118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 129 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal + 7.75sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 7.77sINFOros2_control_node[2026-06-05 16:23:14.991] [info] Received new action goal + 7.77sINFOros2_control_node[2026-06-05 16:23:14.991] [info] Accepted new action goal + 10.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.95sINFOros2_control_node[2026-06-05 16:23:18.172] [info] Received new action goal + 10.95sINFOros2_control_node[2026-06-05 16:23:18.172] [info] Accepted new action goal + 13.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 13.92sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.95sINFOros2_control_node[2026-06-05 16:23:21.174] [info] Received new action goal + 13.95sINFOros2_control_node[2026-06-05 16:23:21.174] [info] Accepted new action goal + 16.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 21.10sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.11% of iterations over budget over 2:10.024 of wall time (46/40186). Below 1% is expected on a non-realtime system.[0m + 23.71sINFOobjective_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 + 24.66sINFOros2_control_node[2026-06-05 16:23:31.889] [info] Received new action goal + 24.66sINFOros2_control_node[2026-06-05 16:23:31.889] [info] Accepted new action goal + 25.83sINFOobjective_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 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 26.11sINFOobjective_server_nodePath shortcutter: [X___________X] + 26.14sINFOros2_control_node[2026-06-05 16:23:33.359] [info] Received new action goal + 26.14sINFOros2_control_node[2026-06-05 16:23:33.359] [info] Accepted new action goal + 28.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 28.26sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.27sINFOros2_control_node[2026-06-05 16:23:35.496] [info] Received new action goal + 28.27sINFOros2_control_node[2026-06-05 16:23:35.496] [info] Accepted new action goal + 31.31sINFOros2_control_node[2026-06-05 16:23:38.538] [info] Received new action goal + 31.31sINFOros2_control_node[2026-06-05 16:23:38.538] [info] Accepted new action goal + 33.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 33.90sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.93sINFOros2_control_node[2026-06-05 16:23:41.154] [info] Received new action goal + 33.93sINFOros2_control_node[2026-06-05 16:23:41.154] [info] Accepted new action goal + 44.62sINFOros2_control_node[2026-06-05 16:23:51.841] [info] Received new action goal + 44.62sINFOros2_control_node[2026-06-05 16:23:51.841] [info] Accepted new action goal + 45.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780676632.99873233 seconds ×2 + 46.47sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780676633.69610596 seconds. ×2 + 46.65sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.65sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.66sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 47.67sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.67sINFOros2_control_node[2026-06-05 16:23:54.899] [info] Received new action goal + 47.67sINFOros2_control_node[2026-06-05 16:23:54.899] [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 | 37.8s | 4 errors · 2 warnings · 13803 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780676644.55816936 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780676645.16324449 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Accepted new action goal + 0.89sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.89sINFOfoxglove_bridgeAdvertising new channel 69 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 + 2.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×3407 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×3406 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×3407 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×3406 + 9.10sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.18sINFOjoint_trajectory_controllerGoal reached, success! ×65 + 9.18sINFOros2_control_nodeGoal reached, success![0m ×65 + 23.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.17% of iterations over budget over 3:10.027 of wall time (98/58691). Below 1% is expected on a non-realtime system.[0m + 30.46sWARNros2_control_nodeFailed to send goal response 5bc5a8d94a30ae544c4ba282f59f44 (timeout): error not set, at ./src/rcl/service.c:314[0m + 37.50sWARNros2_control_nodeFailed to send goal response e89633caca1cfcf14b1a8f6dbf0e9ed (timeout): error not set, at ./src/rcl/service.c:314[0m + 37.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676676.459563) that ends in the past (1780676681.989563) + 37.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676676.459563) that ends in the past (1780676681.989563)[0m + 37.88sERRORobjective_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 + 37.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780676682.44505000 seconds ×2 + 38.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780676683.02481174 seconds. ×2 + 38.53sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 38.61sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 38.62sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.63sINFOros2_control_node[2026-06-05 16:24:43.188] [info] Received new action goal + 38.63sINFOros2_control_node[2026-06-05 16:24:43.188] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 34.0s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal + 27.73sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 27.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 28.24sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 28.24sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 29.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 29.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 29.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 29.75sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 29.75sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 29.78sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 29.78sINFOobjective_server_nodePath shortcutter: [X___________X] + 29.79sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 29.80sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 29.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 29.86sINFOobjective_server_nodeFound path in 1 iterations (0.00300726 s). + 29.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 29.96sINFOros2_control_node[2026-06-05 16:22:05.712] [info] Received new action goal + 29.96sINFOros2_control_node[2026-06-05 16:22:05.712] [info] Accepted new action goal + 32.49sINFOros2_control_node[2026-06-05 16:22:08.234] [info] Received new action goal + 32.49sINFOros2_control_node[2026-06-05 16:22:08.234] [info] Accepted new action goal + 34.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 34.32sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 34.32sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 35.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 36.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 36.31sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.31sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 36.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 37.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 37.09sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 37.09sINFOobjective_server_nodePath shortcutter: [X_____________X] + 37.10sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 37.10sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 37.32sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 37.33sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 33.6s | 14 errors · 5735 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1321 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1328 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1321 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×195 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×195 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780676707.17217112 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314)[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780676707.74163699 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 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Accepted new action goal + 3.89sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.92sINFOros2_control_node[2026-06-05 16:25:13.046] [info] Received new action goal + 8.92sINFOros2_control_node[2026-06-05 16:25:13.046] [info] Accepted new action goal + 10.77sINFOros2_control_node[2026-06-05 16:25:14.899] [info] Received new action goal + 10.77sINFOros2_control_node[2026-06-05 16:25:14.899] [info] Accepted new action goal + 16.47sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 16.47sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 16.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 16.69sINFOobjective_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 + 16.98sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 16.98sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 24.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 4:10.027 of wall time (158/77043). Below 1% is expected on a non-realtime system.[0m + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676730.107271) ×2 + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676730.107271)[0m ×2 + 36.67sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780676740.80437827 seconds ×2 + 36.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271) + 36.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271)[0m + 36.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271) + 36.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271)[0m + 37.30sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780676741.42900085 seconds. ×2 + 37.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 37.68sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 37.68sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 38.47sINFOobjective_server_nodeFound path in 6 iterations (0.0040555 s). + 38.52sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 38.53sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Received new action goal + 38.53sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.2s | 4 errors · 870 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×179 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×177 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×179 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×177 + 0.08sINFOjoint_trajectory_controllerGoal reached, success! ×28 + 0.08sINFOros2_control_nodeGoal reached, success![0m ×28 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780676740.80437827 seconds ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271)[0m + 3.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271)[0m + 3.