MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

10.3s

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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 7.70sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 7.71sINFOros2_control_node[2026-06-04 02:35:22.161] [info] Received new action goal + 7.71sINFOros2_control_node[2026-06-04 02:35:22.161] [info] Accepted new action goal + 10.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.88sINFOros2_control_node[2026-06-04 02:35:25.331] [info] Received new action goal + 10.88sINFOros2_control_node[2026-06-04 02:35:25.331] [info] Accepted new action goal + 13.85sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 13.85sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.87sINFOros2_control_node[2026-06-04 02:35:28.323] [info] Received new action goal + 13.87sINFOros2_control_node[2026-06-04 02:35:28.323] [info] Accepted new action goal + 16.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 21.85sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 2:10.007 of wall time (65/40238). Below 1% is expected on a non-realtime system.[0m + 23.59sINFOobjective_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 + 24.57sINFOros2_control_node[2026-06-04 02:35:39.021] [info] Received new action goal + 24.57sINFOros2_control_node[2026-06-04 02:35:39.021] [info] Accepted new action goal + 25.74sINFOobjective_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 + 25.75sINFOobjective_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 + 26.03sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 26.03sINFOobjective_server_nodePath shortcutter: [X___________X] + 26.07sINFOros2_control_node[2026-06-04 02:35:40.518] [info] Received new action goal + 26.07sINFOros2_control_node[2026-06-04 02:35:40.518] [info] Accepted new action goal + 28.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 28.20sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.20sINFOros2_control_node[2026-06-04 02:35:42.654] [info] Received new action goal + 28.20sINFOros2_control_node[2026-06-04 02:35:42.654] [info] Accepted new action goal + 31.27sINFOros2_control_node[2026-06-04 02:35:45.722] [info] Received new action goal + 31.27sINFOros2_control_node[2026-06-04 02:35:45.722] [info] Accepted new action goal + 33.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 33.86sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.88sINFOros2_control_node[2026-06-04 02:35:48.335] [info] Received new action goal + 33.88sINFOros2_control_node[2026-06-04 02:35:48.335] [info] Accepted new action goal + 44.75sINFOros2_control_node[2026-06-04 02:35:59.202] [info] Received new action goal + 44.75sINFOros2_control_node[2026-06-04 02:35:59.202] [info] Accepted new action goal + 45.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780540560.35464454 seconds ×2 + 46.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780540561.09314084 seconds. ×2 + 46.90sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.90sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.93sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). + 47.94sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.95sINFOros2_control_node[2026-06-04 02:36:02.396] [info] Received new action goal + 47.95sINFOros2_control_node[2026-06-04 02:36:02.396] [info] Accepted new action goal
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	34.6s	18 errors · 6165 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1417 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1417 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1408 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1408 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×234 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×234 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780540628.08193016 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780540628.65901756 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.77sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Accepted new action goal + 3.84sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.84sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.68sINFOros2_control_node[2026-06-04 02:37:14.728] [info] Received new action goal + 9.68sINFOros2_control_node[2026-06-04 02:37:14.728] [info] Accepted new action goal + 11.56sINFOros2_control_node[2026-06-04 02:37:16.611] [info] Received new action goal + 11.56sINFOros2_control_node[2026-06-04 02:37:16.612] [info] Accepted new action goal + 17.44sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 17.44sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 17.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.63sINFOobjective_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 + 17.94sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.94sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 22.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540647.242838) ×2 + 22.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540647.242838)[0m ×2 + 22.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540647.252838) + 22.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540647.252838)[0m + 25.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540650.792838) + 25.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540650.792838)[0m + 25.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540650.802838) + 25.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540650.802838)[0m + 26.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540651.992838) ×2 + 26.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540651.992838)[0m ×2 + 31.25sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 4:10.010 of wall time (163/77103). Below 1% is expected on a non-realtime system.[0m + 37.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780540662.68412566 seconds ×2 + 37.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838) + 37.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838)[0m + 37.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838) + 37.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838)[0m + 38.25sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780540663.30638051 seconds. ×2 + 38.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 38.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.66sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 38.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 39.38sINFOobjective_server_nodeFound path in 6 iterations (0.00407121 s). + 39.43sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.44sINFOros2_control_node[2026-06-04 02:37:44.495] [info] Received new action goal + 39.44sINFOros2_control_node[2026-06-04 02:37:44.495] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	33.8s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal + 27.56sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 27.56sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 28.06sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 28.06sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 29.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 29.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 29.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 29.58sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 29.58sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 29.65sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 29.66sINFOobjective_server_nodePath shortcutter: [X___________X] + 29.66sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 29.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 29.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 29.73sINFOobjective_server_nodeFound path in 1 iterations (0.00294238 s). + 29.79sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 29.84sINFOros2_control_node[2026-06-04 02:34:13.267] [info] Received new action goal + 29.84sINFOros2_control_node[2026-06-04 02:34:13.267] [info] Accepted new action goal + 32.36sINFOros2_control_node[2026-06-04 02:34:15.789] [info] Received new action goal + 32.36sINFOros2_control_node[2026-06-04 02:34:15.789] [info] Accepted new action goal + 34.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 34.12sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 34.12sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 35.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 36.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 36.14sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.14sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 36.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 36.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 36.91sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 36.92sINFOobjective_server_nodePath shortcutter: [X_____________X] + 36.93sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 36.93sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 37.14sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 37.14sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	31.3s	4 errors · 11311 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780540572.06327987 seconds ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOros2_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: 1780540572.66588116 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Accepted new action goal + 0.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.01sINFOobjective_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 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.07sINFOobjective_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 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×2812 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×2812 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2812 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2812 + 9.07sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.18sINFOjoint_trajectory_controllerGoal reached, success! ×8 + 9.18sINFOros2_control_nodeGoal reached, success![0m ×8 + 16.68sERRORobjective_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. ×4 + 24.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 3:10.009 of wall time (108/58722). Below 1% is expected on a non-realtime system.[0m + 31.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780540603.45240808 seconds ×2 + 31.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780540604.02209973 seconds. ×2 + 32.00sINFOobjective_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 + 32.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 32.09sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 32.09sINFOros2_control_node[2026-06-04 02:36:44.157] [info] Received new action goal + 32.10sINFOros2_control_node[2026-06-04 02:36:44.157] [info] Accepted new action goal
