MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.6s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.6s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal + 7.39sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 7.41sINFOros2_control_node[2026-06-04 04:49:45.853] [info] Received new action goal + 7.41sINFOros2_control_node[2026-06-04 04:49:45.853] [info] Accepted new action goal + 10.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.60sINFOros2_control_node[2026-06-04 04:49:49.043] [info] Received new action goal + 10.60sINFOros2_control_node[2026-06-04 04:49:49.043] [info] Accepted new action goal + 13.55sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.60sINFOros2_control_node[2026-06-04 04:49:52.042] [info] Received new action goal + 13.60sINFOros2_control_node[2026-06-04 04:49:52.042] [info] Accepted new action goal + 16.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 19.25sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 2:10.004 of wall time (55/40158). Below 1% is expected on a non-realtime system.[0m + 23.28sINFOobjective_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 + 24.27sINFOros2_control_node[2026-06-04 04:50:02.713] [info] Received new action goal + 24.27sINFOros2_control_node[2026-06-04 04:50:02.713] [info] Accepted new action goal + 25.43sINFOobjective_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 + 25.44sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.54sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.57sINFOros2_control_node[2026-06-04 04:50:04.017] [info] Received new action goal + 25.57sINFOros2_control_node[2026-06-04 04:50:04.017] [info] Accepted new action goal + 27.69sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.71sINFOros2_control_node[2026-06-04 04:50:06.155] [info] Received new action goal + 27.71sINFOros2_control_node[2026-06-04 04:50:06.155] [info] Accepted new action goal + 30.74sINFOros2_control_node[2026-06-04 04:50:09.185] [info] Received new action goal + 30.74sINFOros2_control_node[2026-06-04 04:50:09.185] [info] Accepted new action goal + 33.33sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 33.33sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.38sINFOros2_control_node[2026-06-04 04:50:11.821] [info] Received new action goal + 33.38sINFOros2_control_node[2026-06-04 04:50:11.821] [info] Accepted new action goal + 44.21sINFOros2_control_node[2026-06-04 04:50:22.656] [info] Received new action goal + 44.21sINFOros2_control_node[2026-06-04 04:50:22.656] [info] Accepted new action goal + 45.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780548623.81236243 seconds ×2 + 46.06sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780548624.50517130 seconds. ×2 + 46.41sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.41sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 47.27sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.30sINFOros2_control_node[2026-06-04 04:50:25.743] [info] Received new action goal + 47.30sINFOros2_control_node[2026-06-04 04:50:25.743] [info] Accepted new action goal
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	38.4s	2 errors · 13657 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780548635.41539860 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780548636.02655125 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Accepted new action goal + 1.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.03sINFOobjective_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 + 2.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.09sINFOobjective_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 + 3.14sERRORobjective_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 + 3.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×3370 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×3370 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×3370 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×3370 + 10.32sINFOjoint_trajectory_controllerGoal reached, success! ×65 + 10.32sINFOros2_control_nodeGoal reached, success![0m ×65 + 22.28sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 3:10.005 of wall time (116/58636). Below 1% is expected on a non-realtime system.[0m + 38.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780548673.88093972 seconds ×2 + 39.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780548674.46462345 seconds. ×2 + 39.12sINFOobjective_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 + 39.20sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 39.21sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 39.22sINFOros2_control_node[2026-06-04 04:51:14.639] [info] Received new action goal + 39.22sINFOros2_control_node[2026-06-04 04:51:14.639] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	35.5s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal + 28.50sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 28.50sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 29.01sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 29.01sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 31.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 31.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×3 + 31.22sINFOobjective_server_nodePath shortcutter: [X___________X] + 31.24sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 31.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 31.29sINFOobjective_server_nodeFound path in 1 iterations (0.00250513 s). + 31.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 31.40sINFOros2_control_node[2026-06-04 04:48:36.345] [info] Received new action goal + 31.40sINFOros2_control_node[2026-06-04 04:48:36.346] [info] Accepted new action goal + 31.55sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 31.55sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 33.93sINFOros2_control_node[2026-06-04 04:48:38.867] [info] Received new action goal + 33.93sINFOros2_control_node[2026-06-04 04:48:38.867] [info] Accepted new action goal + 35.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 35.76sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 35.76sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 37.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 37.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 37.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 38.11sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 38.11sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 38.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 38.58sINFOobjective_server_nodePath shortcutter: [X_____________X] + 38.59sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 38.59sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 38.62sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 38.62sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	32.4s	2 errors · 115 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 0.12sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.51sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.17sERRORobjective_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 + 1.17sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780548694.13597512 seconds ×2 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780548694.75273013 seconds. ×2 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 2.04sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.91sINFOobjective_server_nodeFound path in 7 iterations (0.00656986 s). + 2.97sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.98sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Received new action goal + 2.98sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Accepted new action goal + 12.33sINFOobjective_server_node[0;m[0;93m2026-06-04 04:51:45.299660856 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.33sINFOobjective_server_node[0;93m2026-06-04 04:51:45.299697767 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.84sINFOobjective_server_node[0;93m2026-06-04 04:51:45.803774588 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.84sINFOobjective_server_node[0;93m2026-06-04 04:51:45.803813309 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.96sINFOobjective_server_node[0;93m2026-06-04 04:51:45.923481950 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.96sINFOobjective_server_node[0;93m2026-06-04 04:51:45.926330103 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.96sINFOobjective_server_node[0;93m2026-06-04 04:51:45.926362154 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.31sINFOobjective_server_node[0;93m2026-06-04 04:51:46.281560771 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.33sINFOobjective_server_node[0;93m2026-06-04 04:51:46.294628397 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.33sINFOobjective_server_node[0;93m2026-06-04 04:51:46.294669358 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.12sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 14.13sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 14.