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780676741.42900085 seconds. ×2 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.75sINFOobjective_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 + 4.85sINFOobjective_server_nodeFound path in 6 iterations (0.0040555 s). + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.91sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Received new action goal + 4.91sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Accepted new action goal + 14.10sINFOobjective_server_node[0;m[0;93m2026-06-05 16:25:51.853684020 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.10sINFOobjective_server_node[0;93m2026-06-05 16:25:51.853713141 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.57sINFOobjective_server_node[0;93m2026-06-05 16:25:52.327807147 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.57sINFOobjective_server_node[0;93m2026-06-05 16:25:52.327846548 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.68sINFOobjective_server_node[0;93m2026-06-05 16:25:52.432805150 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 14.68sINFOobjective_server_node[0;93m2026-06-05 16:25:52.434753973 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.68sINFOobjective_server_node[0;93m2026-06-05 16:25:52.434772303 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.96sINFOobjective_server_node[0;93m2026-06-05 16:25:52.710321124 [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 + 14.97sINFOobjective_server_node[0;93m2026-06-05 16:25:52.724713951 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.97sINFOobjective_server_node[0;93m2026-06-05 16:25:52.724747642 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.14sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 16.14sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 16.56sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 19.73sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.90sINFOobjective_server_nodeFound path in 4 iterations (0.002147 s). + 19.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.98sINFOobjective_server_nodeFound path in 12 iterations (0.00451613 s). + 20.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.05sINFOobjective_server_nodeFound path in 2 iterations (0.00258619 s). + 20.08sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 20.10sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 20.11sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.14sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 20.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.17sINFOobjective_server_nodeFound path in 12 iterations (0.00379146 s). + 20.18sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 20.18sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 20.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 20.23sINFOobjective_server_nodeFound path in 1 iterations (0.00284437 s). + 20.27sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 20.29sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 20.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.34sINFOobjective_server_nodeFound path in 4 iterations (0.00354973 s). + 20.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.41sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 20.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 20.47sINFOobjective_server_nodeFound path in 4 iterations (0.00238914 s). + 20.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 20.56sINFOobjective_server_nodeFound path in 1 iterations (0.0048128 s). + 20.60sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 20.63sINFOobjective_server_nodeFound path in 1 iterations (0.00243574 s). + 20.68sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.70sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 20.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] + 20.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 20.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.93sINFOros2_control_node[2026-06-05 16:25:58.686] [info] Received new action goal + 20.93sINFOros2_control_node[2026-06-05 16:25:58.686] [info] Accepted new action goal + 25.94sINFOros2_control_node[2026-06-05 16:26:03.688] [info] Received new action goal + 25.94sINFOros2_control_node[2026-06-05 16:26:03.688] [info] Accepted new action goal + 27.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.61sINFOros2_control_node[2026-06-05 16:26:05.362] [info] Received new action goal + 27.61sINFOros2_control_node[2026-06-05 16:26:05.362] [info] Accepted new action goal + 28.82sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.85sINFOros2_control_node[2026-06-05 16:26:06.602] [info] Received new action goal + 28.85sINFOros2_control_node[2026-06-05 16:26:06.602] [info] Accepted new action goal + 34.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780676772.01005507 seconds ×2 + 34.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780676772.73906970 seconds. ×2 + 35.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 35.20sINFOobjective_server_nodePath shortcutter: [X______X] + 35.21sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Received new action goal + 35.21sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Accepted new action goal + 35.32sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 35.32sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 35.32sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 35.32sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 48 errors · 1 warning · 7462 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1686 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1663 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1663 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×365 + 0.03sINFOros2_control_nodeGoal reached, success![0m ×365 + 2.50sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.66sWARNros2_control_nodeFailed to send goal response e89633caca1cfcf14b1a8f6dbf0e9ed (timeout): error not set, at ./src/rcl/service.c:314[0m + 2.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676676.459563) that ends in the past (1780676681.989563) + 2.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676676.459563) that ends in the past (1780676681.989563)[0m + 3.04sERRORobjective_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 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780676682.44505000 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: 1780676683.02481174 seconds. ×2 + 3.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.79sINFOros2_control_node[2026-06-05 16:24:43.188] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-05 16:24:43.188] [info] Accepted new action goal + 7.76sINFOobjective_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 + 10.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.131314) + 10.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.131314)[0m + 10.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.141314) + 10.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.141314)[0m + 11.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.691314) + 11.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676690.691314)[0m + 11.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.351314) + 11.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.361314) + 11.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.351314)[0m + 11.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.361314)[0m + 11.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.371314) + 11.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.371314)[0m + 12.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.881314) ×2 + 12.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676691.881314)[0m ×2 + 13.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676692.531314) + 13.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676692.531314)[0m + 13.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676692.551314) + 13.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676692.551314)[0m + 14.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676693.701314) + 14.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676693.701314)[0m + 14.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676693.721314) + 14.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676693.721314)[0m + 15.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676694.871314) ×2 + 15.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676694.871314)[0m ×2 + 15.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676694.881314) + 15.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676694.881314)[0m + 15.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676695.391314) + 16.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676695.391314)[0m + 16.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676695.411314) + 16.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676695.411314)[0m + 16.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676696.071314) + 16.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676696.071314)[0m + 24.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676704.101314) + 24.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676704.101314)[0m + 27.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780676707.17217112 seconds ×2 + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314)[0m + 27.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314) ×2 + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314)[0m ×2 + 28.34sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780676707.74163699 seconds. ×2 + 28.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 28.53sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Received new action goal + 28.53sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Accepted new action goal + 28.62sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.62sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 73 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00272432 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.19sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Accepted new action goal + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.39sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Received new action goal + 2.39sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Accepted new action goal + 2.67sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Got request to cancel active goal. + 2.67sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Canceling active goal... + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780676565.19078350 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 3.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780676565.83510137 seconds. ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.51sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Accepted new action goal + 3.82sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.82sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.82sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.84sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Received new action goal + 5.84sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Accepted new action goal + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780676576.91990805 seconds ×2 + 14.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 15.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 15.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 15.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 15.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 seconds. ×2 + 15.69sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 15.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.71sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 15.71sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 17.