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	30.6s	4 errors · 892 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×189 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×187 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×189 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×187 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×19 + 0.32sINFOros2_control_nodeGoal reached, success![0m ×19 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780540662.68412566 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838)[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838) + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838)[0m + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780540663.30638051 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.77sINFOobjective_server_nodeFound path in 6 iterations (0.00407121 s). + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.83sINFOros2_control_node[2026-06-04 02:37:44.495] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:37:44.495] [info] Accepted new action goal + 14.30sINFOobjective_server_node[0;m[0;93m2026-06-04 02:37:53.964582739 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.30sINFOobjective_server_node[0;93m2026-06-04 02:37:53.964618791 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.78sINFOobjective_server_node[0;93m2026-06-04 02:37:54.441711072 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.78sINFOobjective_server_node[0;93m2026-06-04 02:37:54.441754794 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.89sINFOobjective_server_node[0;93m2026-06-04 02:37:54.550160412 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 14.89sINFOobjective_server_node[0;93m2026-06-04 02:37:54.552644663 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.89sINFOobjective_server_node[0;93m2026-06-04 02:37:54.552665924 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.19sINFOobjective_server_node[0;93m2026-06-04 02:37:54.854360929 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.21sINFOobjective_server_node[0;93m2026-06-04 02:37:54.873041280 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.21sINFOobjective_server_node[0;93m2026-06-04 02:37:54.873074602 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.15sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 16.15sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 16.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 19.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.42sINFOobjective_server_nodeFound path in 4 iterations (0.00310071 s). + 19.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.51sINFOobjective_server_nodeFound path in 12 iterations (0.00321466 s). + 19.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 19.59sINFOobjective_server_nodeFound path in 2 iterations (0.00373676 s). + 19.63sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 19.64sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 19.66sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 19.68sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 19.68sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 19.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 19.72sINFOobjective_server_nodeFound path in 12 iterations (0.00468119 s). + 19.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 19.78sINFOobjective_server_nodeFound path in 1 iterations (0.00421571 s). + 19.81sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 19.84sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 19.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 19.88sINFOobjective_server_nodeFound path in 4 iterations (0.00419438 s). + 19.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 19.96sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 19.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 20.01sINFOobjective_server_nodeFound path in 4 iterations (0.00318781 s). + 20.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 20.11sINFOobjective_server_nodeFound path in 1 iterations (0.00521191 s). + 20.15sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 20.17sINFOobjective_server_nodeFound path in 1 iterations (0.00208074 s). + 20.23sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 20.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.30sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 20.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] + 20.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 20.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.47sINFOros2_control_node[2026-06-04 02:38:00.131] [info] Received new action goal + 20.47sINFOros2_control_node[2026-06-04 02:38:00.131] [info] Accepted new action goal + 25.47sINFOros2_control_node[2026-06-04 02:38:05.133] [info] Received new action goal + 25.47sINFOros2_control_node[2026-06-04 02:38:05.133] [info] Accepted new action goal + 27.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.17sINFOros2_control_node[2026-06-04 02:38:06.837] [info] Received new action goal + 27.17sINFOros2_control_node[2026-06-04 02:38:06.838] [info] Accepted new action goal + 28.37sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.41sINFOros2_control_node[2026-06-04 02:38:08.068] [info] Received new action goal + 28.41sINFOros2_control_node[2026-06-04 02:38:08.068] [info] Accepted new action goal + 33.61sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780540693.27689743 seconds ×2 + 34.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780540694.01406097 seconds. ×2 + 34.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 34.57sINFOobjective_server_nodePath shortcutter: [X______X] + 34.57sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Received new action goal + 34.57sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Accepted new action goal + 34.81sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.81sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.81sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 34.81sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 34.81sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.81sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	24.6s	20 errors · 8232 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1892 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1883 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1892 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1883 + 1.10sINFOjoint_trajectory_controllerGoal reached, success! ×324 + 1.10sINFOros2_control_nodeGoal reached, success![0m ×324 + 2.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.01sERRORobjective_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 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780540603.45240808 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780540604.02209973 seconds. ×2 + 3.63sINFOobjective_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 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.72sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.73sINFOros2_control_node[2026-06-04 02:36:44.157] [info] Received new action goal + 3.73sINFOros2_control_node[2026-06-04 02:36:44.157] [info] Accepted new action goal + 7.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 11.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540611.887602) + 11.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540611.887602)[0m + 12.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540612.417602) + 12.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540612.417602)[0m + 12.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540613.097602) + 12.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540613.097602)[0m + 13.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540613.607602) + 13.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540613.607602)[0m + 13.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540614.277602) + 13.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540614.277602)[0m + 15.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540615.467602) + 15.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540615.467602)[0m + 16.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540616.627602) + 16.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540616.627602)[0m + 16.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540616.647602) + 16.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540616.647602)[0m + 16.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540617.177602) + 16.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540610.327602) that ends in the past (1780540617.177602)[0m + 27.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780540628.08193016 seconds ×2 + 28.23sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780540628.65901756 seconds. ×2 + 28.38sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 28.40sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Received new action goal + 28.40sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Accepted new action goal + 28.46sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.46sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.1s	21 errors · 2 warnings · 134 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 2.52sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.52sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780540752.37265897 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780540752.37321329 seconds ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.03sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780540753.00799441 seconds. ×2 + 5.56sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.56sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780540755.13813186 seconds ×2 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.06sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.63sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.63sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.63sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.63sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.64sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.64sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.65sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.66sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.66sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.66sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.67sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.68sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.68sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.69sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.70sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.70sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.71sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.72sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.72sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.73sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.74sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.74sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.74sINFOcontroller_managerShutdown request received.... + 11.74sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.74sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.74sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.74sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.74sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.74sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.74sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.74sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.74sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.74sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.74sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.74sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.74sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.74sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.74sERRORui_teleop_bridgeTraceback (most recent call last): + 11.74sINFOcontroller_managerShutting down the controller manager. + 11.74sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.74sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.74sINFOui_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 + 11.74sINFOui_teleop_bridgerclpy.shutdown() + 11.74sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.74sINFOui_teleop_bridge_shutdown(context=context) + 11.74sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.74sINFOui_teleop_bridgereturn context.shutdown() + 11.74sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.74sINFOui_teleop_bridgeself.__context.shutdown() + 11.74sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.75sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.75sINFOros2_control_nodeShutdown request received....