MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

10.5s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.7s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 7.28sINFOros2_control_node[2026-06-08 20:36:07.983] [info] Received new action goal + 7.28sINFOros2_control_node[2026-06-08 20:36:07.983] [info] Accepted new action goal + 10.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.46sINFOros2_control_node[2026-06-08 20:36:11.164] [info] Received new action goal + 10.46sINFOros2_control_node[2026-06-08 20:36:11.165] [info] Accepted new action goal + 13.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.44sINFOros2_control_node[2026-06-08 20:36:14.145] [info] Received new action goal + 13.44sINFOros2_control_node[2026-06-08 20:36:14.145] [info] Accepted new action goal + 16.40sINFOobjective_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 + 21.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 2:10.005 of wall time (54/40179). Below 1% is expected on a non-realtime system.[0m + 23.14sINFOobjective_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 + 24.07sINFOros2_control_node[2026-06-08 20:36:24.774] [info] Received new action goal + 24.07sINFOros2_control_node[2026-06-08 20:36:24.774] [info] Accepted new action goal + 25.24sINFOobjective_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 + 25.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.51sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.53sINFOros2_control_node[2026-06-08 20:36:26.235] [info] Received new action goal + 25.53sINFOros2_control_node[2026-06-08 20:36:26.235] [info] Accepted new action goal + 27.63sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 27.63sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.64sINFOros2_control_node[2026-06-08 20:36:28.343] [info] Received new action goal + 27.64sINFOros2_control_node[2026-06-08 20:36:28.343] [info] Accepted new action goal + 30.74sINFOros2_control_node[2026-06-08 20:36:31.437] [info] Received new action goal + 30.74sINFOros2_control_node[2026-06-08 20:36:31.437] [info] Accepted new action goal + 33.30sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 33.30sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.33sINFOros2_control_node[2026-06-08 20:36:34.035] [info] Received new action goal + 33.33sINFOros2_control_node[2026-06-08 20:36:34.035] [info] Accepted new action goal + 44.19sINFOros2_control_node[2026-06-08 20:36:44.895] [info] Received new action goal + 44.19sINFOros2_control_node[2026-06-08 20:36:44.895] [info] Accepted new action goal + 45.35sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780951006.04987335 seconds ×2 + 46.13sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780951006.83671975 seconds. ×2 + 46.41sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.41sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.41sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 47.41sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.43sINFOros2_control_node[2026-06-08 20:36:48.130] [info] Received new action goal + 47.43sINFOros2_control_node[2026-06-08 20:36:48.130] [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	2 errors · 13707 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780951017.79685545 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 `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780951018.34704566 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X___X] + 0.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 0.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 1.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 1.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.03sINFOobjective_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 + 4.20sINFOjoint_trajectory_controllerReceived new action goal ×3394 + 4.20sINFOjoint_trajectory_controllerAccepted new action goal ×3394 + 4.20sINFOros2_control_nodeReceived new action goal[0m ×3394 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×3394 + 9.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.12sINFOjoint_trajectory_controllerGoal reached, success! ×42 + 9.12sINFOros2_control_nodeGoal reached, success![0m ×42 + 9.58sERRORobjective_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 + 24.62sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 3:10.005 of wall time (104/58663). Below 1% is expected on a non-realtime system.[0m + 37.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951055.63299346 seconds ×2 + 38.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780951056.21662211 seconds. ×2 + 38.48sINFOobjective_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 + 38.57sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 38.58sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.60sINFOros2_control_node[2026-06-08 20:37:36.391] [info] Received new action goal + 38.60sINFOros2_control_node[2026-06-08 20:37:36.391] [info] Accepted new action goal
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	34.2s	22 errors · 5945 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1318 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1318 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1307 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×324 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×324 + 2.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951080.36321855 seconds ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951080.94508719 seconds. ×2 + 3.60sINFOobjective_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.69sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.71sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Accepted new action goal + 3.85sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 3.85sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.19sINFOros2_control_node[2026-06-08 20:38:06.599] [info] Received new action goal + 9.19sINFOros2_control_node[2026-06-08 20:38:06.599] [info] Accepted new action goal + 11.14sINFOros2_control_node[2026-06-08 20:38:08.552] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-08 20:38:08.552] [info] Accepted new action goal + 16.94sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 16.94sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m + 17.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.11sINFOobjective_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 + 17.44sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.44sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951097.992008) + 20.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951097.992008)[0m + 21.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951099.182008) + 21.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951099.182008)[0m + 25.01sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 4:10.008 of wall time (171/77014). Below 1% is expected on a non-realtime system.[0m + 26.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.922008) + 26.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.922008)[0m + 26.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.932008) + 26.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.942008) + 26.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.932008)[0m + 26.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951103.942008)[0m + 27.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951104.472008) + 27.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951104.472008)[0m + 27.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951104.482008) + 27.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951104.482008)[0m + 37.13sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951114.54389811 seconds ×2 + 37.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008) + 37.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008)[0m + 37.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008) + 37.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008) ×2 + 37.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008)[0m + 37.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008)[0m ×2 + 37.83sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951115.23834777 seconds. ×2 + 37.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.83sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.14sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 38.14sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 38.94sINFOobjective_server_nodeFound path in 6 iterations (0.00416027 s). + 38.99sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.01sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Received new action goal + 39.01sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	32.9s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal + 26.40sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 26.40sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 26.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 26.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 28.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.97sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 29.24sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 29.24sINFOobjective_server_nodePath shortcutter: [X________X] + 29.25sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 29.25sINFOobjective_server_nodePath shortcutter: [X________________X] + 29.26sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). + 29.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] + 29.31sINFOobjective_server_nodeFound path in 5 iterations (0.00444321 s). + 29.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] + 29.39sINFOros2_control_node[2026-06-08 20:34:59.119] [info] Received new action goal + 29.39sINFOros2_control_node[2026-06-08 20:34:59.119] [info] Accepted new action goal + 29.43sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 29.43sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 31.61sINFOros2_control_node[2026-06-08 20:35:01.341] [info] Received new action goal + 31.61sINFOros2_control_node[2026-06-08 20:35:01.341] [info] Accepted new action goal + 33.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 33.32sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Received new action goal + 33.32sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 34.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 35.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 35.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 35.49sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.49sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 35.99sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 35.99sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 36.04sINFOobjective_server_nodePath shortcutter: [X_____________X] + 36.05sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 36.05sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	32.2s	8 errors · 894 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×176 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×172 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×176 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×172 + 0.05sINFOjoint_trajectory_controllerGoal reached, success! ×47 + 0.05sINFOros2_control_nodeGoal reached, success![0m ×47 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951114.54389811 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008) + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008) ×2 + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008)[0m + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951115.23834777 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.96sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.96sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.68sINFOobjective_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 + 4.76sINFOobjective_server_nodeFound path in 6 iterations (0.00416027 s). + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.84sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Accepted new action goal + 14.22sINFOobjective_server_node[0;m[0;93m2026-06-08 20:38:45.807491311 [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 + 14.22sINFOobjective_server_node[0;93m2026-06-08 20:38:45.807521453 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.70sINFOobjective_server_node[0;93m2026-06-08 20:38:46.282189044 [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 + 14.70sINFOobjective_server_node[0;93m2026-06-08 20:38:46.282218886 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.80sINFOobjective_server_node[0;93m2026-06-08 20:38:46.384221387 [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 + 14.80sINFOobjective_server_node[0;93m2026-06-08 20:38:46.386988506 [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 + 14.80sINFOobjective_server_node[0;93m2026-06-08 20:38:46.387009747 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.10sINFOobjective_server_node[0;93m2026-06-08 20:38:46.687736839 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.12sINFOobjective_server_node[0;93m2026-06-08 20:38:46.704719494 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.12sINFOobjective_server_node[0;93m2026-06-08 20:38:46.704766157 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.04sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 16.04sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m + 16.