MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.9s

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	42.7s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [info] Accepted new action goal + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 7.44sINFOros2_control_node[2026-06-05 15:49:15.395] [info] Received new action goal + 7.44sINFOros2_control_node[2026-06-05 15:49:15.395] [info] Accepted new action goal + 10.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.61sINFOros2_control_node[2026-06-05 15:49:18.564] [info] Received new action goal + 10.61sINFOros2_control_node[2026-06-05 15:49:18.564] [info] Accepted new action goal + 13.58sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 13.58sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.61sINFOros2_control_node[2026-06-05 15:49:21.557] [info] Received new action goal + 13.61sINFOros2_control_node[2026-06-05 15:49:21.557] [info] Accepted new action goal + 16.56sINFOobjective_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 + 17.47sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 2:10.004 of wall time (63/40211). Below 1% is expected on a non-realtime system.[0m + 23.32sINFOobjective_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 + 24.26sINFOros2_control_node[2026-06-05 15:49:32.207] [info] Received new action goal + 24.26sINFOros2_control_node[2026-06-05 15:49:32.207] [info] Accepted new action goal + 25.42sINFOobjective_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 + 25.43sINFOobjective_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 + 25.61sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 25.61sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.64sINFOros2_control_node[2026-06-05 15:49:33.594] [info] Received new action goal + 25.64sINFOros2_control_node[2026-06-05 15:49:33.594] [info] Accepted new action goal + 27.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 27.75sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.75sINFOros2_control_node[2026-06-05 15:49:35.702] [info] Received new action goal + 27.75sINFOros2_control_node[2026-06-05 15:49:35.702] [info] Accepted new action goal + 30.78sINFOros2_control_node[2026-06-05 15:49:38.733] [info] Received new action goal + 30.78sINFOros2_control_node[2026-06-05 15:49:38.733] [info] Accepted new action goal + 33.27sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.43sINFOros2_control_node[2026-06-05 15:49:41.384] [info] Received new action goal + 33.43sINFOros2_control_node[2026-06-05 15:49:41.384] [info] Accepted new action goal + 44.14sINFOros2_control_node[2026-06-05 15:49:52.093] [info] Received new action goal + 44.14sINFOros2_control_node[2026-06-05 15:49:52.093] [info] Accepted new action goal + 45.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780674593.25377512 seconds ×2 + 45.99sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780674593.94124985 seconds. ×2 + 46.45sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.46sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 47.20sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.21sINFOros2_control_node[2026-06-05 15:49:55.160] [info] Received new action goal + 47.21sINFOros2_control_node[2026-06-05 15:49:55.160] [info] Accepted new action goal
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	37.9s	6 errors · 13671 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780674604.13144827 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780674604.73361182 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Accepted new action goal + 0.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal ×3388 + 4.32sINFOjoint_trajectory_controllerAccepted new action goal ×3386 + 4.32sINFOros2_control_nodeReceived new action goal[0m ×3388 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×3386 + 9.10sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.21sINFOjoint_trajectory_controllerGoal reached, success! ×38 + 9.21sINFOros2_control_nodeGoal reached, success![0m ×38 + 21.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 3:10.006 of wall time (120/58673). Below 1% is expected on a non-realtime system.[0m + 23.77sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 37.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.841750) + 37.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.841750)[0m + 37.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.851750) + 37.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.851750)[0m + 37.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780674642.03115034 seconds ×2 + 38.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780674642.62557936 seconds. ×2 + 38.55sINFOobjective_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 + 38.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 38.63sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.65sINFOros2_control_node[2026-06-05 15:50:42.779] [info] Received new action goal + 38.65sINFOros2_control_node[2026-06-05 15:50:42.779] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	36.5s	2 errors · 76 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Accepted new action goal + 32.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 32.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 32.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 32.12sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 32.12sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 32.30sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 32.30sINFOobjective_server_nodePath shortcutter: [X___________X] + 32.31sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 32.33sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 32.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 32.39sINFOobjective_server_nodeFound path in 1 iterations (0.00292284 s). + 32.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 32.52sINFOros2_control_node[2026-06-05 15:48:05.332] [info] Received new action goal + 32.52sINFOros2_control_node[2026-06-05 15:48:05.332] [info] Accepted new action goal + 35.05sINFOros2_control_node[2026-06-05 15:48:07.854] [info] Received new action goal + 35.05sINFOros2_control_node[2026-06-05 15:48:07.854] [info] Accepted new action goal + 36.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 36.81sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 36.81sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 38.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 38.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 38.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 39.18sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 39.18sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 39.51sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 39.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 39.61sINFOobjective_server_nodePath shortcutter: [X_____________X] + 39.62sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 39.62sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 39.69sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 39.69sINFOfoxglove_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	28.9s	2 errors · 109 info
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.05sINFOobjective_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 + 1.04sERRORobjective_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 + 1.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780674680.25703454 seconds ×2 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780674680.85973597 seconds. ×2 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.98sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.98sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.75sINFOobjective_server_nodeFound path in 7 iterations (0.00688285 s). + 2.80sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.81sINFOros2_control_node[2026-06-05 15:51:22.024] [info] Received new action goal + 2.81sINFOros2_control_node[2026-06-05 15:51:22.024] [info] Accepted new action goal + 6.21sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.25% of iterations over budget over 4:10.007 of wall time (195/77092). Below 1% is expected on a non-realtime system.[0m + 10.52sINFOobjective_server_node[0;m[0;93m2026-06-05 15:51:29.732057832 [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 + 10.52sINFOobjective_server_node[0;93m2026-06-05 15:51:29.732085134 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.01sINFOobjective_server_node[0;93m2026-06-05 15:51:30.220079227 [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 + 11.01sINFOobjective_server_node[0;93m2026-06-05 15:51:30.220115609 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.10sINFOobjective_server_node[0;93m2026-06-05 15:51:30.316658821 [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 + 11.10sINFOobjective_server_node[0;93m2026-06-05 15:51:30.318809431 [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 + 11.10sINFOobjective_server_node[0;93m2026-06-05 15:51:30.318826882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.38sINFOobjective_server_node[0;93m2026-06-05 15:51:30.590304975 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 11.39sINFOobjective_server_node[0;93m2026-06-05 15:51:30.602825776 [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 + 11.39sINFOobjective_server_node[0;93m2026-06-05 15:51:30.602857448 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.54sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization" + 12.55sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m + 12.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 15.55sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 15.87sINFOobjective_server_nodeFound path in 4 iterations (0.00239695 s). + 15.92sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 15.94sINFOobjective_server_nodeFound path in 12 iterations (0.00391152 s). + 15.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 16.00sINFOobjective_server_nodeFound path in 2 iterations (0.00314856 s). + 16.03sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 16.04sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). + 16.07sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 16.08sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 16.08sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 16.08sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m + 16.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 16.12sINFOobjective_server_nodeFound path in 12 iterations (0.00365384 s). + 16.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 16.17sINFOobjective_server_nodeFound path in 1 iterations (0.00400757 s). + 16.20sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] + 16.21sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 16.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 16.25sINFOobjective_server_nodeFound path in 4 iterations (0.00511134 s). + 16.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 16.33sINFOobjective_server_nodeFound path in 4 iterations (0.00212332 s). + 16.40sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 16.41sINFOobjective_server_nodeFound path in 1 iterations (0.00374544 s). + 16.46sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 16.47sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 16.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 16.53sINFOobjective_server_nodeFound path in 1 iterations (0.00220041 s). + 16.58sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 16.59sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 16.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 16.63sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 16.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 16.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 16.73sINFOros2_control_node[2026-06-05 15:51:35.946] [info] Received new action goal + 16.73sINFOros2_control_node[2026-06-05 15:51:35.946] [info] Accepted new action goal + 21.74sINFOros2_control_node[2026-06-05 15:51:40.958] [info] Received new action goal + 21.74sINFOros2_control_node[2026-06-05 15:51:40.958] [info] Accepted new action goal + 23.