[0m + 11.75sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.75sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.75sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.75sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.75sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.75sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.75sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.75sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.75sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.75sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.75sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.75sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.75sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.75sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.75sINFOros2_control_nodeShutting down the controller manager.[0m + 11.78sINFOobjective_server_node[0;m[2026-06-04 02:39:21.208] [moveit_pro_license] [info] + 11.78sINFOobjective_server_node************************************************* ×2 + 11.78sINFOobjective_server_node* MoveIt Pro License + 11.78sINFOobjective_server_node* Application has successfully terminated + 11.86sERRORobjective_server_nodeStack trace (most recent call last): + 11.88sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.88sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5596a12454e4, in _start + 11.88sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f262fccde3f, in __libc_start_main + 11.88sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f262fccdd96, in + 11.88sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f262fce960f, in exit + 11.88sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f262fce9494, in + 11.88sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f2630172251, in spdlog::details::registry::~registry() + 11.88sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f263017ce66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 11.88sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5596a124acba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.88sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5596a1247bf3, in spdlog_ros::RosSink::~RosSink() + 11.88sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5596a124ce01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.88sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2630667b2e, in rclcpp::Node::~Node() + 11.88sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2630642d39, in + 11.88sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10420] + 11.88sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f26306710b9, in + 11.88sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2630671000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.88sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2630642d39, in + 11.88sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2630647b31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.88sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f25eb3e93f0]) + 11.88sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.89sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.89sINFOweb_video_server-20process has finished cleanly [pid 10454] + 11.91sERRORui_teleop_bridge-17process has died [pid 10406, 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_ff5kg2_q']. + 12.11sINFOfoxglove_bridgeShutdown complete[0m + 12.53sERRORobjective_server_node_main-14process has died [pid 10400, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_52hximst --params-file /tmp/launch_params_5fy4uk6w --params-file /tmp/launch_params_c8p4r5di --params-file /tmp/launch_params_6j14nhdg --params-file /tmp/launch_params_oi8robi2 --params-file /tmp/launch_params_qyylqd63']. + 12.53sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.74sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10398] + 12.75sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10396] + 12.75sINFOexecute_objective_bridge-16process has finished cleanly [pid 10404] + 12.76sINFOparameter_manager_node-10process has finished cleanly [pid 10356] + 12.79sINFOwaypoint_manager_node-11process has finished cleanly [pid 10394] + 12.84sINFOcomponent_container_mt-15process has finished cleanly [pid 10402] + 13.06sINFOmove_group-9process has finished cleanly [pid 10354] + 13.53sINFOros2_control_node-1process has finished cleanly [pid 10333] + 13.96sINFOfoxglove_bridge-18process has finished cleanly [pid 10408] + 13.96sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	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 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-04 02:35:59.202] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-04 02:35:59.202] [info] Accepted new action goal + 2.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780540560.35464454 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780540561.09314084 seconds. ×2 + 3.24sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.24sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). + 4.27sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.29sINFOros2_control_node[2026-06-04 02:36:02.396] [info] Received new action goal + 4.29sINFOros2_control_node[2026-06-04 02:36:02.396] [info] Accepted new action goal + 7.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 10.34sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.35sINFOros2_control_node[2026-06-04 02:36:08.457] [info] Received new action goal + 10.35sINFOros2_control_node[2026-06-04 02:36:08.457] [info] Accepted new action goal + 13.95sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780540572.06327987 seconds ×2 + 14.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780540572.66588116 seconds. ×2 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 14.69sINFOobjective_server_nodePath shortcutter: [X___X] + 14.70sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Received new action goal + 14.70sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Accepted new action goal + 14.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 15.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 73 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00198995 s). + 0.15sINFOobjective_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[2026-06-04 02:34:49.591] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-04 02:34:49.591] [info] Accepted new action goal + 0.65sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Received new action goal + 0.65sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Accepted new action goal + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.41sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Accepted new action goal + 2.95sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Got request to cancel active goal. + 2.95sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Canceling active goal... + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780540492.34849620 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780540493.01332307 seconds. ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.74sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Accepted new action goal + 3.94sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.94sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.94sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.94sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.08sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Received new action goal + 6.08sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Accepted new action goal + 14.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780540504.03052855 seconds ×2 + 15.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 15.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 15.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 15.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 15.82sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 15.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.93sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 15.93sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 17.94sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 18.49sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 18.53sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 18.54sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 18.60sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 18.60sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 18.61sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.2s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 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 + 1.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 2.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 2.53sINFOobjective_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 + 2.62sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 2.62sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.63sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 2.63sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 4.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 5.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.17sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 5.17sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal + 8.87sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.88sINFOros2_control_node[2026-06-04 02:33:40.209] [info] Received new action goal + 8.88sINFOros2_control_node[2026-06-04 02:33:40.209] [info] Accepted new action goal + 12.18sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 12.19sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.20sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 12.20sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 13.10sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 13.10sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 13.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 13.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 13.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 14.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 14.49sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.49sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 15.60sINFOobjective_server_nodePath shortcutter: [X______X] + 15.61sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 15.61sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	2 errors · 66 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780540693.27689743 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780540694.01406097 seconds. ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Accepted new action goal + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 7.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 7.86sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00236765 s). + 7.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.01sINFOros2_control_node[2026-06-04 02:38:20.431] [info] Received new action goal + 8.01sINFOros2_control_node[2026-06-04 02:38:20.431] [info] Accepted new action goal + 8.12sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.13sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 10.53sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 10.54sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 12.03sINFOrobotiq_gripper_controllerGot request to cancel goal + 12.03sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 12.03sINFOros2_control_nodeGot request to cancel goal[0m + 12.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 12.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 12.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 12.68sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.68sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.79sINFOobjective_server_nodePath shortcutter: [X________X] + 12.80sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 12.80sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 14.