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 20.55sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 20.89sINFOobjective_server_nodeFound path in 4 iterations (0.00334678 s). + 20.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.97sINFOobjective_server_nodeFound path in 12 iterations (0.00471079 s). + 21.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 21.06sINFOobjective_server_nodeFound path in 2 iterations (0.00381918 s). + 21.08sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution" + 21.08sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m + 21.09sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 21.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 21.13sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 21.15sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 21.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 21.19sINFOobjective_server_nodeFound path in 12 iterations (0.00420156 s). + 21.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 21.25sINFOobjective_server_nodeFound path in 1 iterations (0.00318913 s). + 21.30sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 21.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 21.35sINFOobjective_server_nodeFound path in 4 iterations (0.00356082 s). + 21.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 21.44sINFOobjective_server_nodeFound path in 4 iterations (0.00293866 s). + 21.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 21.53sINFOobjective_server_nodeFound path in 1 iterations (0.00374882 s). + 21.57sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 21.59sINFOobjective_server_nodeFound path in 1 iterations (0.00279418 s). + 21.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 21.66sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 21.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 21.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 21.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] + 21.77sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 21.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X] + 21.86sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). + 21.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 21.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.96sINFOros2_control_node[2026-06-08 20:38:53.550] [info] Received new action goal + 21.96sINFOros2_control_node[2026-06-08 20:38:53.550] [info] Accepted new action goal + 26.97sINFOros2_control_node[2026-06-08 20:38:58.553] [info] Received new action goal + 26.97sINFOros2_control_node[2026-06-08 20:38:58.553] [info] Accepted new action goal + 28.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.49sINFOros2_control_node[2026-06-08 20:39:00.074] [info] Received new action goal + 28.49sINFOros2_control_node[2026-06-08 20:39:00.074] [info] Accepted new action goal + 29.70sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 29.73sINFOros2_control_node[2026-06-08 20:39:01.314] [info] Received new action goal + 29.73sINFOros2_control_node[2026-06-08 20:39:01.315] [info] Accepted new action goal + 35.14sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951146.73104167 seconds ×2 + 35.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951147.37248850 seconds. ×2 + 36.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 36.01sINFOobjective_server_nodePath shortcutter: [X______X] + 36.02sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Received new action goal + 36.02sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Accepted new action goal + 36.20sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 36.20sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.20sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 36.20sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 36.20sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 36.20sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 38.71sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures" + 38.72sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[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	20 errors · 7201 info
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1702 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×1711 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×1701 + 0.63sINFOjoint_trajectory_controllerGoal reached, success! ×172 + 0.63sINFOros2_control_nodeGoal reached, success![0m ×172 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951055.63299346 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780951056.21662211 seconds. ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.71sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.72sINFOros2_control_node[2026-06-08 20:37:36.391] [info] Received new action goal + 3.72sINFOros2_control_node[2026-06-08 20:37:36.391] [info] Accepted new action goal + 7.62sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.68sINFOobjective_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 + 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 ×2 + 10.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951063.105196) + 10.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951063.115196) + 10.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951063.105196)[0m + 10.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951063.115196)[0m + 12.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951065.015196) + 12.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951065.015196)[0m + 12.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951065.535196) + 12.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951065.535196)[0m + 14.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951066.725196) + 14.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951066.725196)[0m + 14.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951066.735196) + 14.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951066.735196)[0m + 14.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951067.395196) + 14.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951067.395196)[0m + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951067.935196) + 15.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951067.935196)[0m + 16.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951069.145196) + 16.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951069.145196)[0m + 16.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951069.165196) + 16.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951062.515196) that ends in the past (1780951069.165196)[0m + 27.69sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951080.36321855 seconds ×2 + 28.27sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951080.94508719 seconds. ×2 + 28.42sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 28.45sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Received new action goal + 28.45sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Accepted new action goal + 28.59sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 28.59sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	21 errors · 2 warnings · 140 info
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951202.71311045 seconds. ×2 + 0.50sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 0.50sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.51sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.01sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.02sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.53sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 2.53sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.03sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2 + 5.55sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures" + 5.55sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures"[0m + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951208.26835847 seconds ×2 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.05sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.46sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.46sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.46sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.47sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.48sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.48sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.49sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.50sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.50sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.51sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.52sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.52sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.53sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.54sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.55sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.56sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.56sINFOcontroller_managerShutdown request received.... + 11.56sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.56sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.56sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.56sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.56sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.56sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.56sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.56sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.56sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.56sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.56sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.56sINFOcontroller_managerShutting down the controller manager. + 11.56sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.56sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.56sERRORui_teleop_bridgeTraceback (most recent call last): + 11.56sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.56sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.56sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 11.56sINFOui_teleop_bridgerclpy.shutdown() + 11.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.56sINFOui_teleop_bridge_shutdown(context=context) + 11.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.56sINFOui_teleop_bridgereturn context.shutdown() + 11.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.56sINFOui_teleop_bridgeself.__context.shutdown() + 11.56sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.56sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.56sINFOros2_control_nodeShutdown request received....