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pick_place_demo.launch.py output

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Nov 18th, 2024
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  1. [INFO] [launch]: All log files can be found below /home/developer/.ros/log/2024-11-18-13-19-10-144255-borna-laptop-5567
  2. [INFO] [launch]: Default logging verbosity is set to INFO
  3. [INFO] [mtc_node-1]: process started with pid [5568]
  4. [mtc_node-1] [INFO] [1731932350.713998390] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0394998 seconds
  5. [mtc_node-1] [INFO] [1731932350.714221725] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
  6. [mtc_node-1] [WARN] [1731932350.895930256] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
  7. [mtc_node-1] [INFO] [1731932350.906574985] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Generate minimum-jerk trajectories using NVIDIA Isaac ROS cuMotion'
  8. [mtc_node-1] [INFO] [1731932350.917867809] [moveit_ros.fix_workspace_bounds]: Param 'isaac_ros_cumotion.default_workspace_bounds' was not set. Using default value: 10.000000
  9. [mtc_node-1] [INFO] [1731932350.917993328] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_bounds_error' was set to 0.100000
  10. [mtc_node-1] [INFO] [1731932350.918001684] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
  11. [mtc_node-1] [INFO] [1731932350.918033445] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
  12. [mtc_node-1] [INFO] [1731932350.918039176] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.jiggle_fraction' was not set. Using default value: 0.020000
  13. [mtc_node-1] [INFO] [1731932350.918056368] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.max_sampling_attempts' was not set. Using default value: 100
  14. [mtc_node-1] [INFO] [1731932350.918112515] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
  15. [mtc_node-1] [INFO] [1731932350.918134116] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
  16. [mtc_node-1] [INFO] [1731932350.918138374] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
  17. [mtc_node-1] [INFO] [1731932350.918142232] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
  18. [mtc_node-1] [WARN] [1731932351.203140985] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
  19. [mtc_node-1] [INFO] [1731932352.329041797] [mtc_node]: Planning trajectory
  20. [mtc_node-1] [INFO] [1731932352.330006414] [mtc_node]: Sending goal
  21. [mtc_node-1] [INFO] [1731932352.333924314] [mtc_node]: Goal accepted by server, waiting for result
  22. [mtc_node-1] [INFO] [1731932352.841474547] [mtc_node]: Received result
  23. [mtc_node-1] [INFO] [1731932352.841526526] [mtc_node]: Checking results
  24. [mtc_node-1] [INFO] [1731932352.841649590] [mtc_node]: Success
  25. [mtc_node-1] [INFO] [1731932352.846765091] [mtc_node]: Received trajectory result
  26. [mtc_node-1] [ERROR] [1731932352.846839513] [mtc_node]: No trajectory
  27. [mtc_node-1] [WARN] [1731932352.957997707] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  28. [mtc_node-1] [INFO] [1731932352.965992541] [mtc_node]: Planning trajectory
  29. [mtc_node-1] [INFO] [1731932352.966667977] [mtc_node]: Sending goal
  30. [mtc_node-1] [INFO] [1731932352.974757761] [mtc_node]: Goal accepted by server, waiting for result
  31. [mtc_node-1] [INFO] [1731932353.077889089] [mtc_node]: Received result
  32. [mtc_node-1] [INFO] [1731932353.081229510] [mtc_node]: Received trajectory result
  33. [mtc_node-1] [INFO] [1731932353.081309042] [mtc_node]: Trajectory success!
  34. [mtc_node-1] [WARN] [1731932353.596926898] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  35. [mtc_node-1] [WARN] [1731932354.111190854] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  36. [mtc_node-1] [INFO] [1731932355.107773803] [mtc_node]: Planning trajectory
  37. [mtc_node-1] [INFO] [1731932355.108348938] [mtc_node]: Sending goal
  38. [mtc_node-1] [INFO] [1731932355.113937329] [mtc_node]: Goal accepted by server, waiting for result
  39. [mtc_node-1] [INFO] [1731932355.210906800] [mtc_node]: Received result
  40. [mtc_node-1] [INFO] [1731932355.210928201] [mtc_node]: Checking results
  41. [mtc_node-1] [INFO] [1731932355.211022130] [mtc_node]: Success
  42. [mtc_node-1] [INFO] [1731932355.216114767] [mtc_node]: Received trajectory result
  43. [mtc_node-1] [INFO] [1731932355.216241628] [mtc_node]: Trajectory success!
  44. [mtc_node-1] [INFO] [1731932356.182650243] [mtc_node]: Planning trajectory
  45. [mtc_node-1] [INFO] [1731932356.183075503] [mtc_node]: Sending goal
  46. [mtc_node-1] [INFO] [1731932356.188879534] [mtc_node]: Goal accepted by server, waiting for result
  47. [mtc_node-1] [INFO] [1731932356.291725564] [mtc_node]: Received result
  48. [mtc_node-1] [INFO] [1731932356.295414007] [mtc_node]: Received trajectory result
  49. [mtc_node-1] [INFO] [1731932356.295486906] [mtc_node]: Trajectory success!
  50. [mtc_node-1] [WARN] [1731932356.450351243] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  51. [mtc_node-1] [WARN] [1731932356.524400641] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 6. Try a lower max_step.
  52. [mtc_node-1] [WARN] [1731932356.953044824] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  53. [mtc_node-1] [WARN] [1731932357.521191705] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  54. [mtc_node-1] [INFO] [1731932357.816641176] [mtc_node]: Planning trajectory
  55. [mtc_node-1] [INFO] [1731932357.816989179] [mtc_node]: Sending goal
  56. [mtc_node-1] [INFO] [1731932357.824652340] [mtc_node]: Goal accepted by server, waiting for result
  57. [mtc_node-1] [INFO] [1731932358.219876728] [mtc_node]: Received result
  58. [mtc_node-1] [INFO] [1731932358.219900763] [mtc_node]: Checking results
  59. [mtc_node-1] [INFO] [1731932358.220056580] [mtc_node]: Success
  60. [mtc_node-1] [INFO] [1731932358.225177340] [mtc_node]: Received trajectory result
  61. [mtc_node-1] [ERROR] [1731932358.225253145] [mtc_node]: No trajectory
  62. [mtc_node-1] [WARN] [1731932358.358697893] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  63. [mtc_node-1] [INFO] [1731932358.368073905] [mtc_node]: Planning trajectory
  64. [mtc_node-1] [INFO] [1731932358.368414183] [mtc_node]: Sending goal
  65. [mtc_node-1] [INFO] [1731932358.374067898] [mtc_node]: Goal accepted by server, waiting for result
  66. [mtc_node-1] [INFO] [1731932358.475812207] [mtc_node]: Received result
  67. [mtc_node-1] [INFO] [1731932358.475828888] [mtc_node]: Checking results
  68. [mtc_node-1] [INFO] [1731932358.475927426] [mtc_node]: Success
  69. [mtc_node-1] [INFO] [1731932358.481013149] [mtc_node]: Received trajectory result
  70. [mtc_node-1] [INFO] [1731932358.481051011] [mtc_node]: Trajectory success!
  71. [mtc_node-1] [INFO] [1731932358.655094192] [mtc_node]: Planning trajectory
  72. [mtc_node-1] [INFO] [1731932358.655465419] [mtc_node]: Sending goal
  73. [mtc_node-1] [INFO] [1731932358.663005546] [mtc_node]: Goal accepted by server, waiting for result
  74. [mtc_node-1] [INFO] [1731932359.035749735] [mtc_node]: Received result
  75. [mtc_node-1] [INFO] [1731932359.035771998] [mtc_node]: Checking results
  76. [mtc_node-1] [INFO] [1731932359.035860136] [mtc_node]: Success
  77. [mtc_node-1] [INFO] [1731932359.040954876] [mtc_node]: Received trajectory result
  78. [mtc_node-1] [ERROR] [1731932359.041045379] [mtc_node]: No trajectory
  79. [mtc_node-1] [WARN] [1731932359.175375190] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  80. [mtc_node-1] [INFO] [1731932359.186882370] [mtc_node]: Planning trajectory
  81. [mtc_node-1] [INFO] [1731932359.187301929] [mtc_node]: Sending goal
  82. [mtc_node-1] [INFO] [1731932359.194586699] [mtc_node]: Goal accepted by server, waiting for result
  83. [mtc_node-1] [INFO] [1731932359.292503047] [mtc_node]: Received result
  84. [mtc_node-1] [INFO] [1731932359.292519008] [mtc_node]: Checking results
  85. [mtc_node-1] [INFO] [1731932359.292620381] [mtc_node]: Success
  86. [mtc_node-1] [INFO] [1731932359.297734508] [mtc_node]: Received trajectory result
  87. [mtc_node-1] [INFO] [1731932359.297812527] [mtc_node]: Trajectory success!