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 112 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.85sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). + 1.86sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 1.96sINFOobjective_server_nodeFound path in 1 iterations (0.00181137 s). + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 2.03sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.05sINFOobjective_server_nodeFound path in 1 iterations (0.00298725 s). + 2.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 2.25sINFOros2_control_node[2026-06-04 02:34:40.928] [info] Received new action goal + 2.25sINFOros2_control_node[2026-06-04 02:34:40.928] [info] Accepted new action goal + 2.67sINFOros2_control_node[2026-06-04 02:34:41.343] [info] Got request to cancel active goal. + 2.67sINFOros2_control_node[2026-06-04 02:34:41.343] [info] Canceling active goal... + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780540481.35960674 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780540481.93471169 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] + 3.44sINFOros2_control_node[2026-06-04 02:34:42.118] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-04 02:34:42.118] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.54sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.54sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.54sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 7.57sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 7.57sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 7.59sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 7.59sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 7.60sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 7.63sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 7.70sINFOobjective_server_nodeFound path in 1 iterations (0.00204861 s). + 7.79sINFOobjective_server_nodeFound path in 1 iterations (0.00392354 s). + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 7.96sINFOros2_control_node[2026-06-04 02:34:46.641] [info] Received new action goal + 7.96sINFOros2_control_node[2026-06-04 02:34:46.641] [info] Accepted new action goal + 10.71sINFOobjective_server_nodePath shortcutter: [X_X] + 10.71sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 10.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.72sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 10.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.77sINFOobjective_server_nodeFound path in 1 iterations (0.00198995 s). + 10.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.91sINFOros2_control_node[2026-06-04 02:34:49.591] [info] Received new action goal + 10.91sINFOros2_control_node[2026-06-04 02:34:49.591] [info] Accepted new action goal + 11.36sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Received new action goal + 11.36sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Accepted new action goal + 13.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 13.12sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Received new action goal + 13.12sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Accepted new action goal + 13.66sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Got request to cancel active goal. + 13.66sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Canceling active goal... + 13.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780540492.34849620 seconds ×2 + 14.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780540493.01332307 seconds. ×2 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 14.45sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Received new action goal + 14.45sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Accepted new action goal + 14.64sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.64sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.64sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.64sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 16.79sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Received new action goal + 16.79sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Accepted new action goal
✓ passed	Stationary Admittance	stationary_admittance.xml	10.9s	4 errors · 2 warnings · 62 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.21sINFOros2_control_node[2026-06-04 02:39:01.552] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-04 02:39:01.552] [info] Accepted new action goal + 5.21sINFOros2_control_node[2026-06-04 02:39:01.552] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Canceling active goal... + 12.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780540748.44376636 seconds ×2 + 12.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 13.09sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 13.09sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 15.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 15.48sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 15.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 15.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 15.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	4 errors · 73 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal + 8.01sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.004 of wall time (24/21713). Below 1% is expected on a non-realtime system.[0m + 10.39sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 10.39sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 10.89sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 10.89sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.14sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 12.24sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 12.24sINFOobjective_server_nodePath shortcutter: [X__________X] + 12.24sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). + 12.24sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 12.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 12.31sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 12.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 12.34sINFOobjective_server_nodeFound path in 1 iterations (0.00181137 s). + 12.40sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 12.40sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 12.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 12.44sINFOobjective_server_nodeFound path in 1 iterations (0.00298725 s). + 12.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 12.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 12.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 12.64sINFOros2_control_node[2026-06-04 02:34:40.928] [info] Received new action goal + 12.64sINFOros2_control_node[2026-06-04 02:34:40.928] [info] Accepted new action goal + 13.05sINFOros2_control_node[2026-06-04 02:34:41.343] [info] Got request to cancel active goal. + 13.05sINFOros2_control_node[2026-06-04 02:34:41.343] [info] Canceling active goal... + 13.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780540481.35960674 seconds ×2 + 13.64sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780540481.93471169 seconds. ×2 + 13.82sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 13.83sINFOros2_control_node[2026-06-04 02:34:42.118] [info] Received new action goal + 13.83sINFOros2_control_node[2026-06-04 02:34:42.118] [info] Accepted new action goal + 13.93sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.93sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.93sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.93sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	4 errors · 37 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 12.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780540715.33744788 seconds ×2 + 12.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780540715.90545821 seconds. ×2 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). + 13.17sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.18sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Received new action goal + 13.18sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Accepted new action goal + 13.22sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.22sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.012 of wall time (187/95619). Below 1% is expected on a non-realtime system.[0m
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.7s	2 errors · 64 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Accepted new action goal + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 8.86sINFOros2_control_node[2026-06-04 02:34:26.041] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-04 02:34:26.041] [info] Accepted new action goal + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 11.22sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 11.22sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 13.25sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 13.25sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 13.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 13.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 13.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 13.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 14.97sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 14.97sINFOobjective_server_nodePath shortcutter: [X______X] + 14.99sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 14.99sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.6s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780540725.74375892 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: 1780540726.29980063 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Accepted new action goal + 1.02sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 1.02sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780540736.33997393 seconds ×2 + 11.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 seconds. ×2 + 11.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780540736.96698833 seconds ×2 + 11.60sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.60sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 11.79sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 11.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 12.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 12.49sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 12.49sINFOobjective_server_nodePath shortcutter: [X___X] + 12.51sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 12.51sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Accepted new action goal