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 23.45sINFOros2_control_node[2026-06-05 15:51:42.663] [info] Received new action goal + 23.45sINFOros2_control_node[2026-06-05 15:51:42.663] [info] Accepted new action goal + 24.66sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 24.69sINFOros2_control_node[2026-06-05 15:51:43.904] [info] Received new action goal + 24.69sINFOros2_control_node[2026-06-05 15:51:43.904] [info] Accepted new action goal + 29.90sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780674709.10990500 seconds ×2 + 30.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780674709.85799956 seconds. ×2 + 30.70sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 30.70sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 30.70sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 30.70sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 30.70sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 30.70sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 30.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 30.84sINFOobjective_server_nodePath shortcutter: [X______X] + 30.86sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Received new action goal + 30.86sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Accepted new action goal + 33.22sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 33.22sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m + 33.72sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 33.72sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	24.7s	56 errors · 7867 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1757 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1729 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1757 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1729 + 0.24sINFOjoint_trajectory_controllerGoal reached, success! ×432 + 0.24sINFOros2_control_nodeGoal reached, success![0m ×432 + 2.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.841750) + 2.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.841750)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.851750) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674636.561750) that ends in the past (1780674641.851750)[0m + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780674642.03115034 seconds ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOros2_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: 1780674642.62557936 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.78sINFOros2_control_node[2026-06-05 15:50:42.779] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-05 15:50:42.779] [info] Accepted new action goal + 7.68sINFOobjective_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 + 7.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 10.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674649.639155) + 10.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674649.639155)[0m + 10.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674649.649155) + 10.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674649.649155)[0m + 11.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.329155) + 11.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.329155)[0m + 11.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.339155) + 11.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.339155)[0m + 11.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.859155) + 11.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.859155)[0m + 11.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.869155) + 11.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674650.869155)[0m + 12.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674651.529155) + 12.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674651.529155)[0m + 12.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674651.539155) + 12.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674651.539155)[0m + 13.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.049155) + 13.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.049155)[0m + 13.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.069155) + 13.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.069155)[0m + 13.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.719155) + 13.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.729155) ×2 + 13.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.719155)[0m + 13.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674652.729155)[0m ×2 + 14.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.239155) + 14.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.239155)[0m + 14.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.879155) + 14.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.889155) ×2 + 14.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.879155)[0m + 14.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.889155)[0m ×2 + 14.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.899155) + 14.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674653.899155)[0m + 15.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674654.399155) + 15.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674654.399155)[0m + 15.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674654.419155) + 15.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674654.419155)[0m + 16.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.099155) + 16.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.099155)[0m + 16.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.109155) + 16.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.109155)[0m + 16.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.659155) + 16.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.659155)[0m + 16.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.669155) + 16.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674655.669155)[0m + 27.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780674666.75854778 seconds ×2 + 27.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155) + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155)[0m + 27.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155) + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155)[0m + 28.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780674667.35234833 seconds. ×2 + 28.51sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 28.53sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Received new action goal + 28.53sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Accepted new action goal + 28.57sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.58sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	13.5s	6 errors · 1082 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×86 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×86 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×218 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×216 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×218 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×216 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780674666.75854778 seconds ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155) + 3.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155)[0m + 3.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155)[0m + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780674667.35234833 seconds. ×2 + 3.73sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.83sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Accepted new action goal + 3.87sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.87sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.47sINFOros2_control_node[2026-06-05 15:51:13.167] [info] Received new action goal + 9.47sINFOros2_control_node[2026-06-05 15:51:13.167] [info] Accepted new action goal + 11.38sINFOros2_control_node[2026-06-05 15:51:15.080] [info] Received new action goal + 11.38sINFOros2_control_node[2026-06-05 15:51:15.080] [info] Accepted new action goal + 15.51sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 16.56sERRORobjective_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 + 16.56sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780674680.25703454 seconds ×2 + 17.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780674680.85973597 seconds. ×2 + 17.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 17.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 17.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 17.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 18.26sINFOobjective_server_nodeFound path in 7 iterations (0.00688285 s). + 18.32sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 18.32sINFOros2_control_node[2026-06-05 15:51:22.024] [info] Received new action goal + 18.32sINFOros2_control_node[2026-06-05 15:51:22.024] [info] Accepted new action goal
✓ 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 (4.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00225255 s). + 0.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.18sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Accepted new action goal + 0.62sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Received new action goal + 0.62sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Accepted new action goal + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.38sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Accepted new action goal + 2.44sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Got request to cancel active goal. + 2.44sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Canceling active goal... + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780674524.69703913 seconds ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 3.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780674525.35536814 seconds. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.21sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.56sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Received new action goal + 5.56sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Accepted new action goal + 14.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780674536.37518907 seconds ×2 + 14.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780674536.92719460 seconds. ×2 + 14.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 15.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 15.39sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 15.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.40sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 15.40sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 17.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 17.95sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 18.06sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 18.07sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 18.07sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	23 errors · 3 warnings · 144 info