[0m + 11.56sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.56sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.56sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.56sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.56sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.56sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.56sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.56sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.56sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.56sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.56sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.56sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.56sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.56sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.56sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.56sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.56sINFOros2_control_nodeShutting down the controller manager.[0m + 11.60sINFOfoxglove_bridgeShutdown complete[0m + 11.61sINFOobjective_server_node[0;m[2026-06-08 20:40:14.319] [moveit_pro_license] [info] + 11.61sINFOobjective_server_node************************************************* ×2 + 11.61sINFOobjective_server_node* MoveIt Pro License + 11.61sINFOobjective_server_node* Application has successfully terminated + 11.69sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10315] + 11.69sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.69sINFOweb_video_server-20process has finished cleanly [pid 10325] + 11.74sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10294] + 11.74sERRORui_teleop_bridge-17process has died [pid 10302, 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_gnt2jei1']. + 11.75sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10292] + 11.76sINFOparameter_manager_node-10process has finished cleanly [pid 10252] + 11.76sINFOwaypoint_manager_node-11process has finished cleanly [pid 10290] + 11.77sINFOexecute_objective_bridge-16process has finished cleanly [pid 10300] + 11.77sINFOcomponent_container_mt-15process has finished cleanly [pid 10298] + 11.79sERRORobjective_server_nodeStack trace (most recent call last): + 11.80sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.81sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a1fb9b94e4, in _start + 11.81sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9ebb04e3f, in __libc_start_main + 11.81sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9ebb04d96, in + 11.81sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9ebb2060f, in exit + 11.81sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9ebb20494, in + 11.81sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa9ebfa9251, in spdlog::details::registry::~registry() + 11.81sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa9ebfb3e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 11.81sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a1fb9becba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.81sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a1fb9bbbf3, in spdlog_ros::RosSink::~RosSink() + 11.81sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a1fb9c0e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.81sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec49eb2e, in rclcpp::Node::~Node() + 11.81sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec479d39, in + 11.81sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec4a80b9, in + 11.81sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec4a8000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.81sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec479d39, in + 11.81sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa9ec47eb31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.81sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa9a4ad73f0]) + 12.57sERRORobjective_server_node_main-14process has died [pid 10296, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_djfrhjnl --params-file /tmp/launch_params_o6ad7zep --params-file /tmp/launch_params_v4e2imdt --params-file /tmp/launch_params_au1of_41 --params-file /tmp/launch_params_s08fl6rl --params-file /tmp/launch_params_fc8d6xjg']. + 12.57sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.87sINFOmove_group-9process has finished cleanly [pid 10249] + 13.30sINFOros2_control_node-1process has finished cleanly [pid 10229] + 13.45sINFOfoxglove_bridge-18process has finished cleanly [pid 10304] + 13.45sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	51 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.10sINFOros2_control_node[2026-06-08 20:36:44.895] [info] Received new action goal + 1.10sINFOros2_control_node[2026-06-08 20:36:44.895] [info] Accepted new action goal + 2.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780951006.04987335 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780951006.83671975 seconds. ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.32sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.33sINFOros2_control_node[2026-06-08 20:36:48.130] [info] Received new action goal + 4.33sINFOros2_control_node[2026-06-08 20:36:48.130] [info] Accepted new action goal + 8.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 10.38sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.39sINFOros2_control_node[2026-06-08 20:36:54.190] [info] Received new action goal + 10.39sINFOros2_control_node[2026-06-08 20:36:54.190] [info] Accepted new action goal + 14.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780951017.79685545 seconds ×2 + 14.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780951018.34704566 seconds. ×2 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 14.68sINFOobjective_server_nodePath shortcutter: [X___X] + 14.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Received new action goal + 14.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Accepted new action goal + 14.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 14.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 15.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 69 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00406312 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.14sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Received new action goal + 0.14sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Received new action goal + 0.53sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Accepted new action goal + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.04sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.04sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.04sINFOros2_control_nodeGot request to cancel goal[0m + 2.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950938.17276359 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950938.84985399 seconds. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.88sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Received new action goal + 2.88sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Accepted new action goal + 2.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.23sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Accepted new action goal + 13.79sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950949.89804649 seconds ×2 + 14.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950950.44283342 seconds. ×2 + 14.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 14.95sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 15.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.05sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 15.05sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 17.06sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 17.63sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 17.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 17.76sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 17.76sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.1s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780951179.08051467 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951179.68097305 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X________X] + 0.71sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Accepted new action goal + 0.96sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 0.96sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951190.16113853 seconds ×2 + 11.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 11.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 12.04sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.04sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 12.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 12.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 12.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.97sINFOobjective_server_nodePath shortcutter: [X___X] + 12.99sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 12.99sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Accepted new action goal
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 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: 1780950858.23481631 seconds. ×2 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 1.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 1.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 2.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 2.50sINFOobjective_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 + 2.58sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 2.58sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.59sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 2.59sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.14sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 5.14sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal + 8.81sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 8.83sINFOros2_control_node[2026-06-08 20:34:26.512] [info] Received new action goal + 8.83sINFOros2_control_node[2026-06-08 20:34:26.512] [info] Accepted new action goal + 12.13sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.13sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 12.13sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 12.95sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 12.95sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 12.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 13.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 13.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 14.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 14.28sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.28sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 15.41sINFOobjective_server_nodePath shortcutter: [X______X] + 15.42sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 15.42sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.0s	2 errors · 70 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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Accepted new action goal + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 8.81sINFOros2_control_node[2026-06-08 20:35:11.435] [info] Received new action goal + 8.81sINFOros2_control_node[2026-06-08 20:35:11.435] [info] Accepted new action goal + 11.13sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 11.14sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 13.46sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 13.46sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 13.46sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 13.51sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 13.51sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 13.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 14.10sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 14.19sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.19sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.19sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.19sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 15.27sINFOobjective_server_nodePath shortcutter: [X______X] + 15.28sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 15.28sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	72 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951146.73104167 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951147.37248850 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Accepted new action goal + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.10sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.11sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures" + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m + 5.13sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 6.55sINFOobjective_server_nodePath shortcutter: [X________________X] + 6.56sINFOobjective_server_nodeFound path in 0 iterations (1.3e-07 s). + 6.