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 18.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.16sINFOobjective_server_nodeFound path in 4 iterations (0.00202444 s). + 19.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 19.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 19.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.25sINFOobjective_server_nodeFound path in 12 iterations (0.00412907 s). + 19.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 19.33sINFOobjective_server_nodeFound path in 2 iterations (0.00301328 s). + 19.37sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 19.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 19.41sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 19.43sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 19.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 19.47sINFOobjective_server_nodeFound path in 8 iterations (0.00213819 s). + 19.51sINFOobjective_server_nodePath shortcutter: [X___________________________________X____X_____________________X] + 19.54sINFOobjective_server_nodeFound path in 1 iterations (0.00289472 s). + 19.57sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 19.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.61sINFOobjective_server_nodePath shortcutter: [X________________________________________X] + 19.64sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 19.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 19.68sINFOobjective_server_nodeFound path in 4 iterations (0.00356297 s). + 19.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 19.76sINFOobjective_server_nodeFound path in 4 iterations (0.00322496 s). + 19.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 19.85sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 19.91sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] + 19.94sINFOobjective_server_nodeFound path in 1 iterations (0.00357921 s). + 19.98sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] + 20.00sINFOobjective_server_nodeFound path in 1 iterations (0.00204815 s). + 20.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 20.08sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 20.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 20.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.21sINFOros2_control_node[2026-06-04 04:51:53.179] [info] Received new action goal + 20.21sINFOros2_control_node[2026-06-04 04:51:53.179] [info] Accepted new action goal + 24.73sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 4:10.006 of wall time (152/77094). Below 1% is expected on a non-realtime system.[0m + 25.21sINFOros2_control_node[2026-06-04 04:51:58.181] [info] Received new action goal + 25.21sINFOros2_control_node[2026-06-04 04:51:58.181] [info] Accepted new action goal + 26.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 26.94sINFOros2_control_node[2026-06-04 04:51:59.906] [info] Received new action goal + 26.94sINFOros2_control_node[2026-06-04 04:51:59.906] [info] Accepted new action goal + 28.15sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.20sINFOros2_control_node[2026-06-04 04:52:01.167] [info] Received new action goal + 28.20sINFOros2_control_node[2026-06-04 04:52:01.167] [info] Accepted new action goal + 33.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780548726.53291130 seconds ×2 + 34.30sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.30sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 34.30sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 34.30sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 34.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780548727.28369570 seconds. ×2 + 34.50sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 34.50sINFOobjective_server_nodePath shortcutter: [X______X] + 34.51sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Received new action goal + 34.51sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Accepted new action goal + 34.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 34.80sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event" + 34.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 34.80sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event"[0m
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	14.5s	4 errors · 51 info
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.07sINFOobjective_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 ×4 + 0.08sINFOobjective_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 + 1.08sERRORobjective_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 + 1.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780548679.58805895 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780548680.16493058 seconds. ×2 + 1.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.82sINFOobjective_server_nodePath shortcutter: [X_______X] + 1.83sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Accepted new action goal + 1.86sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 1.86sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 5.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 5.80sINFOros2_control_node[2026-06-04 04:51:24.311] [info] Received new action goal + 5.80sINFOros2_control_node[2026-06-04 04:51:24.311] [info] Accepted new action goal + 7.67sINFOros2_control_node[2026-06-04 04:51:26.174] [info] Received new action goal + 7.67sINFOros2_control_node[2026-06-04 04:51:26.174] [info] Accepted new action goal + 14.46sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 14.46sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 14.96sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.97sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 15.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780548694.13597512 seconds ×2 + 16.24sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780548694.75273013 seconds. ×2 + 16.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.25sINFOros2_control_nodeReceived & accepted new action goal[0m + 16.50sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 16.50sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 17.37sINFOobjective_server_nodeFound path in 7 iterations (0.00656986 s). + 17.43sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 17.44sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Received new action goal + 17.44sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Accepted new action goal
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.7s	23 errors · 2 warnings · 130 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780548786.66540575 seconds ×2 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 10.66sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.68sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.68sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.68sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.69sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.70sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.71sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.71sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.73sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.74sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.75sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.76sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.77sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.78sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.78sINFOcontroller_managerShutdown request received.... + 10.78sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.78sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.78sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.78sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.78sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.78sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.78sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.78sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.78sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.78sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.78sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.78sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.78sINFOros2_control_nodeShutdown request received....