+ 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 seconds. ×2 + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780674770.55905581 seconds ×2 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.19sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.52sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.52sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.53sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.54sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.54sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.54sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.54sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.55sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.55sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.56sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.57sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.57sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.58sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.59sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.60sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.60sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.61sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.62sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.63sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.63sINFOcontroller_managerShutdown request received.... + 11.63sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.63sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.63sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.63sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.63sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.63sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.63sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.63sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.63sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.63sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.63sINFOcontroller_managerShutting down the controller manager. + 11.63sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.63sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.63sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.63sERRORui_teleop_bridgeTraceback (most recent call last): + 11.63sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.63sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.63sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 11.63sINFOui_teleop_bridgerclpy.shutdown() + 11.63sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.63sINFOui_teleop_bridge_shutdown(context=context) + 11.63sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.63sINFOui_teleop_bridgereturn context.shutdown() + 11.63sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.63sINFOui_teleop_bridgeself.__context.shutdown() + 11.63sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.63sWARNparameter_manager_nodeROS node was shutdown. + 11.63sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.63sINFOros2_control_nodeShutdown request received....[0m + 11.63sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.63sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.63sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.63sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.63sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.63sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.63sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.63sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.63sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.63sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.64sINFOros2_control_nodeShutting down the controller manager.[0m + 11.70sINFOobjective_server_node[0;m[2026-06-05 15:52:56.405] [moveit_pro_license] [info] + 11.70sINFOobjective_server_node************************************************* ×2 + 11.70sINFOobjective_server_node* MoveIt Pro License + 11.70sINFOobjective_server_node* Application has successfully terminated + 11.73sINFOfoxglove_bridgeShutdown complete[0m + 11.76sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10286] + 11.76sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.76sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.77sINFOweb_video_server-20process has finished cleanly [pid 10310] + 11.80sERRORobjective_server_nodeStack trace (most recent call last): + 11.80sERRORui_teleop_bridge-17process has died [pid 10258, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_gaoj0ui_']. + 11.81sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.81sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5635cf54e4e4, in _start + 11.81sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9f059e3f, in __libc_start_main + 11.81sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9f059d96, in + 11.81sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9f07560f, in exit + 11.82sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9f075494, in + 11.82sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fbc9f4fe251, in spdlog::details::registry::~registry() + 11.82sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fbc9f508e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 11.82sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5635cf553cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.82sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5635cf550bf3, in spdlog_ros::RosSink::~RosSink() + 11.82sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5635cf555e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.82sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9f3b2e, in rclcpp::Node::~Node() + 11.82sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9ced39, in + 11.82sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9fd0b9, in + 11.82sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9fd000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.82sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9ced39, in + 11.82sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbc9f9d3b31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.82sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fbc619e93f0]) + 11.82sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10250] + 11.82sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10248] + 11.83sINFOparameter_manager_node-10process has finished cleanly [pid 10208] + 11.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 10246] + 11.86sINFOexecute_objective_bridge-16process has finished cleanly [pid 10256] + 12.46sERRORobjective_server_node_main-14process has died [pid 10252, 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_of2as8r1 --params-file /tmp/launch_params_lb3p49wg --params-file /tmp/launch_params_vju061o8 --params-file /tmp/launch_params_oh_ukf0j --params-file /tmp/launch_params_dlgsthky --params-file /tmp/launch_params_lr93j50f']. + 12.46sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.74sINFOcomponent_container_mt-15process has finished cleanly [pid 10254] + 12.94sINFOmove_group-9process has finished cleanly [pid 10206] + 13.61sINFOfoxglove_bridge-18process has finished cleanly [pid 10260] + 13.61sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 13.67sINFOros2_control_node-1process has finished cleanly [pid 10185]
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.1s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 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: 1780674441.21683359 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 1.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 1.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 2.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 2.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.62sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 2.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.63sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 2.63sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 4.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 5.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 5.18sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.19sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 5.19sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 8.92sINFOros2_control_node[2026-06-05 15:47:29.588] [info] Received new action goal + 8.92sINFOros2_control_node[2026-06-05 15:47:29.588] [info] Accepted new action goal + 12.22sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 12.22sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.23sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 12.23sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 13.02sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 13.02sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 13.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 13.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 13.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 14.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.50sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 15.50sINFOobjective_server_nodePath shortcutter: [X______X] + 15.52sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 15.52sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.1s	2 errors · 38 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780674731.30505681 seconds ×2 + 14.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780674731.85163617 seconds. ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 15.04sINFOobjective_server_nodePath shortcutter: [X________________X] + 15.06sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Received new action goal + 15.06sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Accepted new action goal + 15.09sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.09sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	2 errors · 48 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780674741.67167163 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: 1780674742.23478055 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Accepted new action goal + 1.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 1.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 3.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 5:10.008 of wall time (216/95545). Below 1% is expected on a non-realtime system.[0m + 11.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780674752.70495987 seconds ×2 + 11.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 11.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 12.09sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.09sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 12.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 12.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 12.94sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 12.94sINFOobjective_server_nodePath shortcutter: [X___X] + 12.95sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 12.95sINFOros2_control_node[2026-06-05 15:52:34.617] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	6 errors · 2 warnings · 77 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m + 9.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.18sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 9.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution" + 9.26sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 9.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X__________X] + 9.44sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 9.44sINFOobjective_server_nodePath shortcutter: [X________________X] + 9.44sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 9.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 9.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 9.51sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 9.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 9.56sINFOobjective_server_nodeFound path in 1 iterations (0.00251165 s). + 9.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 9.65sINFOobjective_server_nodeFound path in 1 iterations (0.00264008 s). + 9.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 9.73sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). + 9.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 9.84sINFOros2_control_node[2026-06-05 15:48:30.181] [info] Received new action goal + 9.84sINFOros2_control_node[2026-06-05 15:48:30.181] [info] Accepted new action goal + 12.32sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 12.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 12.61sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×2 + 12.61sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 12.