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] + 6.60sINFOobjective_server_nodeFound path in 5 iterations (0.00415788 s). + 6.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] + 6.64sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.64sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 6.64sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m + 6.67sINFOros2_control_node[2026-06-08 20:39:12.348] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-08 20:39:12.348] [info] Accepted new action goal + 8.90sINFOros2_control_node[2026-06-08 20:39:14.579] [info] Received new action goal + 8.90sINFOros2_control_node[2026-06-08 20:39:14.579] [info] Accepted new action goal + 10.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 10.61sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Received new action goal + 10.61sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 11.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 12.68sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.68sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.69sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 12.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.86sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 12.86sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 13.18sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.18sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 110 info
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). + 0.28sINFOobjective_server_nodePath shortcutter: [X____________________________X] + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). + 0.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.36sINFOobjective_server_nodeFound path in 5 iterations (0.00289317 s). + 0.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 1 iterations (0.00209817 s). + 0.43sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 0.43sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 0.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.59sINFOros2_control_node[2026-06-08 20:35:26.048] [info] Received new action goal + 0.60sINFOros2_control_node[2026-06-08 20:35:26.048] [info] Accepted new action goal + 1.69sINFOros2_control_node[2026-06-08 20:35:27.141] [info] Got request to cancel active goal. + 1.69sINFOros2_control_node[2026-06-08 20:35:27.141] [info] Canceling active goal... + 1.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780950927.16983032 seconds ×2 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780950927.75568676 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.47sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.47sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.47sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.47sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.48sINFOobjective_server_nodePath shortcutter: [X______X] + 2.49sINFOros2_control_node[2026-06-08 20:35:27.939] [info] Received new action goal + 2.49sINFOros2_control_node[2026-06-08 20:35:27.939] [info] Accepted new action goal + 5.99sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/pcd_pointcloud_captures" + 5.99sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/pcd_pointcloud_captures"[0m + 6.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). + 7.91sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 7.92sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). + 7.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×3 + 8.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/solution" + 8.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/solution"[0m + 8.03sINFOobjective_server_nodeFound path in 5 iterations (0.00269246 s). + 8.07sINFOobjective_server_nodeFound path in 1 iterations (0.00210166 s). + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 8.23sINFOros2_control_node[2026-06-08 20:35:33.680] [info] Received new action goal + 8.23sINFOros2_control_node[2026-06-08 20:35:33.681] [info] Accepted new action goal + 10.65sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 10.65sINFOobjective_server_nodePath shortcutter: [X_X] + 10.66sINFOobjective_server_nodePath shortcutter: [X______________X] + 10.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] + 10.72sINFOobjective_server_nodeFound path in 5 iterations (0.00406312 s). + 10.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] + 10.79sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Received new action goal + 10.79sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Accepted new action goal + 11.18sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Received new action goal + 11.18sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Accepted new action goal + 12.69sINFOrobotiq_gripper_controllerGot request to cancel goal + 12.69sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 12.69sINFOros2_control_nodeGot request to cancel goal[0m + 12.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 12.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950938.17276359 seconds ×2 + 13.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950938.84985399 seconds. ×2 + 13.52sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 13.52sINFOobjective_server_nodePath shortcutter: [X________X] + 13.53sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Received new action goal + 13.53sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Accepted new action goal + 13.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.56sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.56sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.88sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Received new action goal + 15.88sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	4 errors · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal + 8.73sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.003 of wall time (30/21667). Below 1% is expected on a non-realtime system.[0m + 9.17sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 9.17sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 9.68sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 9.68sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.77sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 12.03sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.04sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). + 12.04sINFOobjective_server_nodePath shortcutter: [X____________________________X] + 12.05sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). + 12.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 12.09sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 12.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] + 12.13sINFOobjective_server_nodeFound path in 5 iterations (0.00289317 s). + 12.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] + 12.18sINFOobjective_server_nodeFound path in 1 iterations (0.00209817 s). + 12.20sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 12.20sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 12.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] + 12.32sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] + 12.36sINFOros2_control_node[2026-06-08 20:35:26.048] [info] Received new action goal + 12.36sINFOros2_control_node[2026-06-08 20:35:26.048] [info] Accepted new action goal + 13.45sINFOros2_control_node[2026-06-08 20:35:27.141] [info] Got request to cancel active goal. + 13.45sINFOros2_control_node[2026-06-08 20:35:27.141] [info] Canceling active goal... + 13.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780950927.16983032 seconds ×2 + 14.07sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780950927.75568676 seconds. ×2 + 14.23sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.23sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.23sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.23sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.25sINFOros2_control_node[2026-06-08 20:35:27.939] [info] Received new action goal + 14.25sINFOros2_control_node[2026-06-08 20:35:27.939] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	2 errors · 37 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 6.56sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.010 of wall time (200/95418). Below 1% is expected on a non-realtime system.[0m + 12.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780951168.67598939 seconds ×2 + 13.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780951169.22936893 seconds. ×2 + 13.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 13.60sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.62sINFOros2_control_node[2026-06-08 20:39:29.485] [info] Received new action goal + 13.62sINFOros2_control_node[2026-06-08 20:39:29.485] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-08 20:39:55.376] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-08 20:39:55.376] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-08 20:39:55.376] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 12.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 12.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 seconds ×2 + 12.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951202.71311045 seconds. ×2 + 13.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 13.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 14.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 14.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 14.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 14.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 14.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.67sINFOobjective_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 + 14.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 15.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 15.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 15.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 15.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 15.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 15.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 30 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780951168.67598939 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: 1780951169.22936893 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.81sINFOros2_control_node[2026-06-08 20:39:29.485] [info] Received new action goal + 0.81sINFOros2_control_node[2026-06-08 20:39:29.485] [info] Accepted new action goal + 4.82sINFOros2_control_node[2026-06-08 20:39:33.494] [info] Received new action goal + 4.82sINFOros2_control_node[2026-06-08 20:39:33.494] [info] Accepted new action goal + 10.40sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780951179.08051467 seconds ×2 + 11.00sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951179.68097305 seconds. ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 11.11sINFOobjective_server_nodePath shortcutter: [X________X] + 11.12sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Received new action goal + 11.12sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Accepted new action goal + 11.36sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 11.36sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m + 13.