[0m + 10.78sINFOcontroller_managerShutting down the controller manager. + 10.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.78sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.78sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.78sINFOros2_control_nodeShutting down the controller manager.[0m + 10.84sINFOobjective_server_node[0;m[2026-06-04 04:53:12.664] [moveit_pro_license] [info] + 10.84sINFOobjective_server_node************************************************* ×2 + 10.84sINFOobjective_server_node* MoveIt Pro License + 10.84sINFOobjective_server_node* Application has successfully terminated + 10.92sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10416] + 10.92sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.92sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.92sINFOweb_video_server-20process has finished cleanly [pid 10436] + 10.93sERRORobjective_server_nodeStack trace (most recent call last): + 10.94sINFOfoxglove_bridgeShutdown complete[0m + 10.95sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.95sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ee8a5e64e4, in _start + 10.95sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc9d012e3f, in __libc_start_main + 10.95sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc9d012d96, in + 10.95sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc9d02e60f, in exit + 10.95sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc9d02e494, in + 10.95sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fdc9d4b7251, in spdlog::details::registry::~registry() + 10.95sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fdc9d4c1e66, 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() + 10.95sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ee8a5ebcba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 10.95sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ee8a5e8bf3, in spdlog_ros::RosSink::~RosSink() + 10.95sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ee8a5ede01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 10.95sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d9acb2e, in rclcpp::Node::~Node() + 10.95sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d987d39, in + 10.95sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d9b60b9, in + 10.95sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d9b6000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 10.95sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d987d39, in + 10.95sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fdc9d98cb31, in rclcpp::CallbackGroup::~CallbackGroup() + 10.95sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fdc4ce483f0]) + 10.95sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10378] + 10.96sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10376] + 10.97sINFOwaypoint_manager_node-11process has finished cleanly [pid 10374] + 10.99sINFOexecute_objective_bridge-16process has finished cleanly [pid 10384] + 11.59sERRORobjective_server_node_main-14process has died [pid 10380, 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_msu_khvs --params-file /tmp/launch_params_2ojxs5gr --params-file /tmp/launch_params_3967rztr --params-file /tmp/launch_params_astv5o1n --params-file /tmp/launch_params_e_68bb6a --params-file /tmp/launch_params_l83f3en3']. + 11.59sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.81sINFOparameter_manager_node-10process has finished cleanly [pid 10336] + 11.90sINFOcomponent_container_mt-15process has finished cleanly [pid 10382] + 11.94sINFOmove_group-9process has finished cleanly [pid 10333] + 12.61sINFOros2_control_node-1process has finished cleanly [pid 10313] + 12.79sINFOfoxglove_bridge-18process has finished cleanly [pid 10411] + 12.79sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 15.67sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' + 15.67sINFOui_teleop_bridge-17sending signal 'SIGKILL' to process[ui_teleop_bridge-17] + 15.67sERRORui_teleop_bridge-17process has died [pid 10386, exit code -9, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_z23xat0x'].
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 71 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00214593 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.19sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Accepted new action goal + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.30sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.30sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.30sINFOros2_control_nodeGot request to cancel goal[0m + 2.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780548555.84375000 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780548556.49016929 seconds. ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.14sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.28sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.29sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.49sINFOros2_control_node[2026-06-04 04:49:19.005] [info] Received new action goal + 5.49sINFOros2_control_node[2026-06-04 04:49:19.005] [info] Accepted new action goal + 14.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780548567.55837893 seconds ×2 + 14.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780548568.10396123 seconds. ×2 + 14.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780548568.16408467 seconds ×2 + 15.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 15.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.32sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 15.32sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 17.33sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 17.88sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 17.88sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 17.88sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 17.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 17.99sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 17.99sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Accepted new action goal
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	2 errors · 54 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 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.05sINFOros2_control_node[2026-06-04 04:50:22.656] [info] Received new action goal + 1.05sINFOros2_control_node[2026-06-04 04:50:22.656] [info] Accepted new action goal + 2.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780548623.81236243 seconds ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780548624.50517130 seconds. ×2 + 3.26sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.11sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.14sINFOros2_control_node[2026-06-04 04:50:25.743] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-04 04:50:25.743] [info] Accepted new action goal + 7.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 10.20sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.21sINFOros2_control_node[2026-06-04 04:50:31.808] [info] Received new action goal + 10.21sINFOros2_control_node[2026-06-04 04:50:31.808] [info] Accepted new action goal + 13.81sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780548635.41539860 seconds ×2 + 14.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780548636.02655125 seconds. ×2 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 14.56sINFOobjective_server_nodePath shortcutter: [X___X] + 14.58sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Received new action goal + 14.58sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Accepted new action goal + 14.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.86sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 15.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.96sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 16.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'.