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780674512.96700168 seconds ×2 + 14.02sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780674514.36304164 seconds. ×2 + 14.20sINFOros2_control_node[2026-06-05 15:48:34.546] [info] Received new action goal + 14.20sINFOros2_control_node[2026-06-05 15:48:34.546] [info] Accepted new action goal + 14.32sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.32sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.33sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.33sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 16.86sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 16.86sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 17.36sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.36sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.0s	2 errors · 67 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Accepted new action goal + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.85sINFOros2_control_node[2026-06-05 15:48:18.094] [info] Received new action goal + 8.85sINFOros2_control_node[2026-06-05 15:48:18.094] [info] Accepted new action goal + 11.17sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 11.18sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 11.18sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 13.50sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 13.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 14.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 14.32sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 14.32sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 14.32sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 14.32sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 15.26sINFOobjective_server_nodePath shortcutter: [X______X] + 15.28sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 15.28sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 16.17sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	72 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780674709.10990500 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780674709.85799956 seconds. ×2 + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.19sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 5.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 5.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 5.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 6.10sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.15sINFOobjective_server_nodeFound path in 1 iterations (0.00209448 s). + 6.21sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution" + 6.21sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m + 6.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 6.23sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.25sINFOros2_control_node[2026-06-05 15:51:54.493] [info] Received new action goal + 6.25sINFOros2_control_node[2026-06-05 15:51:54.493] [info] Accepted new action goal + 8.77sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 8.77sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 10.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 10.55sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 10.55sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 11.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 12.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 12.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.73sINFOobjective_server_nodePath shortcutter: [X________X] + 12.74sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 12.74sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 12.76sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.76sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.76sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.76sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	10.9s	6 errors · 2 warnings · 88 info
+ 0.00sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×2 + 0.28sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780674512.96700168 seconds ×2 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780674514.36304164 seconds. ×2 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.87sINFOobjective_server_nodePath shortcutter: [X______X] + 1.88sINFOros2_control_node[2026-06-05 15:48:34.546] [info] Received new action goal + 1.88sINFOros2_control_node[2026-06-05 15:48:34.546] [info] Accepted new action goal + 1.99sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.00sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.00sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.00sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 4.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 5.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 6.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 6.55sINFOobjective_server_nodePath shortcutter: [X__________X] + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.55sINFOobjective_server_nodePath shortcutter: [X________________X] + 6.56sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.60sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 6.62sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 6.64sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). + 6.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 6.68sINFOobjective_server_nodeFound path in 1 iterations (0.00273333 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 6.78sINFOobjective_server_nodeFound path in 1 iterations (0.00417566 s). + 6.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 6.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 6.96sINFOros2_control_node[2026-06-05 15:48:39.628] [info] Received new action goal + 6.96sINFOros2_control_node[2026-06-05 15:48:39.628] [info] Accepted new action goal + 9.59sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 9.59sINFOobjective_server_nodePath shortcutter: [X_X] + 9.59sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 9.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 9.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.65sINFOobjective_server_nodeFound path in 1 iterations (0.00225255 s). + 9.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.77sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Received new action goal + 9.77sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Accepted new action goal + 10.21sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Received new action goal + 10.21sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Accepted new action goal + 11.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.97sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Received new action goal + 11.97sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Accepted new action goal + 12.03sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Got request to cancel active goal. + 12.03sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Canceling active goal... + 12.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780674524.69703913 seconds ×2 + 12.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780674525.35536814 seconds. ×2 + 12.79sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 12.80sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Received new action goal + 12.80sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Accepted new action goal + 13.12sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.13sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.13sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.13sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.15sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Received new action goal + 15.15sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Accepted new action goal
✓ passed	Push Button	move_with_velocity_and_force.xml	10.9s	51 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.93sINFOros2_control_node[2026-06-05 15:49:52.093] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-05 15:49:52.093] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780674593.25377512 seconds ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780674593.94124985 seconds. ×2 + 3.25sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.25sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.99sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.00sINFOros2_control_node[2026-06-05 15:49:55.160] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-05 15:49:55.160] [info] Accepted new action goal + 7.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 9.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 9.29sINFOobjective_server_nodePath shortcutter: [X________________________X] + 9.32sINFOros2_control_node[2026-06-05 15:50:00.479] [info] Received new action goal + 9.32sINFOros2_control_node[2026-06-05 15:50:00.479] [info] Accepted new action goal + 12.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780674604.13144827 seconds ×2 + 13.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780674604.73361182 seconds. ×2 + 13.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 13.73sINFOobjective_server_nodePath shortcutter: [X___X] + 13.74sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Received new action goal + 13.74sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Accepted new action goal + 13.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 13.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 15.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	4 errors · 2 warnings · 76 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780674752.70495987 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [info] Accepted new action goal + 5.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-05 15:52:37.927] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-05 15:52:37.927] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-05 15:52:37.928] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 12.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 12.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 12.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 13.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 13.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 13.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 14.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 14.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.50sINFOobjective_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 + 14.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 14.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 15.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 15.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 15.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 15.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 seconds. ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780674731.30505681 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: 1780674731.85163617 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Accepted new action goal + 0.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.78sINFOros2_control_node[2026-06-05 15:52:16.085] [info] Received new action goal + 4.78sINFOros2_control_node[2026-06-05 15:52:16.085] [info] Accepted new action goal + 10.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780674741.67167163 seconds ×2 + 10.93sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780674742.23478055 seconds. ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 11.02sINFOobjective_server_nodePath shortcutter: [X________X] + 11.03sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Received new action goal + 11.03sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Accepted new action goal + 11.37sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 11.37sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 12.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 5:10.008 of wall time (216/95545). Below 1% is expected on a non-realtime system.[0m