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780540715.33744788 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780540715.90545821 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.79sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Accepted new action goal + 0.84sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.012 of wall time (187/95619). Below 1% is expected on a non-realtime system.[0m + 4.82sINFOros2_control_node[2026-06-04 02:38:40.157] [info] Received new action goal + 4.82sINFOros2_control_node[2026-06-04 02:38:40.157] [info] Accepted new action goal + 10.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780540725.74375892 seconds ×2 + 10.96sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780540726.29980063 seconds. ×2 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). + 11.08sINFOobjective_server_nodePath shortcutter: [X________X] + 11.09sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Received new action goal + 11.09sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Accepted new action goal + 11.43sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.43sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 12.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.0s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal + 7.57sINFOobjective_server_node[0;93m2026-06-04 02:35:12.146165151 [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 + 7.57sINFOobjective_server_node[0;93m2026-06-04 02:35:12.146193093 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.11sINFOobjective_server_node[0;93m2026-06-04 02:35:12.682577460 [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 + 8.11sINFOobjective_server_node[0;93m2026-06-04 02:35:12.682611692 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.22sINFOobjective_server_node[0;93m2026-06-04 02:35:12.799003051 [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 + 8.23sINFOobjective_server_node[0;93m2026-06-04 02:35:12.801074632 [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 + 8.23sINFOobjective_server_node[0;93m2026-06-04 02:35:12.801089943 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.49sINFOobjective_server_node[0;93m2026-06-04 02:35:13.065496028 [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 + 8.51sINFOobjective_server_node[0;93m2026-06-04 02:35:13.083532965 [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 + 8.51sINFOobjective_server_node[0;93m2026-06-04 02:35:13.083569987 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.79sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780540514.36800480 seconds ×2 + 9.88sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 9.88sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 10.45sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 10.89sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.89sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.89sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.89sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.02sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 11.02sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.50sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 11.50sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.60sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 11.60sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 11.60sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.90sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [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 + 11.91sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [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 + 11.91sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.81sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 12.90sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 12.90sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 13.40sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.40sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 13.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 13.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.41sINFOros2_control_nodeReceived & accepted new action goal[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-04 02:35:12.146165151 [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;93m2026-06-04 02:35:12.146193093 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.54sINFOobjective_server_node[0;93m2026-06-04 02:35:12.682577460 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.54sINFOobjective_server_node[0;93m2026-06-04 02:35:12.682611692 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.65sINFOobjective_server_node[0;93m2026-06-04 02:35:12.799003051 [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;93m2026-06-04 02:35:12.801074632 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.66sINFOobjective_server_node[0;93m2026-06-04 02:35:12.801089943 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.92sINFOobjective_server_node[0;93m2026-06-04 02:35:13.065496028 [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 + 0.94sINFOobjective_server_node[0;93m2026-06-04 02:35:13.083532965 [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 + 0.94sINFOobjective_server_node[0;93m2026-06-04 02:35:13.083569987 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.22sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780540514.36800480 seconds ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.30sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.30sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.32sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.45sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 3.45sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.93sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 3.93sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.03sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.03sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 4.03sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.33sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [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 + 4.34sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [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 + 4.34sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.24sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 5.33sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.33sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.83sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 5.83sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 5.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 5.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.82sINFOobjective_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 + 6.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 7.10sINFOobjective_server_nodePath shortcutter: [X____________X] + 7.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 7.13sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 7.13sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 7.34sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 7.34sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.8s	2 errors · 2 warnings · 38 info
+ 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780540748.44376636 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780540752.37265897 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780540752.37321329 seconds ×2 + 4.02sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 4.02sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780540753.00799441 seconds. ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.54sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780540504.03052855 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.88sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal
✓ passed	Close Gripper	close_gripper.xml	1.6s	12 warnings · 251 info
+ 0.00sINFOobjective_server_node[2026-06-04 02:33:25.979] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.29sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.30sINFOcontroller_managerupdate rate is 600 Hz + 0.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.30sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.30sWARNcontroller_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. + 0.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.30sWARNros2_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 + 0.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.33sINFOobjective_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. + 0.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.35sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.35sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.36sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.36sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.36sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.36sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.36sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.36sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 0.36sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth" + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points" + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event" + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event"[0m + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m + 0.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 0.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 0.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 0.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 0.38sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 0.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 0.49sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.59sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.61sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.61sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10341] + 0.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.68sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.68sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.68sINFOros2_control_node[2026-06-04 02:33:26.658] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.68sINFOros2_control_node[2026-06-04 02:33:26.658] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.73sINFOros2_control_node[2026-06-04 02:33:26.710] [info] First order lag filter time constant set to: 0.2 seconds + 0.73sINFOros2_control_node[2026-06-04 02:33:26.710] [info] Controller state will be published at 50 Hz. + 0.74sINFOros2_control_node[2026-06-04 02:33:26.715] [info] Registered `FollowJointTrajectory` action server. + 0.74sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.77sINFOros2_control_node[2026-06-04 02:33:26.745] [info] Controller state will be published at 10 Hz. + 0.77sINFOros2_control_node[2026-06-04 02:33:26.746] [info] VelocityForceController 'on_configure' succeeded. + 0.77sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.77sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.77sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.77sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.77sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.77sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.77sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.77sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.77sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.77sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.78sINFOobjective_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. + 0.78sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.80sINFOros2_control_node[2026-06-04 02:33:26.780] [info] Controller state will be published at 20 Hz. + 0.80sINFOros2_control_node[2026-06-04 02:33:26.781] [info] JointVelocityController 'on_configure' succeeded. + 0.80sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.81sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.81sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10344] + 1.05sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" + 1.05sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/transient_monitored_planning_scene_without_octomap" + 1.06sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/controller_state" + 1.06sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/command" + 1.06sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/controller_state"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/command"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 1.06sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 1.06sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.07sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 1.07sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.07sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10337] + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 1.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.32sINFOmove_group ×2 + 1.32sINFOmove_group[92mYou can start planning now![0m + 1.41sWARNobjective_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/. + 1.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.67sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.68sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 2.