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.2s	2 errors · 76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780548726.53291130 seconds ×2 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780548727.28369570 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Accepted new action goal + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event"[0m + 5.27sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures" + 5.27sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m + 5.77sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.77sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.07sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.28sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.28sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m + 7.33sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 7.33sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.33sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 7.34sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.34sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 7.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.38sINFOobjective_server_nodeFound path in 1 iterations (0.00208832 s). + 7.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.46sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.49sINFOros2_control_node[2026-06-04 04:52:13.015] [info] Received new action goal + 7.49sINFOros2_control_node[2026-06-04 04:52:13.015] [info] Accepted new action goal + 10.02sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 10.02sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 11.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.78sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 11.78sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 12.30sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 12.30sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 12.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 12.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 13.08sINFOobjective_server_nodePath shortcutter: [X________X] + 13.09sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 13.09sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 13.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.32sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.32sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 15.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 102 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 + 1.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.84sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 1.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 1.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 1.95sINFOobjective_server_nodeFound path in 1 iterations (0.00212023 s). + 2.02sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 2.02sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 2.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.05sINFOobjective_server_nodeFound path in 1 iterations (0.00286398 s). + 2.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780548544.79637766 seconds ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780548545.37923598 seconds. ×2 + 2.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 2.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.89sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-04 04:49:05.582] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-04 04:49:05.583] [info] Accepted new action goal + 3.04sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOfoxglove_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 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 7.64sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 7.65sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 7.69sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 7.78sINFOobjective_server_nodeFound path in 1 iterations (0.00266001 s). + 7.89sINFOobjective_server_nodeFound path in 1 iterations (0.00405922 s). + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 8.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 8.12sINFOros2_control_node[2026-06-04 04:49:10.800] [info] Received new action goal + 8.12sINFOros2_control_node[2026-06-04 04:49:10.800] [info] Accepted new action goal + 10.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 10.84sINFOobjective_server_nodePath shortcutter: [X_X] + 10.84sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 10.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.85sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 10.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.90sINFOobjective_server_nodeFound path in 1 iterations (0.00214593 s). + 10.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 11.03sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Received new action goal + 11.03sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Accepted new action goal + 11.47sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Received new action goal + 11.47sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Accepted new action goal + 13.14sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.14sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.14sINFOros2_control_nodeGot request to cancel goal[0m + 13.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 13.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780548555.84375000 seconds ×2 + 13.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780548556.49016929 seconds. ×2 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 13.98sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Received new action goal + 13.98sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Accepted new action goal + 14.13sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.13sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.13sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.13sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 16.33sINFOros2_control_node[2026-06-04 04:49:19.005] [info] Received new action goal + 16.33sINFOros2_control_node[2026-06-04 04:49:19.005] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	4 errors · 65 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m + 11.22sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 11.22sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 11.73sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.73sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 13.06sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 13.06sINFOobjective_server_nodePath shortcutter: [X__________X] + 13.07sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 13.07sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 13.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 13.10sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 13.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 13.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 13.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 13.18sINFOobjective_server_nodeFound path in 1 iterations (0.00212023 s). + 13.24sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 13.24sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 13.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 13.27sINFOobjective_server_nodeFound path in 1 iterations (0.00286398 s). + 13.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 13.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780548544.79637766 seconds ×2 + 13.93sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780548545.37923598 seconds. ×2 + 14.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 14.13sINFOros2_control_node[2026-06-04 04:49:05.582] [info] Received new action goal + 14.13sINFOros2_control_node[2026-06-04 04:49:05.583] [info] Accepted new action goal + 14.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.26sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.27sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 1.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 1.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 2.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 2.55sINFOobjective_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 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.65sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 2.65sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 4.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.14sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 5.14sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.86sINFOros2_control_node[2026-06-04 04:48:01.709] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-04 04:48:01.709] [info] Accepted new action goal + 12.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 12.17sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.18sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 12.18sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 12.96sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 12.96sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 13.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 13.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 13.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 14.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 14.43sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.43sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 15.42sINFOobjective_server_nodePath shortcutter: [X______X] + 15.43sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 15.43sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	2 errors · 65 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Accepted new action goal + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 8.92sINFOros2_control_node[2026-06-04 04:48:49.203] [info] Received new action goal + 8.92sINFOros2_control_node[2026-06-04 04:48:49.203] [info] Accepted new action goal + 11.25sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 11.25sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 11.25sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 13.43sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 13.43sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 13.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 14.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 14.34sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.34sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.35sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.35sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.18sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 15.18sINFOobjective_server_nodePath shortcutter: [X______X] + 15.19sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 15.20sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 17.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.8s	4 errors · 38 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780548748.72457719 seconds ×2 + 13.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780548749.27026772 seconds. ×2 + 13.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 13.95sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.96sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Received new action goal + 13.96sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Accepted new action goal
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	4 errors · 2 warnings · 77 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780548769.82977271 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Accepted new action goal + 5.24sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.25sINFOros2_control_node[2026-06-04 04:52:55.076] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-04 04:52:55.076] [info] Accepted new action goal + 5.25sINFOros2_control_node[2026-06-04 04:52:55.076] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 7.87sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.17% of iterations over budget over 5:10.009 of wall time (167/95581). Below 1% is expected on a non-realtime system.[0m + 11.99sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 11.99sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780548782.39459252 seconds. ×2 + 12.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 12.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 13.86sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 13.86sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 13.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 14.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 14.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 14.87sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.87sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 14.87sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.87sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 15.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 15.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 15.37sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 15.37sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.7s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780548759.09153247 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: 1780548759.64903378 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 (3e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 0.93sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780548769.82977271 seconds ×2 + 11.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780548770.39199758 seconds. ×2 + 11.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 11.51sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.51sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 11.96sINFOobjective_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 + 11.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 12.66sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 12.66sINFOobjective_server_nodePath shortcutter: [X___X] + 12.67sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 12.67sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Accepted new action goal