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.9s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780674536.92719460 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.24sINFOobjective_server_node[0;93m2026-06-05 15:49:05.167188372 [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 + 8.24sINFOobjective_server_node[0;93m2026-06-05 15:49:05.167220674 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.77sINFOobjective_server_node[0;93m2026-06-05 15:49:05.693421395 [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 + 8.77sINFOobjective_server_node[0;93m2026-06-05 15:49:05.693458477 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.90sINFOobjective_server_node[0;93m2026-06-05 15:49:05.831379041 [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 + 8.91sINFOobjective_server_node[0;93m2026-06-05 15:49:05.834177444 [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 + 8.91sINFOobjective_server_node[0;93m2026-06-05 15:49:05.834197015 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.24sINFOobjective_server_node[0;93m2026-06-05 15:49:06.167456825 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.25sINFOobjective_server_node[0;93m2026-06-05 15:49:06.180692962 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.25sINFOobjective_server_node[0;93m2026-06-05 15:49:06.180724614 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.59sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780674547.51950049 seconds ×2 + 11.02sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 11.02sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 11.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 11.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.53sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.54sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.82sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.33sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.42sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 12.42sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 12.42sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 12.75sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [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 + 12.75sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 14.05sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 14.06sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 14.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 14.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.55sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 14.55sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.1s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-05 15:49:05.167188372 [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;93m2026-06-05 15:49:05.167220674 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.53sINFOobjective_server_node[0;93m2026-06-05 15:49:05.693421395 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.53sINFOobjective_server_node[0;93m2026-06-05 15:49:05.693458477 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.66sINFOobjective_server_node[0;93m2026-06-05 15:49:05.831379041 [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;93m2026-06-05 15:49:05.834177444 [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;93m2026-06-05 15:49:05.834197015 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.00sINFOobjective_server_node[0;93m2026-06-05 15:49:06.167456825 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-05 15:49:06.180692962 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-05 15:49:06.180724614 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.35sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780674547.51950049 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 3.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 3.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.58sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 3.58sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.09sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 4.09sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.18sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 4.18sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.18sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.49sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 4.51sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [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 + 4.51sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 5.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.82sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 6.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 6.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 7.07sINFOobjective_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 + 7.08sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 7.32sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 7.33sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 7.35sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 7.35sINFOobjective_server_nodePath shortcutter: [X____________X] + 7.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 7.39sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 7.39sINFOros2_control_node[2026-06-05 15:49:12.555] [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: 1780674536.37518907 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: 1780674536.92719460 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.03sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.9s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 seconds. ×2 + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m
✓ passed	Close Gripper	close_gripper.xml	1.6s	12 warnings · 251 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.03sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.03sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 0.03sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 0.14sINFOobjective_server_node[2026-06-05 15:47:15.349] [moveit_pro_license] [info] + 0.15sINFOobjective_server_node************************************************* ×2 + 0.15sINFOobjective_server_node* MoveIt Pro License + 0.15sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.20sINFOcontroller_managerupdate rate is 600 Hz + 0.20sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.20sWARNcontroller_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. + 0.20sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.20sWARNros2_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 + 0.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.23sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.27sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.27sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.27sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.27sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.27sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.32sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.35sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.36sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.36sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.38sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.38sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.38sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.38sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.38sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.38sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.38sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.44sINFOmove_group ×2 + 0.44sINFOmove_group[92mYou can start planning now![0m + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 0.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.48sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.55sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.55sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.55sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.55sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.55sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points" + 0.56sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points"[0m + 0.56sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.56sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 0.56sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color" + 0.56sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers" + 0.57sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth" + 0.58sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color" + 0.58sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 0.58sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap" + 0.58sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state" + 0.58sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.58sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.58sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector" + 0.58sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info" + 0.59sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states" + 0.59sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info" + 0.59sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory" + 0.59sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents" + 0.59sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.59sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.59sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 0.59sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state" + 0.59sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m + 0.59sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state"[0m + 0.62sINFOros2_control_node[2026-06-05 15:47:15.820] [info] Controller state will be published at 10 Hz. + 0.62sINFOros2_control_node[2026-06-05 15:47:15.821] [info] VelocityForceController 'on_configure' succeeded. + 0.62sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.65sINFOros2_control_node[2026-06-05 15:47:15.850] [info] Controller state will be published at 20 Hz. + 0.65sINFOros2_control_node[2026-06-05 15:47:15.851] [info] JointVelocityController 'on_configure' succeeded. + 0.65sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.65sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.65sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.65sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.65sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.65sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.65sINFOros2_control_node[2026-06-05 15:47:15.856] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.65sINFOros2_control_node[2026-06-05 15:47:15.856] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.68sINFOros2_control_node[2026-06-05 15:47:15.884] [info] First order lag filter time constant set to: 0.2 seconds + 0.68sINFOros2_control_node[2026-06-05 15:47:15.884] [info] Controller state will be published at 50 Hz. + 0.69sINFOros2_control_node[2026-06-05 15:47:15.890] [info] Registered `FollowJointTrajectory` action server. + 0.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.73sINFOobjective_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. + 0.73sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.73sWARNobjective_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/. + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10202] + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10199] + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10187] + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10189] + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10193] + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10195] + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10191] + 1.38sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 1.38sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 1.39sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 1.39sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 1.39sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.39sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 1.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.61sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 2.41sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.41sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.92sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 4.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 5.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 6.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 6.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 6.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 7.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 7.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 8.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 8.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.10sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 8.10sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	74 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 6.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 6.62sINFOobjective_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 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674536.37518907 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: 1780674536.92719460 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.03sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [info] Accepted new action goal