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 18.27sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 18.39sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 18.39sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 18.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 18.42sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 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 16:23:51.841] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-05 16:23:51.841] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780676632.99873233 seconds ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780676633.69610596 seconds. ×2 + 2.96sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.96sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.99sINFOros2_control_node[2026-06-05 16:23:54.899] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-05 16:23:54.899] [info] Accepted new action goal + 7.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 10.03sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.04sINFOros2_control_node[2026-06-05 16:24:00.949] [info] Received new action goal + 10.04sINFOros2_control_node[2026-06-05 16:24:00.949] [info] Accepted new action goal + 13.65sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780676644.55816936 seconds ×2 + 14.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780676645.16324449 seconds. ×2 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 14.39sINFOobjective_server_nodePath shortcutter: [X___X] + 14.42sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Received new action goal + 14.42sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Accepted new action goal + 14.53sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.53sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 15.68sINFOobjective_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 + 15.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ 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: 1780676483.63296962 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 1.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 1.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 1.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 1.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 2.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 2.56sINFOobjective_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 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 2.66sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.68sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 2.68sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 4.68sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 4.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 5.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.17sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 5.17sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 8.90sINFOros2_control_node[2026-06-05 16:21:32.531] [info] Received new action goal + 8.90sINFOros2_control_node[2026-06-05 16:21:32.531] [info] Accepted new action goal + 12.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 12.20sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.21sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 12.21sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 13.06sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 13.06sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 13.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 13.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 13.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 14.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 14.68sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.69sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 15.52sINFOobjective_server_nodePath shortcutter: [X______X] + 15.53sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 15.53sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 65 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal + 7.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.016 of wall time (22/21669). Below 1% is expected on a non-realtime system.[0m + 10.94sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 10.94sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 11.44sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.44sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 12.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.95sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 12.95sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 13.01sINFOobjective_server_nodePath shortcutter: [X__________X] + 13.01sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). + 13.01sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.02sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 13.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 13.06sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 13.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 13.10sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 13.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 13.15sINFOobjective_server_nodeFound path in 1 iterations (0.00171784 s). + 13.21sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 13.24sINFOobjective_server_nodeFound path in 1 iterations (0.00391261 s). + 13.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 13.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 13.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780676554.15298414 seconds ×2 + 13.99sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780676554.75110316 seconds. ×2 + 14.19sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 14.20sINFOros2_control_node[2026-06-05 16:22:34.954] [info] Received new action goal + 14.20sINFOros2_control_node[2026-06-05 16:22:34.954] [info] Accepted new action goal + 14.47sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.47sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.48sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.48sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 106 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 1.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 2.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). + 2.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 2.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 2.12sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.15sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 2.16sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 2.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 2.21sINFOobjective_server_nodeFound path in 1 iterations (0.00171784 s). + 2.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.29sINFOobjective_server_nodeFound path in 1 iterations (0.00391261 s). + 2.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780676554.15298414 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780676554.75110316 seconds. ×2 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X______X] + 3.26sINFOros2_control_node[2026-06-05 16:22:34.954] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-05 16:22:34.954] [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 "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.54sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.54sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 7.56sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 7.57sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 7.81sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). + 7.82sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×3 + 7.92sINFOobjective_server_nodeFound path in 1 iterations (0.00175179 s). + 8.00sINFOobjective_server_nodeFound path in 1 iterations (0.00276269 s). + 8.16sINFOros2_control_node[2026-06-05 16:22:39.856] [info] Received new action goal + 8.16sINFOros2_control_node[2026-06-05 16:22:39.856] [info] Accepted new action goal + 10.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 10.81sINFOobjective_server_nodePath shortcutter: [X_X] + 10.81sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 10.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.88sINFOobjective_server_nodeFound path in 1 iterations (0.00272432 s). + 10.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.99sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Received new action goal + 10.99sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Accepted new action goal + 11.44sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Received new action goal + 11.44sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Accepted new action goal + 13.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 13.20sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Received new action goal + 13.20sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Accepted new action goal + 13.48sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Got request to cancel active goal. + 13.48sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Canceling active goal... + 13.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780676565.19078350 seconds ×2 + 14.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780676565.83510137 seconds. ×2 + 14.30sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 14.32sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Received new action goal + 14.32sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Accepted new action goal + 14.63sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.63sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.63sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.63sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 16.65sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Received new action goal + 16.65sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 2 errors · 62 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780676772.01005507 seconds ×2 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780676772.73906970 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Accepted new action goal + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.66sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.66sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 8.88sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.93sINFOobjective_server_nodeFound path in 1 iterations (0.00204924 s). + 9.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 9.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 9.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 9.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 11.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 11.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 12.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 12.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 12.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 12.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 12.90sINFOobjective_server_nodePath shortcutter: [X________X] + 12.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 12.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 13.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 40 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 8.37sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.027 of wall time (197/95527). Below 1% is expected on a non-realtime system.[0m + 14.