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 30 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780548748.72457719 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780548749.27026772 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Accepted new action goal + 4.78sINFOros2_control_node[2026-06-04 04:52:33.505] [info] Received new action goal + 4.78sINFOros2_control_node[2026-06-04 04:52:33.505] [info] Accepted new action goal + 10.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780548759.09153247 seconds ×2 + 10.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780548759.64903378 seconds. ×2 + 11.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 11.03sINFOobjective_server_nodePath shortcutter: [X________X] + 11.05sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Received new action goal + 11.05sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Accepted new action goal + 11.29sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 11.29sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m + 12.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.4s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780548568.10396123 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780548568.16408467 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Accepted new action goal + 7.90sINFOobjective_server_node[0;93m2026-06-04 04:49:35.996843222 [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 + 7.90sINFOobjective_server_node[0;93m2026-06-04 04:49:35.996885843 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.45sINFOobjective_server_node[0;93m2026-06-04 04:49:36.548892788 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.45sINFOobjective_server_node[0;93m2026-06-04 04:49:36.548927849 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.56sINFOobjective_server_node[0;93m2026-06-04 04:49:36.660718937 [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 + 8.56sINFOobjective_server_node[0;93m2026-06-04 04:49:36.663598111 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.57sINFOobjective_server_node[0;93m2026-06-04 04:49:36.663628532 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.82sINFOobjective_server_node[0;93m2026-06-04 04:49:36.927997679 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.84sINFOobjective_server_node[0;93m2026-06-04 04:49:36.939892126 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.84sINFOobjective_server_node[0;93m2026-06-04 04:49:36.939925926 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.11sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780548578.21711564 seconds ×2 + 10.34sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 10.34sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 10.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 10.85sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.85sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.85sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.85sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.34sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 11.34sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.82sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [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 + 11.82sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.91sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 11.91sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.20sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.22sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.22sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 13.37sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 13.37sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 13.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 13.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.87sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.87sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[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	5.7s	2 errors · 1337 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×306 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×306 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×306 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×306 + 0.08sINFOjoint_trajectory_controllerGoal reached, success! ×41 + 0.08sINFOros2_control_nodeGoal reached, success![0m ×41 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780548673.88093972 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780548674.46462345 seconds. ×2 + 3.70sINFOobjective_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 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-04 04:51:14.639] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 04:51:14.639] [info] Accepted new action goal + 7.67sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.74sINFOobjective_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 + 7.75sINFOobjective_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 + 8.75sERRORobjective_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 + 8.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780548679.58805895 seconds ×2 + 9.33sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780548680.16493058 seconds. ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 9.49sINFOobjective_server_nodePath shortcutter: [X_______X] + 9.50sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Received new action goal + 9.50sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Accepted new action goal + 9.53sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 9.53sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[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 04:49:35.996843222 [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 04:49:35.996885843 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.55sINFOobjective_server_node[0;93m2026-06-04 04:49:36.548892788 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.55sINFOobjective_server_node[0;93m2026-06-04 04:49:36.548927849 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.67sINFOobjective_server_node[0;93m2026-06-04 04:49:36.660718937 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.67sINFOobjective_server_node[0;93m2026-06-04 04:49:36.663598111 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.67sINFOobjective_server_node[0;93m2026-06-04 04:49:36.663628532 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.93sINFOobjective_server_node[0;93m2026-06-04 04:49:36.927997679 [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 04:49:36.939892126 [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 04:49:36.939925926 [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: 1780548578.21711564 seconds ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.45sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.95sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.95sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.44sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 3.44sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.92sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [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 + 3.92sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.02sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 4.02sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 4.02sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.31sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.33sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.33sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [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: 1780548581.23865104 seconds ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.47sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 5.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.97sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 5.97sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.69sINFOobjective_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 + 6.71sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.97sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.98sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 6.98sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 7.01sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 7.01sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780548567.55837893 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: 1780548568.10396123 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: 1780548568.16408467 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Accepted new action goal
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.9s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780548786.66540575 seconds ×2 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
✓ passed	Close Gripper	close_gripper.xml	1.7s	12 warnings · 251 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.06sINFOobjective_server_node[2026-06-04 04:47:47.433] [moveit_pro_license] [info] + 0.06sINFOobjective_server_node************************************************* ×2 + 0.06sINFOobjective_server_node* MoveIt Pro License + 0.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.30sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.30sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.30sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.30sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.31sINFOcontroller_managerupdate rate is 600 Hz + 0.31sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.31sWARNcontroller_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. + 0.31sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.31sWARNros2_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 + 0.32sINFOobjective_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. + 0.32sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.37sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.37sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" + 0.45sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 0.45sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.46sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.46sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.46sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 0.46sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 0.46sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 0.46sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.46sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 0.46sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 0.46sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event" + 0.47sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics" + 0.47sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points" + 0.47sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 0.47sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points" + 0.47sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector" + 0.47sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents" + 0.47sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 0.47sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 0.47sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event" + 0.47sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 0.47sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 0.48sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.48sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.48sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.49sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.49sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.49sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.62sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.62sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.65sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.68sINFOobjective_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. + 0.68sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.72sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.72sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.73sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10321] + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.78sINFOros2_control_node[2026-06-04 04:47:48.153] [info] Controller state will