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.2s	75 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950950.44283342 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m + 7.72sINFOobjective_server_node[0;93m2026-06-08 20:35:58.159647408 [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 + 7.72sINFOobjective_server_node[0;93m2026-06-08 20:35:58.159680970 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.23sINFOobjective_server_node[0;93m2026-06-08 20:35:58.676346448 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.23sINFOobjective_server_node[0;93m2026-06-08 20:35:58.676393191 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.35sINFOobjective_server_node[0;93m2026-06-08 20:35:58.789511429 [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 + 8.35sINFOobjective_server_node[0;93m2026-06-08 20:35:58.791353349 [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 + 8.35sINFOobjective_server_node[0;93m2026-06-08 20:35:58.791370060 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.63sINFOobjective_server_node[0;93m2026-06-08 20:35:59.074059776 [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 + 8.64sINFOobjective_server_node[0;93m2026-06-08 20:35:59.086361067 [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 + 8.64sINFOobjective_server_node[0;93m2026-06-08 20:35:59.086392649 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950960.40188050 seconds ×2 + 10.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 10.26sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 10.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 10.76sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.76sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.76sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.76sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.15sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 11.15sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.65sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 11.65sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.75sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 11.75sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 11.75sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.02sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.04sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.04sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 13.28sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 13.29sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 13.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 13.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.55sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.79sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.79sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-08 20:35:58.159647408 [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;93m2026-06-08 20:35:58.159680970 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.52sINFOobjective_server_node[0;93m2026-06-08 20:35:58.676346448 [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 + 0.52sINFOobjective_server_node[0;93m2026-06-08 20:35:58.676393191 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.63sINFOobjective_server_node[0;93m2026-06-08 20:35:58.789511429 [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 + 0.63sINFOobjective_server_node[0;93m2026-06-08 20:35:58.791353349 [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 + 0.63sINFOobjective_server_node[0;93m2026-06-08 20:35:58.791370060 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.91sINFOobjective_server_node[0;93m2026-06-08 20:35:59.074059776 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-08 20:35:59.086361067 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-08 20:35:59.086392649 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.24sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950960.40188050 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.05sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.05sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.05sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.43sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 3.43sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.93sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.93sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.03sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.03sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.03sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.30sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [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;93m2026-06-08 20:36:02.481554046 [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;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.22sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 5.57sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 5.57sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 5.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 5.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.07sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.07sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.68sINFOobjective_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 + 6.69sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.96sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.99sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 6.99sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 7.08sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 7.08sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950949.89804649 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: 1780950950.44283342 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal + 4.24sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.25sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.1s	2 errors · 2 warnings · 40 info
+ 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 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: 1780951202.71311045 seconds. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 2.56sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2
✓ 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' + 0.11sINFOobjective_server_node[2026-06-08 20:34:12.262] [moveit_pro_license] [info] + 0.11sINFOobjective_server_node************************************************* ×2 + 0.11sINFOobjective_server_node* MoveIt Pro License + 0.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.24sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.24sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.24sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.24sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.24sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.24sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.25sINFOcontroller_managerupdate rate is 600 Hz + 0.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.25sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.25sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.25sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.25sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.33sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.33sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.33sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 0.33sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color" + 0.33sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 0.33sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/color"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info" + 0.34sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/camera_info"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 0.34sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 0.34sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 0.34sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 0.34sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.34sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 0.34sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 0.34sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m + 0.39sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 0.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.47sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.48sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.51sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.58sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.60sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.60sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.60sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.63sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.65sINFOros2_control_node[2026-06-08 20:34:12.801] [info] First order lag filter time constant set to: 0.2 seconds + 0.65sINFOros2_control_node[2026-06-08 20:34:12.801] [info] Controller state will be published at 50 Hz. + 0.65sINFOros2_control_node[2026-06-08 20:34:12.806] [info] Registered `FollowJointTrajectory` action server. + 0.65sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.66sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.68sINFOros2_control_node[2026-06-08 20:34:12.836] [info] Controller state will be published at 20 Hz. + 0.68sINFOros2_control_node[2026-06-08 20:34:12.837] [info] JointVelocityController 'on_configure' succeeded. + 0.68sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.68sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.68sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.69sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.69sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.69sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.69sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.69sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.69sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.69sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.69sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.70sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.70sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.73sINFOros2_control_node[2026-06-08 20:34:12.879] [info] Controller state will be published at 10 Hz. + 0.73sINFOros2_control_node[2026-06-08 20:34:12.880] [info] VelocityForceController 'on_configure' succeeded. + 0.73sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.73sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.73sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.73sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.75sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.87sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 0.87sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10239] + 0.97sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 0.97sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers"[0m + 0.97sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event" + 0.97sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/transition_event"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command" + 0.98sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/velocity_force_controller/command"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap" + 0.98sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state" + 0.98sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command" + 0.98sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/controller_state"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_velocity_controller/command"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state" + 0.98sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.98sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/controller_state"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_state_broadcaster/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench" + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory" + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states" + 0.99sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/dynamic_joint_states"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state" + 0.99sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents" + 0.99sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/controller_state"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/blackboard_contents"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status" + 0.99sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 0.99sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/behavior_tree_status"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10246] + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10235] + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10237] + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10243] + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10231] + 1.