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780676794.09456420 seconds ×2 + 14.69sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780676794.64380884 seconds. ×2 + 14.81sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.81sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 14.90sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.92sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Received new action goal + 14.92sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 2 errors · 62 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Accepted new action goal + 8.85sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.86sINFOros2_control_node[2026-06-05 16:22:18.507] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-05 16:22:18.507] [info] Accepted new action goal + 11.18sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 11.19sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 11.19sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 13.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 14.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 14.50sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.50sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.50sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.50sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.13sINFOobjective_server_nodePath shortcutter: [X______X] + 15.18sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 15.18sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| ✓ 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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Accepted new action goal + 5.23sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.24sINFOros2_control_node[2026-06-05 16:27:00.327] [info] Received new action goal + 5.24sINFOros2_control_node[2026-06-05 16:27:00.327] [info] Accepted new action goal + 5.24sINFOros2_control_node[2026-06-05 16:27:00.328] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Got request to cancel active goal. + 12.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 12.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 12.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 13.44sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 13.44sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 13.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 13.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 13.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 14.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 14.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 14.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 14.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 14.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 14.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 14.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780676804.45877218 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: 1780676805.01548266 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Accepted new action goal + 0.89sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.90sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780676815.08568645 seconds ×2 + 11.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780676815.64064622 seconds. ×2 + 11.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 11.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 11.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 11.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 12.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 12.56sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 12.56sINFOobjective_server_nodePath shortcutter: [X___X] + 12.56sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 12.56sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 23 errors · 2 warnings · 148 info |
+ 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.46sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780676831.63710904 seconds ×2 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 9.91sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.91sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.92sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 9.93sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 9.93sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 9.94sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.94sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.95sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.95sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.96sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.97sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.97sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.98sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.99sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.00sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.00sINFOcontroller_managerShutdown request received.... + 10.00sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.00sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.00sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.00sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.00sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.00sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.00sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.00sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.00sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.00sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.00sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.00sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.00sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.00sINFOcontroller_managerShutting down the controller manager. + 10.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.00sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.00sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.00sERRORui_teleop_bridgeTraceback (most recent call last): + 10.00sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.00sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.00sINFOui_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 + 10.00sINFOui_teleop_bridgerclpy.shutdown() + 10.00sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.00sINFOui_teleop_bridge_shutdown(context=context) + 10.00sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.00sINFOui_teleop_bridgereturn context.shutdown() + 10.00sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.00sINFOui_teleop_bridgeself.__context.shutdown() + 10.01sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.01sINFOfoxglove_bridgeShutdown complete[0m + 10.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.01sINFOros2_control_nodeShutdown request received....[0m + 10.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.01sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.01sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.01sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.01sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.01sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.01sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.01sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.01sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.01sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.01sINFOros2_control_nodeShutting down the controller manager.[0m + 10.05sINFOobjective_server_node[0;m[2026-06-05 16:27:17.137] [moveit_pro_license] [info] + 10.05sINFOobjective_server_node************************************************* ×2 + 10.05sINFOobjective_server_node* MoveIt Pro License + 10.05sINFOobjective_server_node* Application has successfully terminated + 10.11sINFOobjective_server_nodecorrupted double-linked list + 10.11sERRORobjective_server_nodeStack trace (most recent call last): + 10.13sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.13sINFOobjective_server_node#18 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55fc34bf24e4, in _start + 10.13sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c3fe3f, in __libc_start_main + 10.13sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c3fd96, in + 10.13sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c5b60f, in exit + 10.13sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c5b494, in + 10.13sINFOobjective_server_node#13 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f80a2fee963, in Ort::detail::Base<OrtEnv>::~Base() + 10.13sINFOobjective_server_node#12 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f80a1e6b144, in + 10.13sINFOobjective_server_node#11 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f80a1ecf721, in + 10.13sINFOobjective_server_node#10 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f80a2529cf6, in + 10.13sINFOobjective_server_node#9 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f80a2529c15, in + 10.13sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cbb452, in free + 10.13sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cb8e9f, in + 10.13sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cb7968, in + 10.13sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cb77cb, in + 10.13sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cb6cfb, in + 10.13sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c9f676, in + 10.13sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c3e7f2, in abort + 10.13sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0c58475, in raise + 10.13sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f80f0cac9fc, in pthread_kill + 10.13sERRORobjective_server_nodeAborted (Signal sent by tkill() 10274 0) + 10.15sINFOweb_video_server-20process has finished cleanly [pid 10319] + 10.15sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10316] + 10.15sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.15sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.72sERRORobjective_server_node_main-14process has died [pid 10274, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_qy9hsw29 --params-file /tmp/launch_params_wjhbwnau --params-file /tmp/launch_params_x0pjo41g --params-file /tmp/launch_params_g6oew0_b --params-file /tmp/launch_params__2ur9jnk --params-file /tmp/launch_params_59076l85']. + 10.72sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.00sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10270] + 11.00sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10272] + 11.01sINFOexecute_objective_bridge-16process has finished cleanly [pid 10284] + 11.02sERRORui_teleop_bridge-17process has died [pid 10288, 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_vzdoqc93']. + 11.03sINFOparameter_manager_node-10process has finished cleanly [pid 10230] + 11.05sINFOwaypoint_manager_node-11process has finished cleanly [pid 10268] + 11.11sINFOcomponent_container_mt-15process has finished cleanly [pid 10278] + 11.17sINFOmove_group-9process has finished cleanly [pid 10227] + 11.92sINFOfoxglove_bridge-18process has finished cleanly [pid 10291] + 11.92sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 12.22sINFOros2_control_node-1process has finished cleanly [pid 10207] | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 30 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780676794.09456420 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: 1780676794.64380884 seconds. ×2 + 0.66sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.66sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Accepted new action goal + 4.78sINFOros2_control_node[2026-06-05 16:26:38.872] [info] Received new action goal + 4.78sINFOros2_control_node[2026-06-05 16:26:38.872] [info] Accepted new action goal + 10.