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	2 errors · 2 warnings · 46 info
+ 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 seconds. ×2 + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780674770.55905581 seconds ×2 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.19sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.52sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 seconds. ×2 + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780674770.55905581 seconds ×2 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.19sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)
− 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 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780674709.10990500 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780674709.85799956 seconds. ×2 + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.19sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.1s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	19 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780674604.13144827 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780674604.73361182 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 15:50:04.896] [info] Accepted new action goal + 0.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_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 · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− 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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 15:47:32.902] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-05 15:47:33.688] [info] Canceling active goal... + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780674453.72594237 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780674454.33853197 seconds. ×2 + 1.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780674454.46869159 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780674455.02531528 seconds. ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-05 15:47:36.185] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-05 15:48:09.618] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780674491.00546908 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780674491.58136821 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780674491.67167711 seconds ×2 + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.75sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780674492.32262707 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-05 15:48:12.426] [info] Accepted new action goal + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-05 15:48:15.766] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). 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 · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). 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 · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 27 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 (5.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 15:48:20.424] [info] Accepted new action goal + 2.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780674502.75084114 seconds ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780674503.33967185 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.22sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.22sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Received new action goal + 4.19sINFOros2_control_node[2026-06-05 15:48:24.529] [info] Accepted new action goal + 5.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 1:10.003 of wall time (24/21702). Below 1% is expected on a non-realtime system.[0m
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 38 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00225255 s). + 0.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-05 15:48:42.438] [info] Accepted new action goal + 0.62sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Received new action goal + 0.62sINFOros2_control_node[2026-06-05 15:48:42.879] [info] Accepted new action goal + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.38sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-05 15:48:44.636] [info] Accepted new action goal + 2.44sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Got request to cancel active goal. + 2.44sINFOros2_control_node[2026-06-05 15:48:44.693] [info] Canceling active goal... + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780674524.69703913 seconds ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780674525.35536814 seconds. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.21sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-05 15:48:45.468] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.53sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.56sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Received new action goal + 5.56sINFOros2_control_node[2026-06-05 15:48:47.813] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	33 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780674536.37518907 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: 1780674536.92719460 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-05 15:49:00.330] [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: 1780674536.92719460 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780674536.92719460 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780674537.00732660 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780674537.55255961 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-05 15:48:57.656] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780674539.66268539 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780674540.20753646 seconds. ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Received new action goal + 3.40sINFOros2_control_node[2026-06-05 15:49:00.330] [info] Accepted new action goal + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.48sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [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 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780674548.20830512 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.52sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746422923 [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 + 0.80sINFOobjective_server_node[0;93m2026-06-05 15:49:08.746455395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254872194 [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 + 1.30sINFOobjective_server_node[0;93m2026-06-05 15:49:09.254901266 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.348825197 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350795528 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-05 15:49:09.350815599 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.71sINFOobjective_server_node[0;93m2026-06-05 15:49:09.658182432 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674925549 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.73sINFOobjective_server_node[0;93m2026-06-05 15:49:09.674963701 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780674550.57730126 seconds ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780674551.21105814 seconds. ×2 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.29sINFOobjective_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 + 4.30sINFOobjective_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 + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 4.57sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.60sINFOros2_control_node[2026-06-05 15:49:12.554] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-05 15:49:12.555] [info] Accepted new action goal
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	4 errors · 1054 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×86 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×86 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×218 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×216 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×218 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×216 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780674666.75854778 seconds ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155) + 3.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.839155)[0m + 3.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780674648.799155) that ends in the past (1780674666.849155)[0m + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780674667.35234833 seconds. ×2 + 3.73sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.83sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-05 15:51:07.526] [info] Accepted new action goal + 3.87sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.87sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	2 errors · 20 info
+ 0.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.05sINFOobjective_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 + 1.04sERRORobjective_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 + 1.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780674680.25703454 seconds ×2 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780674680.85973597 seconds. ×2 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.98sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.98sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.75sINFOobjective_server_nodeFound path in 7 iterations (0.00688285 s). + 2.80sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.81sINFOros2_control_node[2026-06-05 15:51:22.024] [info] Received new action goal + 2.81sINFOros2_control_node[2026-06-05 15:51:22.024] [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 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780674709.10990500 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780674709.85799956 seconds. ×2 + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution" + 1.67sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.67sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.81sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-05 15:51:50.075] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures" + 4.19sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.69sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	26 info