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10233] + 1.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.27sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.38sINFOmove_group ×2 + 1.38sINFOmove_group[92mYou can start planning now![0m + 1.51sWARNobjective_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/. + 1.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 2.70sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.70sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.21sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 7.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 7.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 8.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 8.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 8.12sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.13sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 8.13sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	1 warning · 78 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×2 + 0.14sINFOmove_group[92mYou can start planning now![0m + 0.27sWARNobjective_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/. + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 1.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 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 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 6.88sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780950949.89804649 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: 1780950950.44283342 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal + 4.24sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.25sINFOfoxglove_bridgeAdvertising new channel 66 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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Accepted new action goal
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 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: 1780951202.71311045 seconds. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 2.56sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2 + 6.10sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures" + 6.10sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures"[0m + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951208.26835847 seconds ×2 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.60sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.5s	2 errors · 2 warnings · 46 info
+ 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 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: 1780951202.71311045 seconds. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 2.56sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2 + 6.10sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures" + 6.10sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/pcd_pointcloud_captures"[0m + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951208.26835847 seconds ×2 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.60sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.01sINFOfoxglove_bridgeRemoving channel 82 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
− skipped	Place at Pose	place_at_pose.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Accepted new action goal
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-08 20:34:29.824] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-08 20:34:30.638] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950870.65879035 seconds ×2 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950871.25191903 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950871.38204956 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950871.94246864 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-08 20:34:33.115] [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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Accepted new action goal
− skipped	Create PCL Poses Vector	create_pcl_poses_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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [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[2026-06-08 20:35:03.045] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:35:03.045] [info] Accepted new action goal + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950904.32262588 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950904.90041518 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950904.97054482 seconds ×2 + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.59sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950905.67407489 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.09sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.14sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-08 20:35:05.778] [info] Accepted new action goal + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-08 20:35:09.121] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-08 20:35:13.765] [info] Accepted new action goal + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Received new action goal + 2.40sINFOros2_control_node[2026-06-08 20:35:16.092] [info] Accepted new action goal + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Got request to cancel active goal. + 2.45sINFOros2_control_node[2026-06-08 20:35:16.134] [info] Canceling active goal... + 2.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950916.14304781 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950916.73068881 seconds. ×2 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-08 20:35:17.904] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 36 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00406312 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.14sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Received new action goal + 0.14sINFOros2_control_node[2026-06-08 20:35:36.240] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Received new action goal + 0.53sINFOros2_control_node[2026-06-08 20:35:36.632] [info] Accepted new action goal + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.04sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.04sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.04sINFOros2_control_nodeGot request to cancel goal[0m + 2.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950938.17276359 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950938.84985399 seconds. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.88sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Received new action goal + 2.88sINFOros2_control_node[2026-06-08 20:35:38.982] [info] Accepted new action goal + 2.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.23sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-08 20:35:41.336] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	33 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950949.89804649 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: 1780950950.44283342 seconds. ×2 + 0.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 1.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 1.26sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 3.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950950.44283342 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 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: 1780950950.44283342 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950950.50296617 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950951.05669880 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-08 20:35:51.159] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950953.16874361 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950953.73844743 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-08 20:35:53.862] [info] Accepted new action goal + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.70sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950960.98525238 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585322723 [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 + 0.89sINFOobjective_server_node[0;93m2026-06-08 20:36:01.585376017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088193558 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-08 20:36:02.088271684 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.191773504 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193512765 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-08 20:36:02.193530707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-08 20:36:02.461843455 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481554046 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-08 20:36:02.481586088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950963.38318491 seconds ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950963.98966408 seconds. ×2 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Received new action goal + 4.44sINFOros2_control_node[2026-06-08 20:36:05.145] [info] Accepted new action goal + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 4.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	19 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780951017.79685545 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 `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780951018.34704566 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X___X] + 0.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-08 20:36:58.490] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 0.91sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 1.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 1.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.03sINFOobjective_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	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	930 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×213 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×213 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×213 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×213 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×32 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×32 + 2.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951080.36321855 seconds ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951080.94508719 seconds. ×2 + 3.60sINFOobjective_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 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.69sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.71sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-08 20:38:01.119] [info] Accepted new action goal + 3.85sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 3.85sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	8 errors · 806 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×176 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×172 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×176 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×172 + 0.05sINFOjoint_trajectory_controllerGoal reached, success! ×47 + 0.05sINFOros2_control_nodeGoal reached, success![0m ×47 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951114.54389811 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.602008)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008) + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008) ×2 + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.612008)[0m + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780951096.312008) that ends in the past (1780951114.622008)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951115.23834777 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.96sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.96sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.68sINFOobjective_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 + 4.76sINFOobjective_server_nodeFound path in 6 iterations (0.00416027 s). + 4.82sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.84sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-08 20:38:36.421] [info] Accepted new action goal