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780676804.45877218 seconds ×2 + 10.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780676805.01548266 seconds. ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 11.04sINFOobjective_server_nodePath shortcutter: [X________X] + 11.04sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Received new action goal + 11.05sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Accepted new action goal + 11.25sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.26sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 12.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.0s | 75 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 7.49sINFOobjective_server_node[0;93m2026-06-05 16:23:04.955065399 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 7.49sINFOobjective_server_node[0;93m2026-06-05 16:23:04.955096259 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.03sINFOobjective_server_node[0;93m2026-06-05 16:23:05.488293773 [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 + 8.03sINFOobjective_server_node[0;93m2026-06-05 16:23:05.488329154 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.14sINFOobjective_server_node[0;93m2026-06-05 16:23:05.603664907 [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 + 8.14sINFOobjective_server_node[0;93m2026-06-05 16:23:05.605630721 [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 + 8.14sINFOobjective_server_node[0;93m2026-06-05 16:23:05.605649271 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.42sINFOobjective_server_node[0;93m2026-06-05 16:23:05.883225075 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.43sINFOobjective_server_node[0;93m2026-06-05 16:23:05.896359355 [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 + 8.43sINFOobjective_server_node[0;93m2026-06-05 16:23:05.896391656 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.76sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 10.01sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 10.01sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 10.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 10.91sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 10.91sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.02sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.02sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.02sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.02sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.41sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 11.41sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.51sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 11.51sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 11.51sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.80sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [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 + 11.82sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [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 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 13.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 13.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 13.32sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 13.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.32sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.53sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.9s | 56 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-05 16:23:04.955065399 [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 16:23:04.955096259 [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 16:23:05.488293773 [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 16:23:05.488329154 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.65sINFOobjective_server_node[0;93m2026-06-05 16:23:05.603664907 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.65sINFOobjective_server_node[0;93m2026-06-05 16:23:05.605630721 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.65sINFOobjective_server_node[0;93m2026-06-05 16:23:05.605649271 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.93sINFOobjective_server_node[0;93m2026-06-05 16:23:05.883225075 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.94sINFOobjective_server_node[0;93m2026-06-05 16:23:05.896359355 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.94sINFOobjective_server_node[0;93m2026-06-05 16:23:05.896391656 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.27sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 3.42sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 3.42sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.52sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.52sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.52sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.52sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.92sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.92sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.02sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.02sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.02sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.31sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [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 + 4.32sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.32sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 5.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 5.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.04sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.04sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 6.87sINFOobjective_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 + 7.05sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 7.05sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 7.14sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 7.14sINFOobjective_server_nodePath shortcutter: [X____________X] + 7.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 7.20sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 7.20sINFOros2_control_node[2026-06-05 16:23:12.154] [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: 1780676576.91990805 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 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 (4.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.46sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780676831.63710904 seconds ×2 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[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' + 0.29sINFOobjective_server_node[2026-06-05 16:21:18.239] [moveit_pro_license] [info] + 0.29sINFOobjective_server_node************************************************* ×2 + 0.29sINFOobjective_server_node* MoveIt Pro License + 0.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.34sINFOcontroller_managerupdate rate is 600 Hz + 0.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.34sWARNcontroller_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. + 0.34sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.34sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.34sWARNros2_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 + 0.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" + 0.36sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 0.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.40sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.40sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.41sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.42sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.42sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.42sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.42sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.42sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.43sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.54sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.61sINFOobjective_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. + 0.61sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.61sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.61sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.69sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.70sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.71sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.71sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.71sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.71sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.71sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.71sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.76sINFOros2_control_node[2026-06-05 16:21:18.709] [info] Controller state will be published at 10 Hz. + 0.76sINFOros2_control_node[2026-06-05 16:21:18.710] [info] VelocityForceController 'on_configure' succeeded. + 0.76sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.79sINFOros2_control_node[2026-06-05 16:21:18.740] [info] Controller state will be published at 20 Hz. + 0.79sINFOros2_control_node[2026-06-05 16:21:18.741] [info] JointVelocityController 'on_configure' succeeded. + 0.79sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.79sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.80sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.80sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.80sINFOros2_control_node[2026-06-05 16:21:18.743] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.80sINFOros2_control_node[2026-06-05 16:21:18.743] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.82sINFOros2_control_node[2026-06-05 16:21:18.769] [info] First order lag filter time constant set to: 0.2 seconds + 0.82sINFOros2_control_node[2026-06-05 16:21:18.769] [info] Controller state will be published at 50 Hz. + 0.83sINFOros2_control_node[2026-06-05 16:21:18.774] [info] Registered `FollowJointTrajectory` action server. + 0.83sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.83sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 1.00sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event"[0m + 1.00sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.00sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.00sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command" + 1.00sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap" + 1.01sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state" + 1.01sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command" + 1.01sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event" + 1.01sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state" + 1.01sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.01sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event" + 1.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event" + 1.01sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench" + 1.