be published at 20 Hz. + 0.78sINFOros2_control_node[2026-06-04 04:47:48.153] [info] JointVelocityController 'on_configure' succeeded. + 0.78sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.78sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.78sINFOros2_control_node[2026-06-04 04:47:48.155] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.78sINFOros2_control_node[2026-06-04 04:47:48.155] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.81sINFOros2_control_node[2026-06-04 04:47:48.182] [info] First order lag filter time constant set to: 0.2 seconds + 0.81sINFOros2_control_node[2026-06-04 04:47:48.182] [info] Controller state will be published at 50 Hz. + 0.81sINFOros2_control_node[2026-06-04 04:47:48.186] [info] Registered `FollowJointTrajectory` action server. + 0.81sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.81sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.81sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.81sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.81sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.82sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.82sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.82sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.85sINFOros2_control_node[2026-06-04 04:47:48.222] [info] Controller state will be published at 10 Hz. + 0.85sINFOros2_control_node[2026-06-04 04:47:48.223] [info] VelocityForceController 'on_configure' succeeded. + 0.86sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10330] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10319] + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10324] + 1.13sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/transition_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/transition_event"[0m + 1.13sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command" + 1.13sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command"[0m + 1.13sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap" + 1.13sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state" + 1.14sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command" + 1.14sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/controller_state" + 1.14sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.14sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_state_broadcaster/transition_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/controller_state"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.14sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_state_broadcaster/transition_event"[0m + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10315] + 1.14sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 1.14sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 1.14sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.14sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.15sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 1.15sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 1.15sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.15sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 1.15sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10327] + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 1.17sWARNobjective_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/. + 1.36sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.41sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.47sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.50sINFOmove_group ×2 + 1.50sINFOmove_group[92mYou can start planning now![0m + 1.58sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.73sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.73sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 2.28sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.28sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.80sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 4.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 5.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 6.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 6.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 7.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 8.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 8.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 8.12sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.13sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 8.13sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	1 warning · 79 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 0.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.33sINFOmove_group ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 4.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 6.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 6.87sINFOobjective_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 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 6.95sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [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: 1780548567.55837893 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: 1780548568.10396123 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: 1780548568.16408467 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Accepted new action goal
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780548786.66540575 seconds ×2 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
✓ 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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Accepted new action goal
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780548786.66540575 seconds ×2 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.1s	26 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780548726.53291130 seconds ×2 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780548727.28369570 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Accepted new action goal + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event"[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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	2 errors · 22 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780548635.41539860 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780548636.02655125 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-04 04:50:36.179] [info] Accepted new action goal + 1.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.03sINFOobjective_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 + 2.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.09sINFOobjective_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 + 3.14sERRORobjective_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 + 3.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'.
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 04:48:05.029] [info] Accepted new action goal + 0.87sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-04 04:48:05.816] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780548485.84833336 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780548486.44921398 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780548486.56934547 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780548487.12849641 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.34sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Received new action goal + 3.34sINFOros2_control_node[2026-06-04 04:48:08.281] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-04 04:48:40.702] [info] Accepted new action goal + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780548522.08927226 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780548522.65818691 seconds. ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780548522.75484705 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780548523.41488218 seconds. ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Received new action goal + 3.25sINFOros2_control_node[2026-06-04 04:48:43.528] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Received new action goal + 6.59sINFOros2_control_node[2026-06-04 04:48:46.868] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-04 04:48:51.536] [info] Accepted new action goal + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Got request to cancel active goal. + 2.26sINFOros2_control_node[2026-06-04 04:48:53.715] [info] Canceling active goal... + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780548533.73305345 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780548534.32986784 seconds. ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.17sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.18sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-04 04:48:55.476] [info] Accepted new action goal + 6.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.004 of wall time (31/21670). Below 1% is expected on a non-realtime system.[0m
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 36 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00214593 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.19sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-04 04:49:13.705] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-04 04:49:14.147] [info] Accepted new action goal + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.30sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.30sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.30sINFOros2_control_nodeGot request to cancel goal[0m + 2.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780548555.84375000 seconds ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780548556.49016929 seconds. ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 3.14sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-04 04:49:16.653] [info] Accepted new action goal + 3.28sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.28sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.28sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.29sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.49sINFOros2_control_node[2026-06-04 04:49:19.005] [info] Received new action goal + 5.49sINFOros2_control_node[2026-06-04 04:49:19.005] [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: 1780548567.55837893 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: 1780548568.10396123 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: 1780548568.16408467 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-04 04:49:31.509] [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: 1780548568.10396123 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780548568.16408467 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [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: 1780548568.10396123 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780548568.16408467 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780548568.71517396 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 04:49:28.838] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780548570.84529948 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780548571.39559197 seconds. ×2 + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-04 04:49:31.509] [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 + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780548578.89228964 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.99sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442676205 [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 + 1.00sINFOobjective_server_node[0;93m2026-06-04 04:49:39.442706836 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923117806 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.48sINFOobjective_server_node[0;93m2026-06-04 04:49:39.923156787 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.016681886 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018414491 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-04 04:49:40.018429091 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.86sINFOobjective_server_node[0;93m2026-06-04 04:49:40.306768426 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325918580 [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 + 1.88sINFOobjective_server_node[0;93m2026-06-04 04:49:40.325953250 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.79sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780548581.23865104 seconds ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.82sINFOros2_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 + 3.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780548581.85967016 seconds. ×2 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.24sINFOobjective_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 + 4.26sINFOobjective_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 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.52sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Received new action goal + 4.56sINFOros2_control_node[2026-06-04 04:49:43.005] [info] Accepted new action goal
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	2 errors · 19 info