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 2.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 4.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 5.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 5.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 7.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 7.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 7.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 7.97sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.98sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 7.98sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	1 warning · 82 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 0.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.24sINFOmove_group ×2 + 0.24sINFOmove_group[92mYou can start planning now![0m + 0.33sWARNobjective_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/. + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_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. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 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 (1.5561e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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: 1780540504.03052855 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.88sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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[2026-06-04 02:39:08.438] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780540748.44376636 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780540752.37265897 seconds. ×2 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780540752.37321329 seconds ×2 + 4.02sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 4.02sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780540753.00799441 seconds. ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.54sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780540755.13813186 seconds ×2 + 6.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 7.05sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	2 warnings · 38 info
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 0.42sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.42sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 2.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.81sINFOobjective_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 + 2.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 2.94sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.94sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.94sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.94sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780540752.37265897 seconds. ×2 + 3.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780540752.37321329 seconds ×2 + 3.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780540753.00799441 seconds. ×2 + 5.97sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.97sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780540755.13813186 seconds ×2 + 6.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.48sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.05sINFOfoxglove_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 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780540693.27689743 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780540694.01406097 seconds. ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Accepted new action goal + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 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 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [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: 1780540572.06327987 seconds ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.05sINFOros2_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: 1780540572.66588116 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 02:36:12.808] [info] Accepted new action goal + 0.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.01sINFOobjective_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 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.07sINFOobjective_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	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− 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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:33:43.536] [info] Accepted new action goal + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Got request to cancel active goal. + 1.00sINFOros2_control_node[2026-06-04 02:33:44.429] [info] Canceling active goal... + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780540424.44736314 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780540425.04773307 seconds. ×2 + 1.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780540425.17785454 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780540425.74730206 seconds. ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.40sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-04 02:33:46.940] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 02:34:17.550] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780540458.93745112 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780540459.50703239 seconds. ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.38sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780540459.59716725 seconds ×2 + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780540460.24779272 seconds. ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-04 02:34:20.353] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 02:34:23.713] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 24 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-04 02:34:28.390] [info] Accepted new action goal + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Got request to cancel active goal. + 2.14sINFOros2_control_node[2026-06-04 02:34:30.430] [info] Canceling active goal... + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780540470.44175434 seconds ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780540471.03299737 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 02:34:32.166] [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 (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00198995 s). + 0.15sINFOobjective_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[2026-06-04 02:34:49.591] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-04 02:34:49.591] [info] Accepted new action goal + 0.65sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Received new action goal + 0.65sINFOros2_control_node[2026-06-04 02:34:50.035] [info] Accepted new action goal + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.41sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Received new action goal + 2.41sINFOros2_control_node[2026-06-04 02:34:51.797] [info] Accepted new action goal + 2.95sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Got request to cancel active goal. + 2.95sINFOros2_control_node[2026-06-04 02:34:52.335] [info] Canceling active goal... + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780540492.34849620 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780540493.01332307 seconds. ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.74sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-04 02:34:53.126] [info] Accepted new action goal + 3.94sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.94sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.94sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.94sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.08sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Received new action goal + 6.08sINFOros2_control_node[2026-06-04 02:34:55.466] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780540504.03052855 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.88sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-04 02:35:07.988] [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: 1780540504.57572579 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780540504.57572579 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780540504.63586187 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780540505.19995260 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 02:35:05.313] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780540507.32029676 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780540507.87443304 seconds. ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 02:35:07.988] [info] Accepted new action goal
− 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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
− 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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
− 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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
− 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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
− 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 + 0.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780540515.02968979 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594357120 [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 + 1.14sINFOobjective_server_node[0;93m2026-06-04 02:35:15.594388731 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077552192 [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 + 1.63sINFOobjective_server_node[0;93m2026-06-04 02:35:16.077585164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.178510260 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180372761 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-04 02:35:16.180391402 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.02sINFOobjective_server_node[0;93m2026-06-04 02:35:16.473838989 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487895393 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.04sINFOobjective_server_node[0;93m2026-06-04 02:35:16.487928025 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780540517.38208556 seconds ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.94sINFOros2_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 + 3.52sINFOfoxglove_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 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780540517.97840238 seconds. ×2 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.52sINFOobjective_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 + 4.53sINFOobjective_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 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:35:19.276] [info] Accepted new action goal + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 5.04sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	1078 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×237 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×237 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×237 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×237 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×58 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×58 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780540628.08193016 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780540628.65901756 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.77sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-04 02:37:08.826] [info] Accepted new action goal + 3.84sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.84sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	4 errors · 806 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×189 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×187 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×189 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×187 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×19 + 0.32sINFOros2_control_nodeGoal reached, success![0m ×19 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780540662.68412566 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.772838)[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838) + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780540644.732838) that ends in the past (1780540662.782838)[0m + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780540663.30638051 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.05sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.77sINFOobjective_server_nodeFound path in 6 iterations (0.00407121 s). + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.83sINFOros2_control_node[2026-06-04 02:37:44.495] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-04 02:37:44.495] [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 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780540693.27689743 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780540694.01406097 seconds. ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Received new action goal + 1.82sINFOros2_control_node[2026-06-04 02:38:14.237] [info] Accepted new action goal + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.05sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.05sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	2 errors · 24 info