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	24 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951146.73104167 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951147.37248850 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Accepted new action goal + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.10sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.11sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures" + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	24 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951146.73104167 seconds ×2 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951147.37248850 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-08 20:39:07.606] [info] Accepted new action goal + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.10sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 2.10sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.11sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures" + 4.62sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	24 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[2026-06-08 20:39:16.285] [info] Received new action goal + 0.42sINFOros2_control_node[2026-06-08 20:39:16.285] [info] Accepted new action goal + 1.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951157.56265688 seconds ×2 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.49sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951158.36575341 seconds. ×2 + 2.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.67sINFOobjective_server_nodePath shortcutter: [X________X] + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-08 20:39:18.538] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.61sINFOobjective_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: 1780951168.67598939 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: 1780951169.22936893 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.77sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.77sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.81sINFOros2_control_node[2026-06-08 20:39:29.485] [info] Received new action goal + 0.81sINFOros2_control_node[2026-06-08 20:39:29.485] [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: 1780951179.08051467 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951179.68097305 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X________X] + 0.71sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-08 20:39:39.794] [info] Accepted new action goal + 0.96sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution" + 0.96sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/preview_solution"[0m + 2.62sINFOobjective_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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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: 1780951190.16113853 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951190.71736240 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951190.79748940 seconds ×2 + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951191.34356737 seconds. ×2 + 1.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951191.36525321 seconds ×2 + 1.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951191.97266769 seconds. ×2 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-08 20:39:52.065] [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[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 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: 1780951202.71311045 seconds. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 2.56sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 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[2026-06-08 20:40:02.162] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-08 20:40:02.162] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951202.16792464 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: 1780951202.71311045 seconds. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/agent_event"[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.06sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951204.27323103 seconds ×2 + 2.56sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951204.83261180 seconds. ×2 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951204.83430266 seconds ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg" + 3.08sINFOfoxglove_bridgeRemoving channel 79 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/secret_msg"[0m + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951205.39219904 seconds. ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951205.39255333 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String) + 3.58sINFOfoxglove_bridgeRemoving channel 81 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951206.04823375 seconds. ×2

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

7 skip

− skipped	—	segment_image_from_point_subtree.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [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: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [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: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [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: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [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: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	5.9s	14 warnings · 336 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-08-20-34-08-567793-71dc2076d107-10199 + 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. + 1.23sINFOros2_control_node-1process started with pid [10229] + 1.23sINFOmove_group-9process started with pid [10249] + 1.23sINFOparameter_manager_node-10process started with pid [10252] + 1.23sINFOwaypoint_manager_node-11process started with pid [10290] + 1.23sINFOmove_joint_resampler_node-12process started with pid [10292] + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [10294] + 1.23sINFOobjective_server_node_main-14process started with pid [10296] + 1.23sINFOcomponent_container_mt-15process started with pid [10298] + 1.23sINFOexecute_objective_bridge-16process started with pid [10300] + 1.23sINFOui_teleop_bridge-17process started with pid [10302] + 1.23sINFOfoxglove_bridge-18process started with pid [10304] + 1.23sINFOtf2_web_republisher_node-19process started with pid [10315] + 1.23sINFOweb_video_server-20process started with pid [10325] + 1.23sINFOparameter_manager_nodeStarted parameter manager node. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10231] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10233] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10235] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10237] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10239] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10243] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10246] + 1.24sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.29sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.29sINFOweb_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' + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.42sINFOfoxglove_bridgeServer listening on port 3201 + 1.42sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.44sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.44sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.47sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.81sINFOros2_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. + 1.81sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 1.86sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 1.86sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 1.91sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.01sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.01sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.02sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.04sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.04sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.04sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.10sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.19sINFOobjective_server_node[2026-06-08 20:34:12.262] [moveit_pro_license] [info] + 3.20sINFOobjective_server_node************************************************* ×2 + 3.20sINFOobjective_server_node* MoveIt Pro License + 3.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.34sINFOcontroller_managerupdate rate is 600 Hz + 3.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.34sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.34sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.34sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.34sWARNros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[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 + 3.42sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 3.42sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.42sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.42sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 3.42sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.42sINFOfoxglove_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 + 3.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.55sINFOobjective_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. + 3.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.59sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.59sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.67sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.68sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.68sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.68sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.73sINFOros2_control_node[2026-06-08 20:34:12.801] [info] First order lag filter time constant set to: 0.2 seconds + 3.73sINFOros2_control_node[2026-06-08 20:34:12.801] [info] Controller state will be published at 50 Hz. + 3.74sINFOros2_control_node[2026-06-08 20:34:12.806] [info] Registered `FollowJointTrajectory` action server. + 3.74sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.74sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.77sINFOros2_control_node[2026-06-08 20:34:12.836] [info] Controller state will be published at 20 Hz. + 3.77sINFOros2_control_node[2026-06-08 20:34:12.837] [info] JointVelocityController 'on_configure' succeeded. + 3.77sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.77sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.77sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.77sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.77sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[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 + 3.77sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.77sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.78sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.78sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.78sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.78sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.81sINFOros2_control_node[2026-06-08 20:34:12.879] [info] Controller state will be published at 10 Hz. + 3.81sINFOros2_control_node[2026-06-08 20:34:12.880] [info] VelocityForceController 'on_configure' succeeded. + 3.81sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.81sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.82sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.82sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.82sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.95sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 3.95sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10239] + 4.05sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 4.05sINFOfoxglove_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 + 4.06sINFOfoxglove_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 37 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 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 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" + 4.