+ 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-05 15:51:57.015] [info] Accepted new action goal + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Received new action goal + 1.78sINFOros2_control_node[2026-06-05 15:51:58.798] [info] Accepted new action goal + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780674720.18911624 seconds ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780674720.82414913 seconds. ×2 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-05 15:52:00.987] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.99sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.88sINFOobjective_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: 1780674731.30505681 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: 1780674731.85163617 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 15:52:12.076] [info] Accepted new action goal + 0.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	17 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780674741.67167163 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: 1780674742.23478055 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-05 15:52:22.338] [info] Accepted new action goal + 1.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 1.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 3.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 5:10.008 of wall time (216/95545). Below 1% is expected on a non-realtime system.[0m
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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: 1780674752.70495987 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 `Reset MuJoCo Robot` starting at time: 1780674753.25150394 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780674753.34162498 seconds ×2 + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780674753.88528633 seconds. ×2 + 1.20sINFOobjective_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 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780674753.90708590 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780674754.50385261 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X___X] + 1.91sINFOros2_control_node[2026-06-05 15:52:34.616] [info] Received new action goal + 1.91sINFOros2_control_node[2026-06-05 15:52:34.617] [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[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 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[2026-06-05 15:52:44.704] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 15:52:44.704] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780674764.70907474 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780674765.26942992 seconds. ×2 + 0.64sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780674766.64954567 seconds ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780674767.19985032 seconds. ×2 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780674767.20150876 seconds ×2 + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.66sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780674767.77051711 seconds. ×2 + 3.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780674767.77100587 seconds ×2 + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.17sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780674768.41894197 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	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	5.9s	14 warnings · 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/2026-06-05-15-47-11-565365-2538f9a07732-10155 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.24sINFOros2_control_node-1process started with pid [10185] + 1.24sINFOmove_group-9process started with pid [10206] + 1.24sINFOparameter_manager_node-10process started with pid [10208] + 1.24sINFOwaypoint_manager_node-11process started with pid [10246] + 1.24sINFOmove_joint_resampler_node-12process started with pid [10248] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [10250] + 1.24sINFOobjective_server_node_main-14process started with pid [10252] + 1.24sINFOcomponent_container_mt-15process started with pid [10254] + 1.24sINFOexecute_objective_bridge-16process started with pid [10256] + 1.24sINFOui_teleop_bridge-17process started with pid [10258] + 1.24sINFOfoxglove_bridge-18process started with pid [10260] + 1.24sINFOtf2_web_republisher_node-19process started with pid [10286] + 1.24sINFOweb_video_server-20process started with pid [10310] + 1.25sINFOparameter_manager_nodeStarted parameter manager node. + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10187] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10189] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10191] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10193] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10195] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10199] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10202] + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sWARNros2_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 + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.40sINFOfoxglove_bridgeServer listening on port 3201 + 1.40sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.40sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.40sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.41sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.41sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" + 1.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.43sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.43sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.88sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf" + 1.88sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" + 1.88sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf"[0m + 1.88sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states" + 1.89sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static" + 1.89sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static"[0m + 1.97sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.05sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.05sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.09sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.33sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.51sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 2.51sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 2.53sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.53sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.53sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.53sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 2.53sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.53sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.53sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.53sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 3.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 3.29sINFOobjective_server_node[2026-06-05 15:47:15.349] [moveit_pro_license] [info] + 3.29sINFOobjective_server_node************************************************* ×2 + 3.29sINFOobjective_server_node* MoveIt Pro License + 3.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.34sINFOcontroller_managerupdate rate is 600 Hz + 3.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.34sWARNcontroller_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. + 3.34sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.34sINFOros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.35sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 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 + 3.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 3.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 3.46sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 3.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 3.52sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.52sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 3.55sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 3.58sINFOmove_group ×2 + 3.58sINFOmove_group[92mYou can start planning now![0m + 3.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.60sINFOobjective_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. + 3.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.61sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.61sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.69sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.69sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.69sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.69sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.70sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.70sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points" + 3.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points"[0m + 3.70sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color" + 3.70sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color"[0m + 3.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers" + 3.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth" + 3.72sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color" + 3.72sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 3.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap" + 3.72sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state" + 3.72sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector" + 3.72sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info" + 3.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states" + 3.73sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info" + 3.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory" + 3.73sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents" + 3.73sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.73sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.73sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 3.73sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state" + 3.73sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state"[0m + 3.76sINFOros2_control_node[2026-06-05 15:47:15.820] [info] Controller state will be published at 10 Hz. + 3.76sINFOros2_control_node[2026-06-05 15:47:15.821] [info] VelocityForceController 'on_configure' succeeded. + 3.76sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.76sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.79sINFOros2_control_node[2026-06-05 15:47:15.850] [info] Controller state will be published at 20 Hz. + 3.79sINFOros2_control_node[2026-06-05 15:47:15.851] [info] JointVelocityController 'on_configure' succeeded. + 3.79sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.79sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.79sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.79sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.79sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.79sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.79sINFOros2_control_node[2026-06-05 15:47:15.856] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.79sINFOros2_control_node[2026-06-05 15:47:15.856] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.82sINFOros2_control_node[2026-06-05 15:47:15.884] [info] First order lag filter time constant set to: 0.2 seconds + 3.82sINFOros2_control_node[2026-06-05 15:47:15.884] [info] Controller state will be published at 50 Hz. + 3.83sINFOros2_control_node[2026-06-05 15:47:15.890] [info] Registered `FollowJointTrajectory` action server. + 3.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.87sINFOobjective_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. + 3.87sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.87sWARNobjective_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/. + 4.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10202] + 4.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10199] + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10187] + 4.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10189] + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10193] + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10195] + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10191] + 4.53sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 4.53sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 4.53sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 4.53sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 4.53sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.53sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.53sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 4.53sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.76sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 5.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 5.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.91sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 5.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.06sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.06sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 7.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 8.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 9.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 9.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.78sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.15sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.15sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 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 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 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 (2.5851e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 7.45sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m