  88. [mtc_node-1] [INFO] [1731932359.411044597] [mtc_node]: Planning trajectory
  89. [mtc_node-1] [INFO] [1731932359.411692771] [mtc_node]: Sending goal
  90. [mtc_node-1] [INFO] [1731932359.419813914] [mtc_node]: Goal accepted by server, waiting for result
  91. [mtc_node-1] [INFO] [1731932359.515281509] [mtc_node]: Received result
  92. [mtc_node-1] [INFO] [1731932359.515299604] [mtc_node]: Checking results
  93. [mtc_node-1] [INFO] [1731932359.515397490] [mtc_node]: Success
  94. [mtc_node-1] [INFO] [1731932359.520497140] [mtc_node]: Received trajectory result
  95. [mtc_node-1] [INFO] [1731932359.520609263] [mtc_node]: Trajectory success!
  96. [mtc_node-1] [WARN] [1731932359.780537109] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  97. [mtc_node-1] [INFO] [1731932359.910795819] [mtc_node]: Planning trajectory
  98. [mtc_node-1] [INFO] [1731932359.911248100] [mtc_node]: Sending goal
  99. [mtc_node-1] [INFO] [1731932359.918566795] [mtc_node]: Goal accepted by server, waiting for result
  100. [mtc_node-1] [INFO] [1731932360.007194887] [mtc_node]: Received result
  101. [mtc_node-1] [INFO] [1731932360.009980491] [mtc_node]: Received trajectory result
  102. [mtc_node-1] [INFO] [1731932360.010080602] [mtc_node]: Trajectory success!
  103. [mtc_node-1] [INFO] [1731932360.623579435] [mtc_node]: Planning trajectory
  104. [mtc_node-1] [INFO] [1731932360.624037287] [mtc_node]: Sending goal
  105. [mtc_node-1] [INFO] [1731932360.631211597] [mtc_node]: Goal accepted by server, waiting for result
  106. [mtc_node-1] [INFO] [1731932360.714195802] [mtc_node]: Received result
  107. [mtc_node-1] [INFO] [1731932360.714239515] [mtc_node]: Checking results
  108. [mtc_node-1] [INFO] [1731932360.714321782] [mtc_node]: Success
  109. [mtc_node-1] [INFO] [1731932360.719466958] [mtc_node]: Received trajectory result
  110. [mtc_node-1] [INFO] [1731932360.719560206] [mtc_node]: Trajectory success!
  111. [mtc_node-1] [WARN] [1731932360.953801149] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  112. [mtc_node-1] [INFO] [1731932361.273074231] [mtc_node]: Planning trajectory
  113. [mtc_node-1] [INFO] [1731932361.273429197] [mtc_node]: Sending goal
  114. [mtc_node-1] [INFO] [1731932361.280415299] [mtc_node]: Goal accepted by server, waiting for result
  115. [mtc_node-1] [INFO] [1731932362.048062262] [mtc_node]: Received result
  116. [mtc_node-1] [INFO] [1731932362.048115894] [mtc_node]: Checking results
  117. [mtc_node-1] [INFO] [1731932362.048185396] [mtc_node]: Success
  118. [mtc_node-1] [INFO] [1731932362.053311807] [mtc_node]: Received trajectory result
  119. [mtc_node-1] [INFO] [1731932362.053400936] [mtc_node]: Trajectory success!
  120. [mtc_node-1] [WARN] [1731932362.286239000] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  121. [mtc_node-1] [INFO] [1731932362.819027370] [mtc_node]: Planning trajectory
  122. [mtc_node-1] [INFO] [1731932362.819415509] [mtc_node]: Sending goal
  123. [mtc_node-1] [INFO] [1731932362.827842434] [mtc_node]: Goal accepted by server, waiting for result
  124. [mtc_node-1] [INFO] [1731932362.918483695] [mtc_node]: Received result
  125. [mtc_node-1] [INFO] [1731932362.919217572] [mtc_node]: Received trajectory result
  126. [mtc_node-1] [INFO] [1731932362.919299778] [mtc_node]: Trajectory success!
  127. [mtc_node-1] [ERROR] [1731932362.974133903] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 11 12 ] out of 32. Explanations follow in command line. Contacts are published on /display_contacts
  128. [mtc_node-1] [INFO] [1731932362.975728419] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'panda_link2' (type 'Robot link') and 'panda_leftfinger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
  129. [mtc_node-1] [INFO] [1731932362.975769807] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
  130. [mtc_node-1] [INFO] [1731932362.981703896] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'panda_link2' (type 'Robot link') and 'panda_leftfinger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
  131. [mtc_node-1] [INFO] [1731932362.981732460] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
  132. [mtc_node-1] [ERROR] [1731932362.983173464] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
  133. [mtc_node-1] [WARN] [1731932363.152865345] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  134. [mtc_node-1] [INFO] [1731932363.673220543] [mtc_node]: Planning trajectory
  135. [mtc_node-1] [INFO] [1731932363.673608131] [mtc_node]: Sending goal
  136. [mtc_node-1] [INFO] [1731932363.680536893] [mtc_node]: Goal accepted by server, waiting for result
  137. [mtc_node-1] [INFO] [1731932363.769539673] [mtc_node]: Received result
  138. [mtc_node-1] [INFO] [1731932363.771559699] [mtc_node]: Received trajectory result
  139. [mtc_node-1] [INFO] [1731932363.771640483] [mtc_node]: Trajectory success!
  140. [mtc_node-1] [WARN] [1731932363.967350392] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  141. [mtc_node-1] [INFO] [1731932364.267047255] [mtc_node]: Planning trajectory
  142. [mtc_node-1] [INFO] [1731932364.267416949] [mtc_node]: Sending goal
  143. [mtc_node-1] [INFO] [1731932364.273276546] [mtc_node]: Goal accepted by server, waiting for result
  144. [mtc_node-1] [INFO] [1731932364.369489963] [mtc_node]: Received result
  145. [mtc_node-1] [INFO] [1731932364.369515973] [mtc_node]: Checking results
  146. [mtc_node-1] [INFO] [1731932364.369659235] [mtc_node]: Success
  147. [mtc_node-1] [INFO] [1731932364.374761801] [mtc_node]: Received trajectory result
  148. [mtc_node-1] [INFO] [1731932364.374833728] [mtc_node]: Trajectory success!
  149. [mtc_node-1] [WARN] [1731932364.613687898] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  150. [mtc_node-1] [WARN] [1731932365.711744710] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 6. Try a lower max_step.