+ 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 02:38:22.953] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.49sINFOros2_control_nodeGot request to cancel goal[0m + 1.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780540704.44942808 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780540705.04661632 seconds. ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.25sINFOobjective_server_nodePath shortcutter: [X________X] + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Received new action goal + 2.27sINFOros2_control_node[2026-06-04 02:38:25.220] [info] Accepted new action goal + 4.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	2 errors · 13 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780540715.33744788 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780540715.90545821 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.79sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-04 02:38:36.130] [info] Accepted new action goal + 0.84sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.012 of wall time (187/95619). Below 1% is expected on a non-realtime system.[0m
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780540725.74375892 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: 1780540726.29980063 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 02:38:46.423] [info] Accepted new action goal + 1.02sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 1.02sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.59sINFOobjective_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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [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: 1780540736.33997393 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780540736.89673519 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: 1780540736.96698833 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780540737.51155925 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780540737.53342915 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780540738.13860464 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-04 02:38:58.252] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780540748.44376636 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	2 errors · 2 warnings · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 02:39:08.438] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780540748.44376636 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780540749.01012921 seconds. ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780540751.26025987 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780540751.81940055 seconds. ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780540751.82093191 seconds ×2 + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.51sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 3.51sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	5.9s	14 warnings · 338 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/2026-06-04-02-33-22-339069-a8be267b4c20-10303 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.18sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.23sINFOros2_control_node-1process started with pid [10333] + 1.23sINFOmove_group-9process started with pid [10354] + 1.23sINFOparameter_manager_node-10process started with pid [10356] + 1.23sINFOwaypoint_manager_node-11process started with pid [10394] + 1.23sINFOmove_joint_resampler_node-12process started with pid [10396] + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [10398] + 1.23sINFOobjective_server_node_main-14process started with pid [10400] + 1.23sINFOcomponent_container_mt-15process started with pid [10402] + 1.23sINFOexecute_objective_bridge-16process started with pid [10404] + 1.23sINFOui_teleop_bridge-17process started with pid [10406] + 1.23sINFOfoxglove_bridge-18process started with pid [10408] + 1.23sINFOtf2_web_republisher_node-19process started with pid [10420] + 1.23sINFOweb_video_server-20process started with pid [10454] + 1.23sINFOparameter_manager_nodeStarted parameter manager node. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10335] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10337] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10339] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10341] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10344] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10347] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10351] + 1.26sWARNros2_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 + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.27sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.27sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.27sINFOfoxglove_bridgeServer listening on port 3201 + 1.27sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.27sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.27sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.28sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description" + 1.40sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.41sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.05sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.05sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.10sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.18sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.21sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.23sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.23sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.23sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.23sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.23sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.23sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.24sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.24sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.24sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.24sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOobjective_server_node[2026-06-04 02:33:25.979] [moveit_pro_license] [info] + 3.12sINFOobjective_server_node************************************************* ×2 + 3.12sINFOobjective_server_node* MoveIt Pro License + 3.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.42sINFOcontroller_managerupdate rate is 600 Hz + 3.42sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.42sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.42sWARNcontroller_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. + 3.42sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.42sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.45sINFOobjective_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. + 3.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.47sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.48sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.48sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.48sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 3.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth" + 3.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points" + 3.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event" + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event"[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m + 3.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 3.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.50sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 3.61sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.70sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10341] + 3.78sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.78sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.80sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.80sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.80sINFOros2_control_node[2026-06-04 02:33:26.658] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.80sINFOros2_control_node[2026-06-04 02:33:26.658] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.85sINFOros2_control_node[2026-06-04 02:33:26.710] [info] First order lag filter time constant set to: 0.2 seconds + 3.85sINFOros2_control_node[2026-06-04 02:33:26.710] [info] Controller state will be published at 50 Hz. + 3.85sINFOros2_control_node[2026-06-04 02:33:26.715] [info] Registered `FollowJointTrajectory` action server. + 3.85sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.85sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.88sINFOros2_control_node[2026-06-04 02:33:26.745] [info] Controller state will be published at 10 Hz. + 3.88sINFOros2_control_node[2026-06-04 02:33:26.746] [info] VelocityForceController 'on_configure' succeeded. + 3.88sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.88sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.88sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.88sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.88sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.88sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.88sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.89sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.89sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.89sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.89sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.89sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.89sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.89sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.89sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.89sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.89sINFOobjective_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. + 3.89sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.92sINFOros2_control_node[2026-06-04 02:33:26.780] [info] Controller state will be published at 20 Hz. + 3.92sINFOros2_control_node[2026-06-04 02:33:26.781] [info] JointVelocityController 'on_configure' succeeded. + 3.92sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.92sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10344] + 4.17sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" + 4.17sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" + 4.17sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/transient_monitored_planning_scene_without_octomap" + 4.17sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/controller_state" + 4.18sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/command" + 4.18sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/controller_state"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/command"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 4.18sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.18sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 4.18sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 4.18sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 4.