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.08sINFOobjective_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 + 1.08sERRORobjective_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 + 1.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780548679.58805895 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780548680.16493058 seconds. ×2 + 1.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.82sINFOobjective_server_nodePath shortcutter: [X_______X] + 1.83sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-04 04:51:20.338] [info] Accepted new action goal + 1.86sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 1.86sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	2 errors · 24 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 0.12sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.51sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.17sERRORobjective_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 + 1.17sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780548694.13597512 seconds ×2 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780548694.75273013 seconds. ×2 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.04sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 2.04sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.91sINFOobjective_server_nodeFound path in 7 iterations (0.00656986 s). + 2.97sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.98sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Received new action goal + 2.98sINFOros2_control_node[2026-06-04 04:51:35.947] [info] Accepted new action goal
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	26 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780548726.53291130 seconds ×2 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780548727.28369570 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X______X] + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-04 04:52:07.479] [info] Accepted new action goal + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/agent_event"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-04 04:52:15.537] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 04:52:15.538] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-04 04:52:17.306] [info] Accepted new action goal + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Got request to cancel active goal. + 2.28sINFOros2_control_node[2026-06-04 04:52:17.823] [info] Canceling active goal... + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780548737.83762670 seconds ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780548738.45434117 seconds. ×2 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 3.07sINFOobjective_server_nodePath shortcutter: [X________X] + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Received new action goal + 3.08sINFOros2_control_node[2026-06-04 04:52:18.618] [info] Accepted new action goal + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.31sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	2 errors · 12 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780548748.72457719 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780548749.27026772 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-04 04:52:29.498] [info] Accepted new action goal
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780548759.09153247 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: 1780548759.64903378 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 (3e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 04:52:39.772] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 0.93sINFOfoxglove_bridgeAdvertising new channel 78 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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Accepted new action goal
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [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: 1780548769.82977271 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: 1780548770.39199758 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780548770.47220850 seconds ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780548771.02493525 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780548771.04690266 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780548771.65188694 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-04 04:52:51.762] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 40 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	2 errors · 2 warnings · 40 info
+ 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 04:53:01.822] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780548781.82699966 seconds ×2 + 0.01sINFOros2_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: 1780548782.39459252 seconds. ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780548783.76473546 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780548784.33526301 seconds. ×2 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780548784.33683276 seconds ×2 + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.88sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.88sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780548784.89257836 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780548784.89418554 seconds ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.38sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780548785.52526474 seconds. ×2

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

7 skip

− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	5.8s	14 warnings · 336 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-04-47-43-810894-64a14a576e53-10283 + 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. + 1.22sINFOros2_control_node-1process started with pid [10313] + 1.22sINFOmove_group-9process started with pid [10333] + 1.22sINFOparameter_manager_node-10process started with pid [10336] + 1.22sINFOwaypoint_manager_node-11process started with pid [10374] + 1.22sINFOmove_joint_resampler_node-12process started with pid [10376] + 1.22sINFOmove_end_effector_resampler_node-13process started with pid [10378] + 1.22sINFOobjective_server_node_main-14process started with pid [10380] + 1.22sINFOcomponent_container_mt-15process started with pid [10382] + 1.22sINFOexecute_objective_bridge-16process started with pid [10384] + 1.22sINFOui_teleop_bridge-17process started with pid [10386] + 1.22sINFOfoxglove_bridge-18process started with pid [10411] + 1.22sINFOtf2_web_republisher_node-19process started with pid [10416] + 1.22sINFOweb_video_server-20process started with pid [10436] + 1.22sINFOparameter_manager_nodeStarted parameter manager node. + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10315] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10317] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10319] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10321] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10324] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10327] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10330] + 1.24sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.25sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.25sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.25sINFOfoxglove_bridgeServer listening on port 3201 + 1.25sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.26sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.26sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.26sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.26sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.47sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/robot_description" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.48sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/robot_description"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" + 1.50sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" + 1.50sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" + 1.50sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" + 1.50sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 1.51sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.55sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.04sINFOros2_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. + 2.04sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.13sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 2.25sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 2.26sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 2.27sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.27sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.27sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.27sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 2.27sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.28sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.28sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.28sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.28sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.28sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.31sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.33sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.10sINFOobjective_server_node[2026-06-04 04:47:47.433] [moveit_pro_license] [info] + 3.10sINFOobjective_server_node************************************************* ×2 + 3.10sINFOobjective_server_node* MoveIt Pro License + 3.10sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.35sWARNcontroller_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. + 3.35sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.35sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.35sWARNros2_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 + 3.36sINFOobjective_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. + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.41sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.41sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.49sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.50sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 3.50sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 3.50sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.50sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event" + 3.50sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics" + 3.50sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points" + 3.51sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.51sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points" + 3.51sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector" + 3.51sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents" + 3.51sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event" + 3.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 3.52sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.52sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.52sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.52sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.53sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.53sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.71sINFOobjective_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. + 3.71sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.76sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.76sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10321] + 3.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.82sINFOros2_control_node[2026-06-04 04:47:48.153] [info] Controller state will be published at 20 Hz. + 3.82sINFOros2_control_node[2026-06-04 04:47:48.153] [info] JointVelocityController 'on_configure' succeeded. + 3.82sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.82sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.82sINFOros2_control_node[2026-06-04 04:47:48.155] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.82sINFOros2_control_node[2026-06-04 04:47:48.155] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.85sINFOros2_control_node[2026-06-04 04:47:48.182] [info] First order lag filter time constant set to: 0.2 seconds + 3.85sINFOros2_control_node[2026-06-04 04:47:48.182] [info] Controller state will be published at 50 Hz. + 3.85sINFOros2_control_node[2026-06-04 04:47:48.186] [info] Registered `FollowJointTrajectory` action server. + 3.85sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.85sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.85sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.85sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.85sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.85sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.85sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.85sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.85sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.86sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.86sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.86sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.89sINFOros2_control_node[2026-06-04 04:47:48.222] [info] Controller state will be published at 10 Hz. + 3.89sINFOros2_control_node[2026-06-04 04:47:48.223] [info] VelocityForceController 'on_configure' succeeded. + 3.