  151. [mtc_node-1] [WARN] [1731932366.238997379] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  152. [mtc_node-1] [WARN] [1731932366.813172421] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  153. [mtc_node-1] [WARN] [1731932367.509198570] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  154. [mtc_node-1] [WARN] [1731932368.271337655] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  155. [mtc_node-1] [WARN] [1731932368.937037381] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  156. [mtc_node-1] [WARN] [1731932369.461508704] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  157. [mtc_node-1] [WARN] [1731932369.815335980] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  158. [mtc_node-1] [WARN] [1731932370.017965623] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  159. [mtc_node-1] [WARN] [1731932370.126544322] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  160. [mtc_node-1] [WARN] [1731932370.252845693] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  161. [mtc_node-1] [WARN] [1731932370.384468426] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  162. [mtc_node-1] [WARN] [1731932370.480487924] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  163. [mtc_node-1] [WARN] [1731932370.606036131] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  164. [mtc_node-1] [WARN] [1731932370.755290071] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  165. [mtc_node-1] [WARN] [1731932370.968965881] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  166. [mtc_node-1] [WARN] [1731932371.124969660] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  167. [mtc_node-1] [WARN] [1731932371.283619816] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  168. [mtc_node-1] [WARN] [1731932371.442216450] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  169. [mtc_node-1] [WARN] [1731932371.592971044] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  170. [mtc_node-1] [WARN] [1731932371.743956518] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  171. [mtc_node-1] [WARN] [1731932371.833847998] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  172. [mtc_node-1] [WARN] [1731932372.030725863] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  173. [mtc_node-1] [WARN] [1731932372.116533857] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  174. [mtc_node-1] [WARN] [1731932372.306174612] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  175. [mtc_node-1] [WARN] [1731932372.469785460] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  176. [mtc_node-1] [WARN] [1731932372.682080344] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  177. [mtc_node-1] [WARN] [1731932372.774362093] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  178. [mtc_node-1] [WARN] [1731932372.921600090] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  179. [mtc_node-1] [WARN] [1731932373.059033199] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  180. [mtc_node-1] [WARN] [1731932373.236559136] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  181. [mtc_node-1] [WARN] [1731932373.413475131] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  182. [mtc_node-1] [WARN] [1731932373.570384308] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  183. [mtc_node-1] [WARN] [1731932373.676367631] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  184. [mtc_node-1] [WARN] [1731932373.810002156] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  185. [mtc_node-1] [WARN] [1731932373.961750688] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  186. [mtc_node-1] [WARN] [1731932374.104650852] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  187. [mtc_node-1] [WARN] [1731932374.210962448] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  188. [mtc_node-1] [WARN] [1731932374.368458099] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  189. [mtc_node-1] [WARN] [1731932374.467795507] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  190. [mtc_node-1] [WARN] [1731932374.624468962] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  191. [mtc_node-1] [WARN] [1731932374.893263132] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  192. [mtc_node-1] [WARN] [1731932374.985846303] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  193. [mtc_node-1] [WARN] [1731932375.137231677] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  194. [mtc_node-1] [WARN] [1731932375.383851849] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  195. [mtc_node-1] [WARN] [1731932375.493365299] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  196. [mtc_node-1] [WARN] [1731932375.679695211] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  197. [mtc_node-1] [WARN] [1731932375.768453838] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  198. [mtc_node-1] [WARN] [1731932375.918819943] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  199. [mtc_node-1] [WARN] [1731932376.068209047] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  200. [mtc_node-1] [WARN] [1731932376.229408132] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  201. [mtc_node-1] [WARN] [1731932376.376860798] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  202. [mtc_node-1] [WARN] [1731932376.528796719] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  203. [mtc_node-1] [INFO] [1731932376.887206307] [mtc_node]: Planning trajectory
  204. [mtc_node-1] [INFO] [1731932376.887541856] [mtc_node]: Sending goal
  205. [mtc_node-1] [INFO] [1731932376.895116847] [mtc_node]: Goal accepted by server, waiting for result
  206. [mtc_node-1] [INFO] [1731932377.011567562] [mtc_node]: Received result
  207. [mtc_node-1] [INFO] [1731932377.011627406] [mtc_node]: Checking results
  208. [mtc_node-1] [INFO] [1731932377.011757443] [mtc_node]: Success
  209. [mtc_node-1] [INFO] [1731932377.016879344] [mtc_node]: Received trajectory result
  210. [mtc_node-1] [INFO] [1731932377.016935040] [mtc_node]: Trajectory success!
  211. [mtc_node-1] [INFO] [1731932377.073275749] [mtc_node]: Planning trajectory
  212. [mtc_node-1] [INFO] [1731932377.073692152] [mtc_node]: Sending goal
  213. [mtc_node-1] [INFO] [1731932377.079501371] [mtc_node]: Goal accepted by server, waiting for result
  214. [mtc_node-1] [INFO] [1731932377.177063846] [mtc_node]: Received result
  215. [mtc_node-1] [INFO] [1731932377.177083283] [mtc_node]: Checking results
  216. [mtc_node-1] [INFO] [1731932377.177188192] [mtc_node]: Success
  217. [mtc_node-1] [INFO] [1731932377.182303731] [mtc_node]: Received trajectory result
  218. [mtc_node-1] [INFO] [1731932377.182368054] [mtc_node]: Trajectory success!
  219. [mtc_node-1] [INFO] [1731932377.532510297] [mtc_node]: Planning trajectory
  220. [mtc_node-1] [INFO] [1731932377.532885542] [mtc_node]: Sending goal
  221. [mtc_node-1] [INFO] [1731932377.538480062] [mtc_node]: Goal accepted by server, waiting for result
  222. [mtc_node-1] [INFO] [1731932377.661255877] [mtc_node]: Received result
  223. [mtc_node-1] [INFO] [1731932377.661281766] [mtc_node]: Checking results
  224. [mtc_node-1] [INFO] [1731932377.661378821] [mtc_node]: Success
  225. [mtc_node-1] [INFO] [1731932377.666476085] [mtc_node]: Received trajectory result
  226. [mtc_node-1] [INFO] [1731932377.666534737] [mtc_node]: Trajectory success!
  227. [mtc_node-1] [INFO] [1731932377.728536122] [mtc_node]: Planning trajectory
  228. [mtc_node-1] [INFO] [1731932377.728883002] [mtc_node]: Sending goal
  229. [mtc_node-1] [INFO] [1731932377.732065961] [mtc_node]: Goal accepted by server, waiting for result
  230. [mtc_node-1] [INFO] [1731932377.825752958] [mtc_node]: Received result
  231. [mtc_node-1] [INFO] [1731932377.825806881] [mtc_node]: Checking results
  232. [mtc_node-1] [INFO] [1731932377.825932159] [mtc_node]: Success
  233. [mtc_node-1] [INFO] [1731932377.831053198] [mtc_node]: Received trajectory result
  234. [mtc_node-1] [INFO] [1731932377.831113062] [mtc_node]: Trajectory success!
  235. [mtc_node-1] [WARN] [1731932378.024051399] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  236. [mtc_node-1] [INFO] [1731932378.032685306] [mtc_node]: Planning trajectory
  237. [mtc_node-1] [INFO] [1731932378.033056713] [mtc_node]: Sending goal
  238. [mtc_node-1] [INFO] [1731932378.037997418] [mtc_node]: Goal accepted by server, waiting for result
  239. [mtc_node-1] [INFO] [1731932378.137805006] [mtc_node]: Received result
  240. [mtc_node-1] [INFO] [1731932378.137826156] [mtc_node]: Checking results
  241. [mtc_node-1] [INFO] [1731932378.137966804] [mtc_node]: Success
  242. [mtc_node-1] [INFO] [1731932378.143075549] [mtc_node]: Received trajectory result
  243. [mtc_node-1] [INFO] [1731932378.143135664] [mtc_node]: Trajectory success!
  244. [mtc_node-1] [INFO] [1731932378.199654982] [mtc_node]: Planning trajectory
  245. [mtc_node-1] [INFO] [1731932378.200021449] [mtc_node]: Sending goal
  246. [mtc_node-1] [INFO] [1731932378.207737208] [mtc_node]: Goal accepted by server, waiting for result
  247. [mtc_node-1] [INFO] [1731932378.884841725] [mtc_node]: Received result
  248. [mtc_node-1] [INFO] [1731932378.884881881] [mtc_node]: Checking results
  249. [mtc_node-1] [INFO] [1731932378.885021226] [mtc_node]: Success
  250. [mtc_node-1] [INFO] [1731932378.890131746] [mtc_node]: Received trajectory result
  251. [mtc_node-1] [ERROR] [1731932378.890192010] [mtc_node]: No trajectory
  252. [mtc_node-1] [WARN] [1731932379.112370127] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  253. [mtc_node-1] [INFO] [1731932379.123172461] [mtc_node]: Planning trajectory
  254. [mtc_node-1] [INFO] [1731932379.123565369] [mtc_node]: Sending goal
  255. [mtc_node-1] [INFO] [1731932379.129016938] [mtc_node]: Goal accepted by server, waiting for result
  256. [mtc_node-1] [INFO] [1731932379.218419956] [mtc_node]: Received result
  257. [mtc_node-1] [INFO] [1731932379.220100074] [mtc_node]: Received trajectory result
  258. [mtc_node-1] [INFO] [1731932379.220183533] [mtc_node]: Trajectory success!
  259. [mtc_node-1] [WARN] [1731932379.399236520] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  260. [mtc_node-1] [INFO] [1731932379.408719212] [mtc_node]: Planning trajectory
  261. [mtc_node-1] [INFO] [1731932379.409106039] [mtc_node]: Sending goal
  262. [mtc_node-1] [INFO] [1731932379.414970052] [mtc_node]: Goal accepted by server, waiting for result
  263. [mtc_node-1] [INFO] [1731932379.637487412] [mtc_node]: Received result
  264. [mtc_node-1] [INFO] [1731932379.637542537] [mtc_node]: Checking results
  265. [mtc_node-1] [INFO] [1731932379.637621247] [mtc_node]: Success
  266. [mtc_node-1] [INFO] [1731932379.642741725] [mtc_node]: Received trajectory result
  267. [mtc_node-1] [INFO] [1731932379.642807490] [mtc_node]: Trajectory success!