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 4.19sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 4.19sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 4.19sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 4.19sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 4.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10337] + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 4.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 4.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.33sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.33sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.36sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.36sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.44sINFOmove_group ×2 + 4.44sINFOmove_group[92mYou can start planning now![0m + 4.53sWARNobjective_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/. + 4.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 4.79sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.79sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 5.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 5.34sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.34sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 5.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.85sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.85sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 7.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 8.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 9.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 9.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 9.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 4.12sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.21sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 6.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.74sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.75sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.75sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	53 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.03sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.03sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 5.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.27sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 5.27sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	addtovector.xml	0.0s	7 warnings · 202 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/2026-06-04-02-33-22-339069-a8be267b4c20-10303 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.18sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.23sINFOros2_control_node-1process started with pid [10333] + 1.23sINFOmove_group-9process started with pid [10354] + 1.23sINFOparameter_manager_node-10process started with pid [10356] + 1.23sINFOwaypoint_manager_node-11process started with pid [10394] + 1.23sINFOmove_joint_resampler_node-12process started with pid [10396] + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [10398] + 1.23sINFOobjective_server_node_main-14process started with pid [10400] + 1.23sINFOcomponent_container_mt-15process started with pid [10402] + 1.23sINFOexecute_objective_bridge-16process started with pid [10404] + 1.23sINFOui_teleop_bridge-17process started with pid [10406] + 1.23sINFOfoxglove_bridge-18process started with pid [10408] + 1.23sINFOtf2_web_republisher_node-19process started with pid [10420] + 1.23sINFOweb_video_server-20process started with pid [10454] + 1.23sINFOparameter_manager_nodeStarted parameter manager node. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10335] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10337] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10339] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10341] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10344] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10347] + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10351] + 1.26sWARNros2_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 + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.27sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.27sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.27sINFOfoxglove_bridgeServer listening on port 3201 + 1.27sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.27sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.27sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.28sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf_static"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description" + 1.40sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.41sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.51sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.51sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.05sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.05sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.10sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.18sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.21sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.21sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.23sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.23sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.23sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.23sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.23sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.23sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.23sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.24sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.24sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.24sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.24sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOobjective_server_node[2026-06-04 02:33:25.979] [moveit_pro_license] [info] + 3.12sINFOobjective_server_node************************************************* ×2 + 3.12sINFOobjective_server_node* MoveIt Pro License + 3.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.42sINFOcontroller_managerupdate rate is 600 Hz + 3.42sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.42sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.42sWARNcontroller_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. + 3.42sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.42sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.45sINFOobjective_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. + 3.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.46sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.46sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.46sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.47sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.47sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.47sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.48sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.48sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.48sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 3.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth" + 3.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points" + 3.48sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/depth"[0m + 3.48sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/points"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event" + 3.49sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/transition_event"[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m + 3.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 3.49sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.50sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 3.61sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.70sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 warning · 82 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 0.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.24sINFOmove_group ×2 + 0.24sINFOmove_group[92mYou can start planning now![0m + 0.33sWARNobjective_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/. + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_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. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 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 (1.5561e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	1 warning · 82 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 0.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.24sINFOmove_group ×2 + 0.24sINFOmove_group[92mYou can start planning now![0m + 0.33sWARNobjective_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/. + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_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. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 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 (1.5561e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 warning · 82 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10347] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10339] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10351] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10335] + 0.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.24sINFOmove_group ×2 + 0.24sINFOmove_group[92mYou can start planning now![0m + 0.33sWARNobjective_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/. + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780540408.13068604 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780540408.14085960 seconds ×2 + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_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. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 6.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 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 (1.5561e-05 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	51 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780540408.68873525 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.03sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 5.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.27sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 5.27sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	47 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780540409.74886799 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 4.12sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.21sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [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: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780540410.32465315 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780540411.33480859 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780540411.87645316 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780540411.89657903 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780540412.44172788 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780540412.59215355 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780540413.24702287 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780540413.29728794 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780540413.85597706 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (1.5561e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-04 02:33:33.960] [info] Accepted new action goal + 5.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.002 of wall time (4/3161). Below 1% is expected on a non-realtime system.[0m + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-04 02:33:36.499] [info] Accepted new action goal