− skipped	—	addtovector.xml	0.0s	13 warnings · 255 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/2026-06-05-15-47-11-565365-2538f9a07732-10155 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.24sINFOros2_control_node-1process started with pid [10185] + 1.24sINFOmove_group-9process started with pid [10206] + 1.24sINFOparameter_manager_node-10process started with pid [10208] + 1.24sINFOwaypoint_manager_node-11process started with pid [10246] + 1.24sINFOmove_joint_resampler_node-12process started with pid [10248] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [10250] + 1.24sINFOobjective_server_node_main-14process started with pid [10252] + 1.24sINFOcomponent_container_mt-15process started with pid [10254] + 1.24sINFOexecute_objective_bridge-16process started with pid [10256] + 1.24sINFOui_teleop_bridge-17process started with pid [10258] + 1.24sINFOfoxglove_bridge-18process started with pid [10260] + 1.24sINFOtf2_web_republisher_node-19process started with pid [10286] + 1.24sINFOweb_video_server-20process started with pid [10310] + 1.25sINFOparameter_manager_nodeStarted parameter manager node. + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10187] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10189] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10191] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10193] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10195] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10199] + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10202] + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sWARNros2_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 + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.40sINFOfoxglove_bridgeServer listening on port 3201 + 1.40sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.40sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.40sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.41sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.41sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.41sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" + 1.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.43sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.43sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.88sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf" + 1.88sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" + 1.88sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf"[0m + 1.88sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states" + 1.89sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static" + 1.89sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static"[0m + 1.97sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.05sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.05sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.09sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.33sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.51sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 2.51sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 2.53sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.53sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.53sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.53sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 2.53sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.53sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.53sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.53sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.17sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 3.17sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 3.29sINFOobjective_server_node[2026-06-05 15:47:15.349] [moveit_pro_license] [info] + 3.29sINFOobjective_server_node************************************************* ×2 + 3.29sINFOobjective_server_node* MoveIt Pro License + 3.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.34sINFOcontroller_managerupdate rate is 600 Hz + 3.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.34sWARNcontroller_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. + 3.34sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.34sINFOros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.35sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 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 + 3.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 3.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 3.46sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 3.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 3.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 3.52sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.52sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 3.55sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 3.58sINFOmove_group ×2 + 3.58sINFOmove_group[92mYou can start planning now![0m + 3.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.60sINFOobjective_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. + 3.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.61sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.61sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.69sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.69sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.69sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.69sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.70sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.70sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points" + 3.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/points"[0m + 3.70sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color" + 3.70sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 3.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/color"[0m + 3.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers" + 3.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth" + 3.72sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color" + 3.72sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 3.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/color"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/trajectory_execution_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/joint_trajectory_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap" + 3.72sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state" + 3.72sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event" + 3.72sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/controller_state"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_state_broadcaster/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.72sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector" + 3.72sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/failure_reason_collector"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info" + 3.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/camera_info"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states" + 3.73sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info" + 3.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/dynamic_joint_states"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory" + 3.73sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents" + 3.73sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.73sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/blackboard_contents"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 3.73sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state" + 3.73sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m + 3.73sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/state"[0m + 3.76sINFOros2_control_node[2026-06-05 15:47:15.820] [info] Controller state will be published at 10 Hz. + 3.76sINFOros2_control_node[2026-06-05 15:47:15.821] [info] VelocityForceController 'on_configure' succeeded. + 3.76sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.76sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	74 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 6.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 6.62sINFOobjective_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 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	74 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 6.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 6.62sINFOobjective_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 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	74 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench" + 0.00sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780674437.42298794 seconds. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780674437.43316317 seconds ×2 + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 6.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 6.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 6.62sINFOobjective_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 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	51 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780674437.97199416 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.15sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 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 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 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 (2.5851e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780674439.08210945 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). 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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [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: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780674439.64913678 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780674440.66928267 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780674441.21683359 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780674441.23697186 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780674441.78551197 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780674441.93599343 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780674442.59557199 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780674442.64569616 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780674443.19679880 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5851e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-05 15:47:23.301] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3166). Below 1% is expected on a non-realtime system.[0m + 6.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Received new action goal + 6.21sINFOros2_control_node[2026-06-05 15:47:25.860] [info] Accepted new action goal