  268. [mtc_node-1] [WARN] [1731932379.794442741] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  269. [mtc_node-1] [INFO] [1731932379.805505732] [mtc_node]: Planning trajectory
  270. [mtc_node-1] [INFO] [1731932379.805867701] [mtc_node]: Sending goal
  271. [mtc_node-1] [INFO] [1731932379.813033202] [mtc_node]: Goal accepted by server, waiting for result
  272. [mtc_node-1] [INFO] [1731932379.896253981] [mtc_node]: Received result
  273. [mtc_node-1] [INFO] [1731932379.896328332] [mtc_node]: Checking results
  274. [mtc_node-1] [INFO] [1731932379.896427401] [mtc_node]: Success
  275. [mtc_node-1] [INFO] [1731932379.901557838] [mtc_node]: Received trajectory result
  276. [mtc_node-1] [INFO] [1731932379.901651386] [mtc_node]: Trajectory success!
  277. [mtc_node-1] [WARN] [1731932380.074320328] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  278. [mtc_node-1] [INFO] [1731932380.635065731] [mtc_node]: Planning trajectory
  279. [mtc_node-1] [INFO] [1731932380.635438801] [mtc_node]: Sending goal
  280. [mtc_node-1] [INFO] [1731932380.642416163] [mtc_node]: Goal accepted by server, waiting for result
  281. [mtc_node-1] [INFO] [1731932381.396464121] [mtc_node]: Received result
  282. [mtc_node-1] [INFO] [1731932381.396517522] [mtc_node]: Checking results
  283. [mtc_node-1] [INFO] [1731932381.396691884] [mtc_node]: Success
  284. [mtc_node-1] [INFO] [1731932381.401817522] [mtc_node]: Received trajectory result
  285. [mtc_node-1] [INFO] [1731932381.401894879] [mtc_node]: Trajectory success!
  286. [mtc_node-1] [INFO] [1731932381.689805230] [mtc_node]: Planning trajectory
  287. [mtc_node-1] [INFO] [1731932381.690242292] [mtc_node]: Sending goal
  288. [mtc_node-1] [INFO] [1731932381.697857088] [mtc_node]: Goal accepted by server, waiting for result
  289. [mtc_node-1] [INFO] [1731932381.776219726] [mtc_node]: Received result
  290. [mtc_node-1] [INFO] [1731932381.776271534] [mtc_node]: Checking results
  291. [mtc_node-1] [INFO] [1731932381.776378779] [mtc_node]: Success
  292. [mtc_node-1] [INFO] [1731932381.781500649] [mtc_node]: Received trajectory result
  293. [mtc_node-1] [INFO] [1731932381.781576433] [mtc_node]: Trajectory success!
  294. [mtc_node-1] [WARN] [1731932381.927142235] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  295. [mtc_node-1] [INFO] [1731932381.937267310] [mtc_node]: Planning trajectory
  296. [mtc_node-1] [INFO] [1731932381.937612417] [mtc_node]: Sending goal
  297. [mtc_node-1] [INFO] [1731932381.945124047] [mtc_node]: Goal accepted by server, waiting for result
  298. [mtc_node-1] [INFO] [1731932382.505358038] [mtc_node]: Received result
  299. [mtc_node-1] [INFO] [1731932382.506901736] [mtc_node]: Received trajectory result
  300. [mtc_node-1] [INFO] [1731932382.506985336] [mtc_node]: Trajectory success!
  301. [mtc_node-1] [WARN] [1731932382.829917752] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  302. [mtc_node-1] [INFO] [1731932382.839160097] [mtc_node]: Planning trajectory
  303. [mtc_node-1] [INFO] [1731932382.839494744] [mtc_node]: Sending goal
  304. [mtc_node-1] [INFO] [1731932382.845358006] [mtc_node]: Goal accepted by server, waiting for result
  305. [mtc_node-1] [INFO] [1731932383.481396115] [mtc_node]: Received result
  306. [mtc_node-1] [INFO] [1731932383.482273225] [mtc_node]: Received trajectory result
  307. [mtc_node-1] [ERROR] [1731932383.482338709] [mtc_node]: No trajectory
  308. [mtc_node-1] [WARN] [1731932383.610343005] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  309. [mtc_node-1] [INFO] [1731932383.620160855] [mtc_node]: Planning trajectory
  310. [mtc_node-1] [INFO] [1731932383.620570605] [mtc_node]: Sending goal
  311. [mtc_node-1] [INFO] [1731932383.627736176] [mtc_node]: Goal accepted by server, waiting for result
  312. [mtc_node-1] [INFO] [1731932383.717241703] [mtc_node]: Received result
  313. [mtc_node-1] [INFO] [1731932383.718757850] [mtc_node]: Received trajectory result
  314. [mtc_node-1] [INFO] [1731932383.718824907] [mtc_node]: Trajectory success!
  315. [mtc_node-1] [WARN] [1731932383.895713672] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  316. [mtc_node-1] [INFO] [1731932383.906822900] [mtc_node]: Planning trajectory
  317. [mtc_node-1] [INFO] [1731932383.907192594] [mtc_node]: Sending goal
  318. [mtc_node-1] [INFO] [1731932383.913397085] [mtc_node]: Goal accepted by server, waiting for result
  319. [mtc_node-1] [INFO] [1731932384.002912111] [mtc_node]: Received result
  320. [mtc_node-1] [INFO] [1731932384.004768034] [mtc_node]: Received trajectory result
  321. [mtc_node-1] [INFO] [1731932384.004864878] [mtc_node]: Trajectory success!
  322. [mtc_node-1] [WARN] [1731932384.180764848] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  323. [mtc_node-1] [WARN] [1731932384.316872468] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  324. [mtc_node-1] [WARN] [1731932384.546324942] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  325. [mtc_node-1] [WARN] [1731932384.674718366] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  326. [mtc_node-1] [INFO] [1731932385.148422896] [mtc_node]: Planning trajectory
  327. [mtc_node-1] [INFO] [1731932385.148792290] [mtc_node]: Sending goal
  328. [mtc_node-1] [INFO] [1731932385.155712914] [mtc_node]: Goal accepted by server, waiting for result
  329. [mtc_node-1] [INFO] [1731932385.794985486] [mtc_node]: Received result
  330. [mtc_node-1] [INFO] [1731932385.795008280] [mtc_node]: Checking results
  331. [mtc_node-1] [INFO] [1731932385.795143427] [mtc_node]: Success
  332. [mtc_node-1] [INFO] [1731932385.800257552] [mtc_node]: Received trajectory result
  333. [mtc_node-1] [ERROR] [1731932385.800324590] [mtc_node]: No trajectory
  334. [mtc_node-1] [INFO] [1731932385.869070677] [mtc_node]: Planning trajectory
  335. [mtc_node-1] [INFO] [1731932385.869419441] [mtc_node]: Sending goal
  336. [mtc_node-1] [INFO] [1731932385.876473419] [mtc_node]: Goal accepted by server, waiting for result
  337. [mtc_node-1] [INFO] [1731932386.529517018] [mtc_node]: Received result
  338. [mtc_node-1] [INFO] [1731932386.529540002] [mtc_node]: Checking results
  339. [mtc_node-1] [INFO] [1731932386.529674287] [mtc_node]: Success
  340. [mtc_node-1] [INFO] [1731932386.534768424] [mtc_node]: Received trajectory result
  341. [mtc_node-1] [ERROR] [1731932386.534878504] [mtc_node]: No trajectory
  342. [mtc_node-1] [WARN] [1731932386.720705545] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  343. [mtc_node-1] [INFO] [1731932386.731356400] [mtc_node]: Planning trajectory
  344. [mtc_node-1] [INFO] [1731932386.731794634] [mtc_node]: Sending goal
  345. [mtc_node-1] [INFO] [1731932386.738786755] [mtc_node]: Goal accepted by server, waiting for result
  346. [mtc_node-1] [INFO] [1731932387.200565566] [mtc_node]: Received result
  347. [mtc_node-1] [INFO] [1731932387.200587908] [mtc_node]: Checking results
  348. [mtc_node-1] [INFO] [1731932387.200732594] [mtc_node]: Success
  349. [mtc_node-1] [INFO] [1731932387.205851879] [mtc_node]: Received trajectory result
  350. [mtc_node-1] [ERROR] [1731932387.205944876] [mtc_node]: No trajectory
  351. [mtc_node-1] [WARN] [1731932387.369985291] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  352. [mtc_node-1] [WARN] [1731932387.556769241] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  353. [mtc_node-1] [WARN] [1731932387.829981886] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  354. [mtc_node-1] [INFO] [1731932388.189920407] [mtc_node]: Planning trajectory
  355. [mtc_node-1] [INFO] [1731932388.190301362] [mtc_node]: Sending goal
  356. [mtc_node-1] [INFO] [1731932388.198725218] [mtc_node]: Goal accepted by server, waiting for result
  357. [mtc_node-1] [INFO] [1731932388.564740946] [mtc_node]: Received result
  358. [mtc_node-1] [INFO] [1731932388.564787434] [mtc_node]: Checking results
  359. [mtc_node-1] [INFO] [1731932388.564895389] [mtc_node]: Success
  360. [mtc_node-1] [INFO] [1731932388.570022569] [mtc_node]: Received trajectory result
  361. [mtc_node-1] [INFO] [1731932388.570086531] [mtc_node]: Trajectory success!