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/transition_event" + 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 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 + 4.07sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/joint_trajectory" + 4.07sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.07sINFOfoxglove_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 + 4.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10246] + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10235] + 4.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10237] + 4.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10243] + 4.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10231] + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10233] + 4.33sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.35sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.35sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.39sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.39sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.39sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.39sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.39sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.47sINFOmove_group ×2 + 4.47sINFOmove_group[92mYou can start planning now![0m + 4.60sWARNobjective_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/. + 4.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.72sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.72sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 4.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 5.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 5.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 5.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.29sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.29sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 7.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 8.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 9.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 9.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.8s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 4.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.23sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 4.23sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 6.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). 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 + 6.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.77sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.78sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	50 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 4.83sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 4.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.92sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 4.92sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 7.06sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 warning · 78 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×2 + 0.14sINFOmove_group[92mYou can start planning now![0m + 0.27sWARNobjective_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/. + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 1.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 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 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 6.88sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
− skipped	—	addtovector.xml	0.0s	7 warnings · 199 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/2026-06-08-20-34-08-567793-71dc2076d107-10199 + 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. + 1.23sINFOros2_control_node-1process started with pid [10229] + 1.23sINFOmove_group-9process started with pid [10249] + 1.23sINFOparameter_manager_node-10process started with pid [10252] + 1.23sINFOwaypoint_manager_node-11process started with pid [10290] + 1.23sINFOmove_joint_resampler_node-12process started with pid [10292] + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [10294] + 1.23sINFOobjective_server_node_main-14process started with pid [10296] + 1.23sINFOcomponent_container_mt-15process started with pid [10298] + 1.23sINFOexecute_objective_bridge-16process started with pid [10300] + 1.23sINFOui_teleop_bridge-17process started with pid [10302] + 1.23sINFOfoxglove_bridge-18process started with pid [10304] + 1.23sINFOtf2_web_republisher_node-19process started with pid [10315] + 1.23sINFOweb_video_server-20process started with pid [10325] + 1.23sINFOparameter_manager_nodeStarted parameter manager node. + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10231] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10233] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10235] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10237] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10239] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10243] + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10246] + 1.24sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.29sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.29sINFOweb_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' + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.42sINFOfoxglove_bridgeServer listening on port 3201 + 1.42sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.44sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.44sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.47sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.48sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.49sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.81sINFOros2_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. + 1.81sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 1.86sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 1.86sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 1.91sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 1.91sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.01sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.01sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.02sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.04sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.04sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.04sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.10sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.19sINFOobjective_server_node[2026-06-08 20:34:12.262] [moveit_pro_license] [info] + 3.20sINFOobjective_server_node************************************************* ×2 + 3.20sINFOobjective_server_node* MoveIt Pro License + 3.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.34sINFOcontroller_managerupdate rate is 600 Hz + 3.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.34sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.34sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.34sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.34sWARNros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[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 + 3.42sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 3.42sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color" + 3.42sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth" + 3.42sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/camera_info" + 3.42sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/color"[0m + 3.42sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/depth"[0m + 3.42sINFOfoxglove_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 + 3.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.55sINFOobjective_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. + 3.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.59sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.59sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.67sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.67sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.68sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.68sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.68sINFOros2_control_node[2026-06-08 20:34:12.748] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.73sINFOros2_control_node[2026-06-08 20:34:12.801] [info] First order lag filter time constant set to: 0.2 seconds + 3.73sINFOros2_control_node[2026-06-08 20:34:12.801] [info] Controller state will be published at 50 Hz. + 3.74sINFOros2_control_node[2026-06-08 20:34:12.806] [info] Registered `FollowJointTrajectory` action server. + 3.74sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.74sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	1 warning · 78 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×2 + 0.14sINFOmove_group[92mYou can start planning now![0m + 0.27sWARNobjective_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/. + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 1.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 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 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 6.88sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 warning · 78 info
+ 0.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×2 + 0.14sINFOmove_group[92mYou can start planning now![0m + 0.27sWARNobjective_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/. + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.39sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950854.39384818 seconds. ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950854.40400147 seconds ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950854.94613028 seconds. ×2 + 1.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 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 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 6.88sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	47 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 4.83sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 4.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.92sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 4.92sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950856.05624747 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 4.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.23sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 4.23sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 6.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). 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: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal

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

10 skip

− skipped	—	move_to_waypoint.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	execute_mtc_solution.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950856.63187432 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950857.69200873 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950858.23481631 seconds. ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950858.24493742 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950858.84156919 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950858.99199724 seconds ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950859.58155417 seconds. ×2 + 2.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950859.62168622 seconds ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950860.17800355 seconds. ×2 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-08 20:34:20.282] [info] Accepted new action goal + 5.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-08 20:34:22.832] [info] Accepted new action goal