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory" + 1.02sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states" + 1.02sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 1.02sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents" + 1.02sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status" + 1.02sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.02sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10221] + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10211] + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10224] + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10209] + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10218] + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10213] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10215] + 1.36sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.39sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.39sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.44sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.56sINFOmove_group ×2 + 1.56sINFOmove_group[92mYou can start planning now![0m + 1.68sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.68sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.85sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 1.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 2.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.25sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 4.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 6.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 6.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 6.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 7.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 7.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 8.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 8.25sINFOobjective_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 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 8.35sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.36sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 8.36sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 1 warning · 75 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.40sWARNobjective_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/. + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 6.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 6.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 6.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676576.91990805 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 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 (4.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.5s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.46sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780676831.63710904 seconds ×2 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.46sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780676831.63710904 seconds ×2 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.96sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.96sINFOfoxglove_bridgeRemoving channel 80 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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780676772.01005507 seconds ×2 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780676772.73906970 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Accepted new action goal + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.1s | 19 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780676644.55816936 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780676645.16324449 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 16:24:05.327] [info] Accepted new action goal + 0.89sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.89sINFOfoxglove_bridgeAdvertising new channel 69 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 + 2.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-05 16:21:35.840] [info] Accepted new action goal + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Got request to cancel active goal. + 0.94sINFOros2_control_node[2026-06-05 16:21:36.692] [info] Canceling active goal... + 0.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780676496.71176982 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780676497.30662847 seconds. ×2 + 1.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780676497.44847465 seconds ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780676498.00248146 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-05 16:21:39.165] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [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 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-05 16:22:10.065] [info] Accepted new action goal + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780676531.45262957 seconds ×2 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780676532.03591776 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780676532.09604502 seconds ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780676532.75629902 seconds. ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.20sINFOros2_control_node[2026-06-05 16:22:12.849] [info] Received new action goal + 3.20sINFOros2_control_node[2026-06-05 16:22:12.850] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-05 16:22:16.180] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 22 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 (3.31e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-05 16:22:20.837] [info] Accepted new action goal + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780676543.07845378 seconds ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780676543.66349173 seconds. ×2 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.39sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-05 16:22:24.826] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 38 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00272432 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.19sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-05 16:22:42.691] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-05 16:22:43.133] [info] Accepted new action goal + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 2.39sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Received new action goal + 2.39sINFOros2_control_node[2026-06-05 16:22:44.900] [info] Accepted new action goal + 2.67sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Got request to cancel active goal. + 2.67sINFOros2_control_node[2026-06-05 16:22:45.177] [info] Canceling active goal... + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780676565.19078350 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780676565.83510137 seconds. ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.51sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Received new action goal + 3.51sINFOros2_control_node[2026-06-05 16:22:46.013] [info] Accepted new action goal + 3.82sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.82sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.82sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.84sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Received new action goal + 5.84sINFOros2_control_node[2026-06-05 16:22:48.347] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780676576.91990805 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 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 (4.1e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 3.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.98sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − 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: 1780676577.46222091 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780676577.46222091 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780676577.53235197 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780676578.09754372 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-05 16:22:58.210] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780676580.21766710 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780676580.77428102 seconds. ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-05 16:23:00.899] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780676587.22681499 seconds ×2 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780676587.89682198 seconds. ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374623064 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-05 16:23:08.374655875 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.25sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.25sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871181257 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-05 16:23:08.871211658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.968012089 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970900693 [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 + 1.74sINFOobjective_server_node[0;93m2026-06-05 16:23:08.970926774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.03sINFOobjective_server_node[0;93m2026-06-05 16:23:09.259983933 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277935570 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.05sINFOobjective_server_node[0;93m2026-06-05 16:23:09.277983882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780676590.15237141 seconds ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780676590.77772665 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.77sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.59sINFOobjective_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 + 4.60sINFOobjective_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 + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.78sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 4.87sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-05 16:23:12.154] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 6 errors · 1002 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×224 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×221 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×224 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×221 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×49 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×49 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780676707.17217112 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.201314)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676689.311314) that ends in the past (1780676707.241314)[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780676707.74163699 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-05 16:25:07.925] [info] Accepted new action goal + 3.89sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 4 errors · 784 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×179 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×177 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×179 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×177 + 0.08sINFOjoint_trajectory_controllerGoal reached, success! ×28 + 0.08sINFOros2_control_nodeGoal reached, success![0m ×28 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780676740.80437827 seconds ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.887271)[0m + 3.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780676722.737271) that ends in the past (1780676740.907271)[0m + 3.