  362. [mtc_node-1] [INFO] [1731932388.629094477] [mtc_node]: Planning trajectory
  363. [mtc_node-1] [INFO] [1731932388.629464973] [mtc_node]: Sending goal
  364. [mtc_node-1] [INFO] [1731932388.636908041] [mtc_node]: Goal accepted by server, waiting for result
  365. [mtc_node-1] [INFO] [1731932388.729637148] [mtc_node]: Received result
  366. [mtc_node-1] [INFO] [1731932388.729683035] [mtc_node]: Checking results
  367. [mtc_node-1] [INFO] [1731932388.729813473] [mtc_node]: Success
  368. [mtc_node-1] [INFO] [1731932388.734929672] [mtc_node]: Received trajectory result
  369. [mtc_node-1] [INFO] [1731932388.735023871] [mtc_node]: Trajectory success!
  370. [mtc_node-1] [WARN] [1731932388.889265121] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  371. [mtc_node-1] [INFO] [1731932388.898359343] [mtc_node]: Planning trajectory
  372. [mtc_node-1] [INFO] [1731932388.898781737] [mtc_node]: Sending goal
  373. [mtc_node-1] [INFO] [1731932388.907092076] [mtc_node]: Goal accepted by server, waiting for result
  374. [mtc_node-1] [INFO] [1731932389.011688894] [mtc_node]: Received result
  375. [mtc_node-1] [INFO] [1731932389.013580344] [mtc_node]: Received trajectory result
  376. [mtc_node-1] [INFO] [1731932389.013634587] [mtc_node]: Trajectory success!
  377. [mtc_node-1] [INFO] [1731932389.072941802] [mtc_node]: Planning trajectory
  378. [mtc_node-1] [INFO] [1731932389.073316074] [mtc_node]: Sending goal
  379. [mtc_node-1] [INFO] [1731932389.079401939] [mtc_node]: Goal accepted by server, waiting for result
  380. [mtc_node-1] [INFO] [1731932389.169970371] [mtc_node]: Received result
  381. [mtc_node-1] [INFO] [1731932389.170609508] [mtc_node]: Received trajectory result
  382. [mtc_node-1] [INFO] [1731932389.170662729] [mtc_node]: Trajectory success!
  383. [mtc_node-1] [WARN] [1731932389.343633579] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  384. [mtc_node-1] [INFO] [1731932389.353109597] [mtc_node]: Planning trajectory
  385. [mtc_node-1] [INFO] [1731932389.353492757] [mtc_node]: Sending goal
  386. [mtc_node-1] [INFO] [1731932389.359633987] [mtc_node]: Goal accepted by server, waiting for result
  387. [mtc_node-1] [INFO] [1731932389.462976345] [mtc_node]: Received result
  388. [mtc_node-1] [INFO] [1731932389.466388270] [mtc_node]: Received trajectory result
  389. [mtc_node-1] [INFO] [1731932389.466463132] [mtc_node]: Trajectory success!
  390. [mtc_node-1] [INFO] [1731932389.525774034] [mtc_node]: Planning trajectory
  391. [mtc_node-1] [INFO] [1731932389.526145020] [mtc_node]: Sending goal
  392. [mtc_node-1] [INFO] [1731932389.533614489] [mtc_node]: Goal accepted by server, waiting for result
  393. [mtc_node-1] [INFO] [1731932389.622040823] [mtc_node]: Received result
  394. [mtc_node-1] [INFO] [1731932389.624975560] [mtc_node]: Received trajectory result
  395. [mtc_node-1] [INFO] [1731932389.625045874] [mtc_node]: Trajectory success!
  396. [mtc_node-1] [WARN] [1731932389.798594122] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  397. [mtc_node-1] [INFO] [1731932389.807254859] [mtc_node]: Planning trajectory
  398. [mtc_node-1] [INFO] [1731932389.807599805] [mtc_node]: Sending goal
  399. [mtc_node-1] [INFO] [1731932389.810697402] [mtc_node]: Goal accepted by server, waiting for result
  400. [mtc_node-1] [INFO] [1731932389.935828045] [mtc_node]: Received result
  401. [mtc_node-1] [INFO] [1731932389.935842883] [mtc_node]: Checking results
  402. [mtc_node-1] [INFO] [1731932389.935982329] [mtc_node]: Success
  403. [mtc_node-1] [INFO] [1731932389.941071386] [mtc_node]: Received trajectory result
  404. [mtc_node-1] [INFO] [1731932389.941127733] [mtc_node]: Trajectory success!
  405. [mtc_node-1] [INFO] [1731932390.006457913] [mtc_node]: Planning trajectory
  406. [mtc_node-1] [INFO] [1731932390.006859207] [mtc_node]: Sending goal
  407. [mtc_node-1] [INFO] [1731932390.015179615] [mtc_node]: Goal accepted by server, waiting for result
  408. [mtc_node-1] [INFO] [1731932390.100998345] [mtc_node]: Received result
  409. [mtc_node-1] [INFO] [1731932390.101036076] [mtc_node]: Checking results
  410. [mtc_node-1] [INFO] [1731932390.101207282] [mtc_node]: Success
  411. [mtc_node-1] [INFO] [1731932390.106340925] [mtc_node]: Received trajectory result
  412. [mtc_node-1] [INFO] [1731932390.106405958] [mtc_node]: Trajectory success!
  413. [mtc_node-1] [WARN] [1731932390.244181720] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  414. [mtc_node-1] [WARN] [1731932390.374156953] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  415. [mtc_node-1] [WARN] [1731932390.468311550] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  416. [mtc_node-1] [WARN] [1731932390.584591724] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  417. [mtc_node-1] [WARN] [1731932390.737876899] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  418. [mtc_node-1] [WARN] [1731932390.859045438] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  419. [mtc_node-1] [WARN] [1731932391.009017827] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  420. [mtc_node-1] [WARN] [1731932391.172804679] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  421. [mtc_node-1] [WARN] [1731932391.366258413] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  422. [mtc_node-1] [WARN] [1731932391.520662635] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  423. [mtc_node-1] [WARN] [1731932391.654373197] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  424. [mtc_node-1] [WARN] [1731932391.832880670] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  425. [mtc_node-1] [WARN] [1731932391.964292606] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  426. [mtc_node-1] [WARN] [1731932392.246321902] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  427. [mtc_node-1] [WARN] [1731932392.463442092] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  428. [mtc_node-1] [WARN] [1731932392.623545831] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  429. [mtc_node-1] [WARN] [1731932392.751509010] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  430. [mtc_node-1] [WARN] [1731932392.855749894] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  431. [mtc_node-1] [WARN] [1731932392.984237471] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  432. [mtc_node-1] [WARN] [1731932393.083126486] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  433. [mtc_node-1] [WARN] [1731932393.215293465] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  434. [mtc_node-1] [WARN] [1731932393.342762541] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  435. [mtc_node-1] [WARN] [1731932393.437242694] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  436. [mtc_node-1] [WARN] [1731932393.574161267] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  437. [mtc_node-1] [WARN] [1731932393.745314977] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  438. [mtc_node-1] [INFO] [1731932394.356795710] [mtc_node]: Planning trajectory
  439. [mtc_node-1] [INFO] [1731932394.357140216] [mtc_node]: Sending goal
  440. [mtc_node-1] [INFO] [1731932394.363246770] [mtc_node]: Goal accepted by server, waiting for result
  441. [mtc_node-1] [INFO] [1731932394.470248666] [mtc_node]: Received result
  442. [mtc_node-1] [INFO] [1731932394.470262482] [mtc_node]: Checking results
  443. [mtc_node-1] [INFO] [1731932394.470356671] [mtc_node]: Success
  444. [mtc_node-1] [INFO] [1731932394.475452120] [mtc_node]: Received trajectory result
  445. [mtc_node-1] [INFO] [1731932394.475536361] [mtc_node]: Trajectory success!
