconds + 3.90sINFOros2_control_node[2026-06-03 23:22:09.128] [info] Controller state will be published at 50 Hz. + 3.90sINFOros2_control_node[2026-06-03 23:22:09.132] [info] Registered `FollowJointTrajectory` action server. + 3.90sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.90sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.91sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.91sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.93sINFOros2_control_node[2026-06-03 23:22:09.164] [info] Controller state will be published at 20 Hz. + 3.94sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.94sINFOros2_control_node[2026-06-03 23:22:09.165] [info] JointVelocityController 'on_configure' succeeded. + 3.94sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.97sINFOros2_control_node[2026-06-03 23:22:09.196] [info] Controller state will be published at 10 Hz. + 3.97sINFOros2_control_node[2026-06-03 23:22:09.197] [info] VelocityForceController 'on_configure' succeeded. + 3.97sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.98sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.00sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 4.00sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10354] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10361] + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10358] + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10348] + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10346] + 4.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10352] + 4.36sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 4.38sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 4.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 4.38sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 4.38sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 4.38sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.38sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.38sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 4.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 4.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 4.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.41sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.53sINFOmove_group ×2 + 4.53sINFOmove_group[92mYou can start planning now![0m + 4.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 5.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 5.48sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.48sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 5.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 7.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 8.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 9.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 9.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 4.13sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 6.33sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.72sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 2.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 5.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 7.44sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m
− skipped	—	addtovector.xml	0.0s	13 warnings · 226 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/2026-06-03-23-22-04-708604-ad9776b959d9-10314 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.26sINFOros2_control_node-1process started with pid [10344] + 1.26sINFOmove_group-9process started with pid [10364] + 1.26sINFOparameter_manager_node-10process started with pid [10367] + 1.26sINFOwaypoint_manager_node-11process started with pid [10414] + 1.26sINFOmove_joint_resampler_node-12process started with pid [10416] + 1.26sINFOmove_end_effector_resampler_node-13process started with pid [10418] + 1.26sINFOobjective_server_node_main-14process started with pid [10420] + 1.26sINFOcomponent_container_mt-15process started with pid [10422] + 1.26sINFOexecute_objective_bridge-16process started with pid [10424] + 1.26sINFOui_teleop_bridge-17process started with pid [10426] + 1.26sINFOfoxglove_bridge-18process started with pid [10428] + 1.26sINFOtf2_web_republisher_node-19process started with pid [10430] + 1.26sINFOweb_video_server-20process started with pid [10474] + 1.26sINFOparameter_manager_nodeStarted parameter manager node. + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10346] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10348] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10350] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10352] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10354] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10358] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10361] + 1.28sWARNros2_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 + 1.28sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.44sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.45sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.45sINFOfoxglove_bridgeServer listening on port 3201 + 1.45sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.47sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" + 1.48sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" + 1.49sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" + 1.49sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" + 1.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 1.77sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.77sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.78sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 1.82sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/goal" + 1.82sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 1.82sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 1.82sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.21sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world" + 2.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene" + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.14sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.14sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 3.14sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 3.30sINFOobjective_server_node[2026-06-03 23:22:08.530] [moveit_pro_license] [info] + 3.30sINFOobjective_server_node************************************************* ×2 + 3.30sINFOobjective_server_node* MoveIt Pro License + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.35sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.36sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.36sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.36sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.36sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.48sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.48sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.55sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.55sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.55sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.55sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.55sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.55sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.56sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.66sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.66sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.66sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.66sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap" + 3.67sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers" + 3.68sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m + 3.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.68sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info" + 3.68sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m + 3.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points" + 3.68sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points"[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.68sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state" + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory" + 3.69sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state" + 3.69sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.69sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench" + 3.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector" + 3.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states" + 3.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 3.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents" + 3.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status" + 3.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points" + 3.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info" + 3.70sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth"[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 warning · 94 info
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 0.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×2 + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 6.80sINFOobjective_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 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	1 warning · 94 info
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 0.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×2 + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 6.80sINFOobjective_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 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 warning · 94 info
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 0.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m + 0.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/velocity_force_controller/controller_state"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×2 + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780528930.60622311 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780528930.61638570 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.64sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 6.80sINFOobjective_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 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	51 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780528931.15608597 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 2.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 5.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780528932.26621938 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 4.13sINFOobjective_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 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 6.33sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). 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: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780528932.83144426 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780528933.84908676 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780528934.39642787 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780528934.41655946 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780528934.96191192 seconds. ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780528935.11370587 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780528935.75236487 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. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780528935.82250094 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780528936.37966251 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.0851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-03 23:22:16.485] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.03% of iterations over budget over 0:10.002 of wall time (1/3152). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Received new action goal + 6.15sINFOros2_control_node[2026-06-03 23:22:18.983] [info] Accepted new action goal