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780676741.42900085 seconds. ×2 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.75sINFOobjective_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 + 4.85sINFOobjective_server_nodeFound path in 6 iterations (0.0040555 s). + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.91sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Received new action goal + 4.91sINFOros2_control_node[2026-06-05 16:25:42.663] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780676772.01005507 seconds ×2 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780676772.73906970 seconds. ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X______X] + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-05 16:26:12.962] [info] Accepted new action goal + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.12sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 27 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Received new action goal + 0.04sINFOros2_control_node[2026-06-05 16:26:19.989] [info] Accepted new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-05 16:26:22.511] [info] Accepted new action goal + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Got request to cancel active goal. + 3.13sINFOros2_control_node[2026-06-05 16:26:23.079] [info] Canceling active goal... + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780676783.09621739 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780676783.70430708 seconds. ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-05 16:26:23.857] [info] Accepted new action goal + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.22sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.22sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.82sINFOobjective_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: 1780676794.09456420 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: 1780676794.64380884 seconds. ×2 + 0.66sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.66sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.77sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-05 16:26:34.866] [info] Accepted new action goal | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 16 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780676804.45877218 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: 1780676805.01548266 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-05 16:26:45.138] [info] Accepted new action goal + 0.89sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.90sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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: 1780676815.08568645 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: 1780676815.64064622 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780676815.71077251 seconds ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.84sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780676816.26049876 seconds. ×2 + 1.21sINFOobjective_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 + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780676816.29273915 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780676816.90617085 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-05 16:26:57.019] [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 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 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 16:27:07.086] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-05 16:27:07.086] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780676827.08877802 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780676827.63384509 seconds. ×2 + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.93sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.43sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780676828.74396753 seconds ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.94sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780676829.28881359 seconds. ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780676829.29025698 seconds ×2 + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.44sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780676829.83520579 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780676829.83562040 seconds ×2 + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.95sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780676830.48463035 seconds. ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.1s | 14 warnings · 338 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-05-16-21-14-389877-fbd91ac105be-10177 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.17sWARNcontroller_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 [10207] + 1.24sINFOmove_group-9process started with pid [10227] + 1.24sINFOparameter_manager_node-10process started with pid [10230] + 1.24sINFOwaypoint_manager_node-11process started with pid [10268] + 1.24sINFOmove_joint_resampler_node-12process started with pid [10270] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [10272] + 1.24sINFOobjective_server_node_main-14process started with pid [10274] + 1.25sINFOcomponent_container_mt-15process started with pid [10278] + 1.25sINFOexecute_objective_bridge-16process started with pid [10284] + 1.25sINFOui_teleop_bridge-17process started with pid [10288] + 1.25sINFOfoxglove_bridge-18process started with pid [10291] + 1.25sINFOtf2_web_republisher_node-19process started with pid [10316] + 1.25sINFOweb_video_server-20process started with pid [10319] + 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 [10209] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10211] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10213] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10215] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10218] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10221] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10224] + 1.26sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.51sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.51sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.54sINFOfoxglove_bridgeServer listening on port 3201 + 1.55sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.60sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.61sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.62sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.63sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.63sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.63sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.63sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.92sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.92sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.92sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.08sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.08sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.14sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.14sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.14sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.15sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.18sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.35sINFOobjective_server_node[2026-06-05 16:21:18.239] [moveit_pro_license] [info] + 3.35sINFOobjective_server_node************************************************* ×2 + 3.35sINFOobjective_server_node* MoveIt Pro License + 3.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.40sINFOcontroller_managerupdate rate is 600 Hz + 3.40sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.40sWARNcontroller_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. + 3.40sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.40sWARNros2_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 + 3.42sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.42sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 3.42sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" + 3.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" + 3.42sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 3.43sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.43sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.43sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 3.43sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.43sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 3.43sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.43sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 3.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.46sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.46sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.48sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.67sINFOobjective_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. + 3.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.68sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.68sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.69sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.76sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.76sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.77sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.77sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.77sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.77sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.77sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.82sINFOros2_control_node[2026-06-05 16:21:18.709] [info] Controller state will be published at 10 Hz. + 3.82sINFOros2_control_node[2026-06-05 16:21:18.710] [info] VelocityForceController 'on_configure' succeeded. + 3.82sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.82sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.85sINFOros2_control_node[2026-06-05 16:21:18.740] [info] Controller state will be published at 20 Hz. + 3.85sINFOros2_control_node[2026-06-05 16:21:18.741] [info] JointVelocityController 'on_configure' succeeded. + 3.85sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.85sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.85sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.86sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.86sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.86sINFOros2_control_node[2026-06-05 16:21:18.743] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.86sINFOros2_control_node[2026-06-05 16:21:18.743] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.88sINFOros2_control_node[2026-06-05 16:21:18.769] [info] First order lag filter time constant set to: 0.2 seconds + 3.88sINFOros2_control_node[2026-06-05 16:21:18.769] [info] Controller state will be published at 50 Hz. + 3.89sINFOros2_control_node[2026-06-05 16:21:18.774] [info] Registered `FollowJointTrajectory` action server. + 3.89sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.89sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.90sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 4.06sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers"[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event" + 4.06sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event"[0m + 4.06sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 4.06sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.06sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command" + 4.06sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command"[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap" + 4.07sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command" + 4.07sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench" + 4.07sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory" + 4.