  446. [mtc_node-1] [INFO] [1731932394.535740678] [mtc_node]: Planning trajectory
  447. [mtc_node-1] [INFO] [1731932394.536220752] [mtc_node]: Sending goal
  448. [mtc_node-1] [INFO] [1731932394.542413670] [mtc_node]: Goal accepted by server, waiting for result
  449. [mtc_node-1] [INFO] [1731932394.641093074] [mtc_node]: Received result
  450. [mtc_node-1] [INFO] [1731932394.641120937] [mtc_node]: Checking results
  451. [mtc_node-1] [INFO] [1731932394.641271273] [mtc_node]: Success
  452. [mtc_node-1] [INFO] [1731932394.646396479] [mtc_node]: Received trajectory result
  453. [mtc_node-1] [INFO] [1731932394.646465681] [mtc_node]: Trajectory success!
  454. [mtc_node-1] [WARN] [1731932394.804892052] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  455. [mtc_node-1] [WARN] [1731932394.940130725] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  456. [mtc_node-1] [WARN] [1731932395.036397065] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  457. [mtc_node-1] [WARN] [1731932395.266162796] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  458. [mtc_node-1] [WARN] [1731932395.393219724] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  459. [mtc_node-1] [WARN] [1731932395.487217054] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  460. [mtc_node-1] [WARN] [1731932395.587197172] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  461. [mtc_node-1] [WARN] [1731932395.787044914] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  462. [mtc_node-1] [WARN] [1731932396.089125412] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  463. [mtc_node-1] [WARN] [1731932396.294336821] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  464. [mtc_node-1] [WARN] [1731932396.478153716] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  465. [mtc_node-1] [WARN] [1731932396.657241560] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  466. [mtc_node-1] [WARN] [1731932396.772669581] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  467. [mtc_node-1] [WARN] [1731932397.023825923] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  468. [mtc_node-1] [WARN] [1731932397.166327695] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  469. [mtc_node-1] [WARN] [1731932397.338028966] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  470. [mtc_node-1] [WARN] [1731932397.486035967] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  471. [mtc_node-1] [WARN] [1731932397.632367860] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  472. [mtc_node-1] [WARN] [1731932397.822029247] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  473. [mtc_node-1] [WARN] [1731932398.012668525] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  474. [mtc_node-1] [WARN] [1731932398.209155932] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  475. [mtc_node-1] [WARN] [1731932398.389716484] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  476. [mtc_node-1] [WARN] [1731932398.545186026] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  477. [mtc_node-1] [WARN] [1731932398.710567175] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  478. [mtc_node-1] [WARN] [1731932398.884241049] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  479. [mtc_node-1] [WARN] [1731932399.011196177] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  480. [mtc_node-1] [INFO] [1731932399.497234501] [mtc_node]: Planning trajectory
  481. [mtc_node-1] [INFO] [1731932399.497717400] [mtc_node]: Sending goal
  482. [mtc_node-1] [INFO] [1731932399.501367909] [mtc_node]: Goal accepted by server, waiting for result
  483. [mtc_node-1] [INFO] [1731932399.829614583] [mtc_node]: Received result
  484. [mtc_node-1] [INFO] [1731932399.829629371] [mtc_node]: Checking results
  485. [mtc_node-1] [INFO] [1731932399.829728379] [mtc_node]: Success
  486. [mtc_node-1] [INFO] [1731932399.834825040] [mtc_node]: Received trajectory result
  487. [mtc_node-1] [INFO] [1731932399.834933366] [mtc_node]: Trajectory success!
  488. [mtc_node-1] [INFO] [1731932399.893677410] [mtc_node]: Planning trajectory
  489. [mtc_node-1] [INFO] [1731932399.894072973] [mtc_node]: Sending goal
  490. [mtc_node-1] [INFO] [1731932399.899954568] [mtc_node]: Goal accepted by server, waiting for result
  491. [mtc_node-1] [INFO] [1731932400.305679980] [mtc_node]: Received result
  492. [mtc_node-1] [INFO] [1731932400.309909911] [mtc_node]: Received trajectory result
  493. [mtc_node-1] [INFO] [1731932400.309976588] [mtc_node]: Trajectory success!
  494. [mtc_node-1] [INFO] [1731932400.798243797] [mtc_node]: Planning trajectory
  495. [mtc_node-1] [INFO] [1731932400.798598542] [mtc_node]: Sending goal
  496. [mtc_node-1] [INFO] [1731932400.804468085] [mtc_node]: Goal accepted by server, waiting for result
  497. [mtc_node-1] [INFO] [1731932401.049961983] [mtc_node]: Received result
  498. [mtc_node-1] [INFO] [1731932401.050574909] [mtc_node]: Received trajectory result
  499. [mtc_node-1] [INFO] [1731932401.050612441] [mtc_node]: Trajectory success!
  500. [mtc_node-1] [INFO] [1731932401.513856755] [mtc_node]: Planning trajectory
  501. [mtc_node-1] [INFO] [1731932401.514279269] [mtc_node]: Sending goal
  502. [mtc_node-1] [INFO] [1731932401.520384700] [mtc_node]: Goal accepted by server, waiting for result
  503. [mtc_node-1] [INFO] [1731932401.787299527] [mtc_node]: Received result
  504. [mtc_node-1] [INFO] [1731932401.787355433] [mtc_node]: Checking results
  505. [mtc_node-1] [INFO] [1731932401.787454832] [mtc_node]: Success
  506. [mtc_node-1] [INFO] [1731932401.792579186] [mtc_node]: Received trajectory result
  507. [mtc_node-1] [INFO] [1731932401.792661653] [mtc_node]: Trajectory success!
  508. [mtc_node-1] [WARN] [1731932401.973269225] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  509. [mtc_node-1] [INFO] [1731932402.435660458] [mtc_node]: Planning trajectory
  510. [mtc_node-1] [INFO] [1731932402.436037376] [mtc_node]: Sending goal
  511. [mtc_node-1] [INFO] [1731932402.442833902] [mtc_node]: Goal accepted by server, waiting for result
  512. [mtc_node-1] [INFO] [1731932402.853552403] [mtc_node]: Received result
  513. [mtc_node-1] [INFO] [1731932402.853570077] [mtc_node]: Checking results
  514. [mtc_node-1] [INFO] [1731932402.853671019] [mtc_node]: Success
  515. [mtc_node-1] [INFO] [1731932402.858782518] [mtc_node]: Received trajectory result
  516. [mtc_node-1] [INFO] [1731932402.858838044] [mtc_node]: Trajectory success!
  517. [mtc_node-1] [WARN] [1731932403.000955934] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  518. [mtc_node-1] [INFO] [1731932403.421065303] [mtc_node]: Planning trajectory
  519. [mtc_node-1] [INFO] [1731932403.421491635] [mtc_node]: Sending goal
  520. [mtc_node-1] [INFO] [1731932403.427388849] [mtc_node]: Goal accepted by server, waiting for result
  521. [mtc_node-1] [INFO] [1731932403.634245897] [mtc_node]: Received result
  522. [mtc_node-1] [INFO] [1731932403.634265364] [mtc_node]: Checking results
  523. [mtc_node-1] [INFO] [1731932403.634370274] [mtc_node]: Success
  524. [mtc_node-1] [INFO] [1731932403.639502603] [mtc_node]: Received trajectory result
  525. [mtc_node-1] [INFO] [1731932403.639590730] [mtc_node]: Trajectory success!
  526. [mtc_node-1] [WARN] [1731932403.821299213] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  527. [mtc_node-1] [INFO] [1731932404.195724567] [mtc_node]: Planning trajectory
  528. [mtc_node-1] [INFO] [1731932404.196096986] [mtc_node]: Sending goal
  529. [mtc_node-1] [INFO] [1731932404.201861598] [mtc_node]: Goal accepted by server, waiting for result
  530. [mtc_node-1] [INFO] [1731932404.288149010] [mtc_node]: Received result
  531. [mtc_node-1] [INFO] [1731932404.293189955] [mtc_node]: Received trajectory result
  532. [mtc_node-1] [INFO] [1731932404.293252674] [mtc_node]: Trajectory success!