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10330] + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10319] + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10324] + 4.16sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/transition_event" + 4.17sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/transition_event"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command" + 4.17sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/command"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap" + 4.17sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state" + 4.17sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command" + 4.17sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state"[0m + 4.17sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/controller_state" + 4.18sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.18sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_state_broadcaster/transition_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/controller_state"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.18sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_state_broadcaster/transition_event"[0m + 4.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10315] + 4.18sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 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 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 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" + 4.19sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 4.19sINFOfoxglove_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 + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10327] + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 4.21sWARNobjective_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/. + 4.39sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.41sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.53sINFOmove_group ×2 + 4.53sINFOmove_group[92mYou can start planning now![0m + 4.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 4.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 5.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.32sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 5.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.83sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.83sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 7.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 8.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 9.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 9.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 4.18sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.27sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 6.47sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.76sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.76sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	50 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 4.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 5.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 5.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 7.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.1s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	addtovector.xml	0.0s	7 warnings · 214 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/2026-06-04-04-47-43-810894-64a14a576e53-10283 + 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. + 1.22sINFOros2_control_node-1process started with pid [10313] + 1.22sINFOmove_group-9process started with pid [10333] + 1.22sINFOparameter_manager_node-10process started with pid [10336] + 1.22sINFOwaypoint_manager_node-11process started with pid [10374] + 1.22sINFOmove_joint_resampler_node-12process started with pid [10376] + 1.22sINFOmove_end_effector_resampler_node-13process started with pid [10378] + 1.22sINFOobjective_server_node_main-14process started with pid [10380] + 1.22sINFOcomponent_container_mt-15process started with pid [10382] + 1.22sINFOexecute_objective_bridge-16process started with pid [10384] + 1.22sINFOui_teleop_bridge-17process started with pid [10386] + 1.22sINFOfoxglove_bridge-18process started with pid [10411] + 1.22sINFOtf2_web_republisher_node-19process started with pid [10416] + 1.22sINFOweb_video_server-20process started with pid [10436] + 1.22sINFOparameter_manager_nodeStarted parameter manager node. + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10315] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10317] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10319] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10321] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10324] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10327] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10330] + 1.24sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.25sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.25sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.25sINFOfoxglove_bridgeServer listening on port 3201 + 1.25sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.26sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.26sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.26sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.26sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.47sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/robot_description" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf" + 1.48sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/robot_description"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state" + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states" + 1.50sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/joint_states"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat" + 1.50sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint" + 1.50sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static" + 1.50sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 1.51sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/objective_server_heartbeat"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_joint"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf_static"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.55sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.04sINFOros2_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. + 2.04sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.13sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 2.25sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 2.26sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 2.27sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.27sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.27sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.27sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 2.27sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 2.27sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.28sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.28sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.28sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.28sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.28sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.31sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.33sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.10sINFOobjective_server_node[2026-06-04 04:47:47.433] [moveit_pro_license] [info] + 3.10sINFOobjective_server_node************************************************* ×2 + 3.10sINFOobjective_server_node* MoveIt Pro License + 3.10sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.35sWARNcontroller_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. + 3.35sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.35sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.35sWARNros2_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 + 3.36sINFOobjective_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. + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.41sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.41sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" + 3.49sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 3.49sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.49sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.50sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 3.50sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth" + 3.50sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.50sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/depth"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event" + 3.50sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.50sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics" + 3.50sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/statistics"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points" + 3.51sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/points"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.51sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points" + 3.51sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/points"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector" + 3.51sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents" + 3.51sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/blackboard_contents"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event" + 3.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 3.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 3.52sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.52sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.52sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.52sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.53sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.53sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.71sINFOobjective_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. + 3.71sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 warning · 79 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 0.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.33sINFOmove_group ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 4.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 6.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 6.87sINFOobjective_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 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 6.95sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	1 warning · 79 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 0.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.33sINFOmove_group ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 4.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 6.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 6.87sINFOobjective_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 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 6.95sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 warning · 79 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10317] + 0.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.33sINFOmove_group ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780548469.56202722 seconds. ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780548469.57219791 seconds ×2 + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.12sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780548470.11944222 seconds. ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 4.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 6.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 6.87sINFOobjective_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 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 6.95sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 6.96sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	47 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 4.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 5.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 5.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780548471.22956014 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 4.18sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.27sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 6.47sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [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: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780548471.79293585 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780548472.85312295 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780548473.40322876 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780548473.42334199 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780548473.96354222 seconds. ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780548474.11412287 seconds ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780548474.77722883 seconds. ×2 + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780548474.83747363 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780548475.39562964 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.443e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-04 04:47:55.500] [info] Accepted new action goal + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3151). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-04 04:47:57.990] [info] Accepted new action goal