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states" + 4.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event" + 4.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 4.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents" + 4.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status" + 4.08sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 4.08sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 4.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10221] + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10211] + 4.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10224] + 4.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10209] + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10218] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10213] + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10215] + 4.42sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.45sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.51sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.58sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.62sINFOmove_group ×2 + 4.62sINFOmove_group[92mYou can start planning now![0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.74sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 4.91sWARNobjective_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/. + 4.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 5.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 5.80sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.80sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 6.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 6.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.31sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.31sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 7.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 9.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 9.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 9.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 4.15sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.27sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 6.27sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.76sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.76sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.22sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.22sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 5.21sINFOobjective_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 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 7.33sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 13 warnings · 204 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/2026-06-05-16-21-14-389877-fbd91ac105be-10177 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.17sWARNcontroller_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 [10207] + 1.24sINFOmove_group-9process started with pid [10227] + 1.24sINFOparameter_manager_node-10process started with pid [10230] + 1.24sINFOwaypoint_manager_node-11process started with pid [10268] + 1.24sINFOmove_joint_resampler_node-12process started with pid [10270] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [10272] + 1.24sINFOobjective_server_node_main-14process started with pid [10274] + 1.25sINFOcomponent_container_mt-15process started with pid [10278] + 1.25sINFOexecute_objective_bridge-16process started with pid [10284] + 1.25sINFOui_teleop_bridge-17process started with pid [10288] + 1.25sINFOfoxglove_bridge-18process started with pid [10291] + 1.25sINFOtf2_web_republisher_node-19process started with pid [10316] + 1.25sINFOweb_video_server-20process started with pid [10319] + 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 [10209] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10211] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10213] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10215] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10218] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10221] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10224] + 1.26sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.51sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.51sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.54sINFOfoxglove_bridgeServer listening on port 3201 + 1.55sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.60sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.61sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.62sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.62sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.63sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.63sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.63sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.63sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.63sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.92sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.92sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.92sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.08sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.08sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.14sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.14sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.14sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.15sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.18sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.35sINFOobjective_server_node[2026-06-05 16:21:18.239] [moveit_pro_license] [info] + 3.35sINFOobjective_server_node************************************************* ×2 + 3.35sINFOobjective_server_node* MoveIt Pro License + 3.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.40sINFOcontroller_managerupdate rate is 600 Hz + 3.40sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.40sWARNcontroller_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. + 3.40sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.40sWARNros2_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 + 3.42sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.42sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 3.42sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" + 3.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" + 3.42sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 3.43sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.43sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.43sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 3.43sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.43sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 3.43sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 3.43sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.43sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 3.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.46sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.46sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.48sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.48sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.48sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.67sINFOobjective_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. + 3.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.68sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.68sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.68sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.69sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.76sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.76sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.77sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.77sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.77sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.77sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.77sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 1 warning · 75 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.40sWARNobjective_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/. + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 6.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 6.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 6.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 75 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.40sWARNobjective_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/. + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 6.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 6.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 6.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 1 warning · 75 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.12sINFOmove_group ×2 + 0.12sINFOmove_group[92mYou can start planning now![0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.40sWARNobjective_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/. + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780676480.43157411 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780676480.44174242 seconds ×2 + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.29sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.81sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 6.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 6.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 6.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780676480.98059988 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.22sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.22sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 5.21sINFOobjective_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 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780676482.04076576 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 4.15sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.27sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 6.27sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). 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: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780676482.62280917 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780676483.63296962 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780676484.17490315 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780676484.18501043 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780676484.72946858 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780676484.87990975 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780676485.53378344 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780676485.59390998 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780676486.14704871 seconds. ×2 + 3.57sINFOobjective_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 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.445e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Received new action goal + 3.69sINFOros2_control_node[2026-06-05 16:21:26.311] [info] Accepted new action goal + 5.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.014 of wall time (2/3155). Below 1% is expected on a non-realtime system.[0m + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Received new action goal + 6.18sINFOros2_control_node[2026-06-05 16:21:28.800] [info] Accepted new action goal | ||||