  533. [mtc_node-1] [WARN] [1731932404.454814338] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  534. [mtc_node-1] [INFO] [1731932404.762147821] [mtc_node]: Planning trajectory
  535. [mtc_node-1] [INFO] [1731932404.762527204] [mtc_node]: Sending goal
  536. [mtc_node-1] [INFO] [1731932404.768594642] [mtc_node]: Goal accepted by server, waiting for result
  537. [mtc_node-1] [INFO] [1731932404.896429052] [mtc_node]: Received result
  538. [mtc_node-1] [INFO] [1731932404.896462936] [mtc_node]: Checking results
  539. [mtc_node-1] [INFO] [1731932404.896590659] [mtc_node]: Success
  540. [mtc_node-1] [INFO] [1731932404.901705675] [mtc_node]: Received trajectory result
  541. [mtc_node-1] [INFO] [1731932404.901780177] [mtc_node]: Trajectory success!
  542. [mtc_node-1] [INFO] [1731932404.960892166] [mtc_node]: Planning trajectory
  543. [mtc_node-1] [INFO] [1731932404.961381908] [mtc_node]: Sending goal
  544. [mtc_node-1] [INFO] [1731932404.968648228] [mtc_node]: Goal accepted by server, waiting for result
  545. [mtc_node-1] [INFO] [1731932405.057093026] [mtc_node]: Received result
  546. [mtc_node-1] [INFO] [1731932405.060020318] [mtc_node]: Received trajectory result
  547. [mtc_node-1] [INFO] [1731932405.060107153] [mtc_node]: Trajectory success!
  548. [mtc_node-1] [INFO] [1731932405.547964714] [mtc_node]: Planning trajectory
  549. [mtc_node-1] [INFO] [1731932405.548325150] [mtc_node]: Sending goal
  550. [mtc_node-1] [INFO] [1731932405.555644942] [mtc_node]: Goal accepted by server, waiting for result
  551. [mtc_node-1] [INFO] [1731932405.924787292] [mtc_node]: Received result
  552. [mtc_node-1] [INFO] [1731932405.924839111] [mtc_node]: Checking results
  553. [mtc_node-1] [INFO] [1731932405.925011820] [mtc_node]: Success
  554. [mtc_node-1] [INFO] [1731932405.930138758] [mtc_node]: Received trajectory result
  555. [mtc_node-1] [ERROR] [1731932405.930193732] [mtc_node]: No trajectory
  556. [mtc_node-1] [WARN] [1731932406.047073640] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  557. [mtc_node-1] [INFO] [1731932406.364296757] [mtc_node]: Planning trajectory
  558. [mtc_node-1] [INFO] [1731932406.364667373] [mtc_node]: Sending goal
  559. [mtc_node-1] [INFO] [1731932406.371536376] [mtc_node]: Goal accepted by server, waiting for result
  560. [mtc_node-1] [INFO] [1731932406.455534860] [mtc_node]: Received result
  561. [mtc_node-1] [INFO] [1731932406.455551692] [mtc_node]: Checking results
  562. [mtc_node-1] [INFO] [1731932406.455646893] [mtc_node]: Success
  563. [mtc_node-1] [INFO] [1731932406.460759604] [mtc_node]: Received trajectory result
  564. [mtc_node-1] [INFO] [1731932406.460898188] [mtc_node]: Trajectory success!
  565. [mtc_node-1] [INFO] [1731932406.924143117] [mtc_node]: Planning trajectory
  566. [mtc_node-1] [INFO] [1731932406.924555281] [mtc_node]: Sending goal
  567. [mtc_node-1] [INFO] [1731932406.932139817] [mtc_node]: Goal accepted by server, waiting for result
  568. [mtc_node-1] [INFO] [1731932407.309848481] [mtc_node]: Received result
  569. [mtc_node-1] [INFO] [1731932407.311699213] [mtc_node]: Received trajectory result
  570. [mtc_node-1] [ERROR] [1731932407.311764217] [mtc_node]: No trajectory
  571. [mtc_node-1] [WARN] [1731932407.501566423] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  572. [mtc_node-1] [INFO] [1731932407.948758341] [mtc_node]: Planning trajectory
  573. [mtc_node-1] [INFO] [1731932407.949106964] [mtc_node]: Sending goal
  574. [mtc_node-1] [INFO] [1731932407.952335940] [mtc_node]: Goal accepted by server, waiting for result
  575. [mtc_node-1] [INFO] [1731932408.331102782] [mtc_node]: Received result
  576. [mtc_node-1] [INFO] [1731932408.331824215] [mtc_node]: Received trajectory result
  577. [mtc_node-1] [ERROR] [1731932408.331915318] [mtc_node]: No trajectory
  578. [mtc_node-1] [WARN] [1731932408.589076022] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 8. Try a lower max_step.
  579. [mtc_node-1] [WARN] [1731932408.731763102] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  580. [mtc_node-1] [WARN] [1731932408.916936104] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  581. [mtc_node-1] [INFO] [1731932409.516764083] [mtc_node]: Planning trajectory
  582. [mtc_node-1] [INFO] [1731932409.517122255] [mtc_node]: Sending goal
  583. [mtc_node-1] [INFO] [1731932409.524440363] [mtc_node]: Goal accepted by server, waiting for result
  584. [mtc_node-1] [INFO] [1731932409.839368598] [mtc_node]: Received result
  585. [mtc_node-1] [INFO] [1731932409.843225388] [mtc_node]: Received trajectory result
  586. [mtc_node-1] [INFO] [1731932409.843311412] [mtc_node]: Trajectory success!
  587. [mtc_node-1] [INFO] [1731932409.901283407] [mtc_node]: Planning trajectory
  588. [mtc_node-1] [INFO] [1731932409.901709087] [mtc_node]: Sending goal
  589. [mtc_node-1] [INFO] [1731932409.907072274] [mtc_node]: Goal accepted by server, waiting for result
  590. [mtc_node-1] [INFO] [1731932410.163891772] [mtc_node]: Received result
  591. [mtc_node-1] [INFO] [1731932410.165030629] [mtc_node]: Received trajectory result
  592. [mtc_node-1] [INFO] [1731932410.165083850] [mtc_node]: Trajectory success!
  593. [mtc_node-1] [INFO] [1731932410.668512219] [mtc_node]: Planning trajectory
  594. [mtc_node-1] [INFO] [1731932410.668923281] [mtc_node]: Sending goal
  595. [mtc_node-1] [INFO] [1731932410.674239940] [mtc_node]: Goal accepted by server, waiting for result
  596. [mtc_node-1] [INFO] [1731932411.082607074] [mtc_node]: Received result
  597. [mtc_node-1] [INFO] [1731932411.084224924] [mtc_node]: Received trajectory result
  598. [mtc_node-1] [INFO] [1731932411.084283465] [mtc_node]: Trajectory success!
  599. [mtc_node-1] [WARN] [1731932411.302112710] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  600. [mtc_node-1] [WARN] [1731932411.432039168] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  601. [mtc_node-1] [INFO] [1731932411.901838065] [mtc_node]: Planning trajectory
  602. [mtc_node-1] [INFO] [1731932411.902422587] [mtc_node]: Sending goal
  603. [mtc_node-1] [INFO] [1731932411.910065764] [mtc_node]: Goal accepted by server, waiting for result
  604. [mtc_node-1] [INFO] [1731932412.176998731] [mtc_node]: Received result
  605. [mtc_node-1] [INFO] [1731932412.177023939] [mtc_node]: Checking results
  606. [mtc_node-1] [INFO] [1731932412.177101306] [mtc_node]: Success
  607. [mtc_node-1] [INFO] [1731932412.182221050] [mtc_node]: Received trajectory result
  608. [mtc_node-1] [INFO] [1731932412.182289601] [mtc_node]: Trajectory success!
  609. [mtc_node-1] [INFO] [1731932412.646299833] [mtc_node]: Planning trajectory
  610. [mtc_node-1] [INFO] [1731932412.646661952] [mtc_node]: Sending goal
  611. [mtc_node-1] [INFO] [1731932412.655330711] [mtc_node]: Goal accepted by server, waiting for result
  612. [mtc_node-1] [INFO] [1731932412.738214184] [mtc_node]: Received result
  613. [mtc_node-1] [INFO] [1731932412.738233842] [mtc_node]: Checking results
  614. [mtc_node-1] [INFO] [1731932412.738315387] [mtc_node]: Success
  615. [mtc_node-1] [INFO] [1731932412.743423629] [mtc_node]: Received trajectory result
  616. [mtc_node-1] [INFO] [1731932412.743573494] [mtc_node]: Trajectory success!
  617. [mtc_node-1] [WARN] [1731932412.892169121] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  618. [mtc_node-1] [WARN] [1731932413.038714204] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  619. [mtc_node-1] [INFO] [1731932413.469131537] [mtc_node]: Planning trajectory
  620. [mtc_node-1] [INFO] [1731932413.469571234] [mtc_node]: Sending goal
  621. [mtc_node-1] [INFO] [1731932413.476985654] [mtc_node]: Goal accepted by server, waiting for result
  622. [mtc_node-1] [INFO] [1731932413.564190231] [mtc_node]: Received result
  623. [mtc_node-1] [INFO] [1731932413.568178671] [mtc_node]: Received trajectory result
  624. [mtc_node-1] [INFO] [1731932413.568234147] [mtc_node]: Trajectory success!
  625. [mtc_node-1] [WARN] [1731932413.786069367] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  626. [mtc_node-1] [INFO] [1731932414.254475184] [mtc_node]: Planning trajectory
  627. [mtc_node-1] [INFO] [1731932414.254857382] [mtc_node]: Sending goal
  628. [mtc_node-1] [INFO] [1731932414.259868789] [mtc_node]: Goal accepted by server, waiting for result
  629. [mtc_node-1] [INFO] [1731932414.380650417] [mtc_node]: Received result
  630. [mtc_node-1] [INFO] [1731932414.381242243] [mtc_node]: Received trajectory result
  631. [mtc_node-1] [INFO] [1731932414.381302628] [mtc_node]: Trajectory success!
  632. [mtc_node-1] [INFO] [1731932414.440342200] [mtc_node]: Planning trajectory
  633. [mtc_node-1] [INFO] [1731932414.440864294] [mtc_node]: Sending goal
  634. [mtc_node-1] [INFO] [1731932414.448389165] [mtc_node]: Goal accepted by server, waiting for result
  635. [mtc_node-1] [INFO] [1731932414.554081825] [mtc_node]: Received result
  636. [mtc_node-1] [INFO] [1731932414.554831422] [mtc_node]: Received trajectory result
  637. [mtc_node-1] [INFO] [1731932414.554903429] [mtc_node]: Trajectory success!
  638. [mtc_node-1] [WARN] [1731932414.735347695] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 3. Try a lower max_step.
  639. [mtc_node-1] [INFO] [1731932414.746616962] [mtc_node]: Planning trajectory
  640. [mtc_node-1] [INFO] [1731932414.747101494] [mtc_node]: Sending goal
  641. [mtc_node-1] [INFO] [1731932414.753156057] [mtc_node]: Goal accepted by server, waiting for result
  642. [mtc_node-1] [INFO] [1731932415.758197265] [mtc_node]: Received result
  643. [mtc_node-1] [INFO] [1731932415.758213506] [mtc_node]: Checking results
  644. [mtc_node-1] [INFO] [1731932415.758310521] [mtc_node]: Success
  645. [mtc_node-1] [INFO] [1731932415.763426578] [mtc_node]: Received trajectory result
  646. [mtc_node-1] [ERROR] [1731932415.763516168] [mtc_node]: No trajectory
  647. [mtc_node-1] [INFO] [1731932415.777999161] [mtc_node]: Planning trajectory
  648. [mtc_node-1] [INFO] [1731932415.778712158] [mtc_node]: Sending goal
  649. [mtc_node-1] [INFO] [1731932415.786992126] [mtc_node]: Goal accepted by server, waiting for result
  650. [mtc_node-1] [INFO] [1731932416.037672819] [mtc_node]: Received result
  651. [mtc_node-1] [INFO] [1731932416.037696694] [mtc_node]: Checking results
  652. [mtc_node-1] [INFO] [1731932416.037767138] [mtc_node]: Success
  653. [mtc_node-1] [INFO] [1731932416.042886611] [mtc_node]: Received trajectory result
  654. [mtc_node-1] [INFO] [1731932416.042988054] [mtc_node]: Trajectory success!
  655. [mtc_node-1] [WARN] [1731932416.226445499] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  656. [mtc_node-1] [INFO] [1731932416.235654405] [mtc_node]: Planning trajectory
  657. [mtc_node-1] [INFO] [1731932416.236033797] [mtc_node]: Sending goal
  658. [mtc_node-1] [INFO] [1731932416.241261836] [mtc_node]: Goal accepted by server, waiting for result
  659. [mtc_node-1] [INFO] [1731932416.351598151] [mtc_node]: Received result
  660. [mtc_node-1] [INFO] [1731932416.351609563] [mtc_node]: Checking results
  661. [mtc_node-1] [INFO] [1731932416.351705816] [mtc_node]: Success
  662. [mtc_node-1] [INFO] [1731932416.356830158] [mtc_node]: Received trajectory result
  663. [mtc_node-1] [INFO] [1731932416.356934196] [mtc_node]: Trajectory success!
  664. [mtc_node-1] [INFO] [1731932416.417113786] [mtc_node]: Planning trajectory
  665. [mtc_node-1] [INFO] [1731932416.417503818] [mtc_node]: Sending goal
  666. [mtc_node-1] [INFO] [1731932416.421190915] [mtc_node]: Goal accepted by server, waiting for result
  667. [mtc_node-1] [INFO] [1731932416.499558109] [mtc_node]: Received result
  668. [mtc_node-1] [INFO] [1731932416.499575181] [mtc_node]: Checking results
  669. [mtc_node-1] [INFO] [1731932416.499841719] [mtc_node]: Success
  670. [mtc_node-1] [INFO] [1731932416.504983975] [mtc_node]: Received trajectory result
  671. [mtc_node-1] [INFO] [1731932416.505071472] [mtc_node]: Trajectory success!
  672. [mtc_node-1] [WARN] [1731932416.650430049] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  673. [mtc_node-1] [WARN] [1731932416.741386912] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  674. [mtc_node-1] [INFO] [1731932417.145233024] [mtc_node]: Planning trajectory
  675. [mtc_node-1] [INFO] [1731932417.145616914] [mtc_node]: Sending goal
  676. [mtc_node-1] [INFO] [1731932417.152642435] [mtc_node]: Goal accepted by server, waiting for result
  677. [mtc_node-1] [INFO] [1731932417.869756900] [mtc_node]: Received result
  678. [mtc_node-1] [INFO] [1731932417.869816874] [mtc_node]: Checking results
  679. [mtc_node-1] [INFO] [1731932417.869990915] [mtc_node]: Success
  680. [mtc_node-1] [INFO] [1731932417.875115738] [mtc_node]: Received trajectory result
  681. [mtc_node-1] [ERROR] [1731932417.875219035] [mtc_node]: No trajectory
  682. [mtc_node-1] [INFO] [1731932418.198222246] [mtc_node]: Planning trajectory
  683. [mtc_node-1] [INFO] [1731932418.198598622] [mtc_node]: Sending goal
  684. [mtc_node-1] [INFO] [1731932418.205824514] [mtc_node]: Goal accepted by server, waiting for result
  685. [mtc_node-1] [INFO] [1731932418.292031535] [mtc_node]: Received result
  686. [mtc_node-1] [INFO] [1731932418.296824026] [mtc_node]: Received trajectory result
  687. [mtc_node-1] [INFO] [1731932418.296908567] [mtc_node]: Trajectory success!
  688. [mtc_node-1] [WARN] [1731932418.469793905] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  689. [mtc_node-1] [INFO] [1731932418.480387186] [mtc_node]: Planning trajectory
  690. [mtc_node-1] [INFO] [1731932418.480787417] [mtc_node]: Sending goal
  691. [mtc_node-1] [INFO] [1731932418.486252198] [mtc_node]: Goal accepted by server, waiting for result
  692. [mtc_node-1] [INFO] [1731932419.139003159] [mtc_node]: Received result
  693. [mtc_node-1] [INFO] [1731932419.139017897] [mtc_node]: Checking results
  694. [mtc_node-1] [INFO] [1731932419.139198230] [mtc_node]: Success
  695. [mtc_node-1] [INFO] [1731932419.144304638] [mtc_node]: Received trajectory result
  696. [mtc_node-1] [ERROR] [1731932419.144392375] [mtc_node]: No trajectory
  697. [mtc_node-1] [WARN] [1731932419.239933368] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  698. [mtc_node-1] [INFO] [1731932419.251454314] [mtc_node]: Planning trajectory
  699. [mtc_node-1] [INFO] [1731932419.251882579] [mtc_node]: Sending goal
  700. [mtc_node-1] [INFO] [1731932419.255473483] [mtc_node]: Goal accepted by server, waiting for result
  701. [mtc_node-1] [INFO] [1731932420.023438830] [mtc_node]: Received result
  702. [mtc_node-1] [INFO] [1731932420.023471291] [mtc_node]: Checking results
  703. [mtc_node-1] [INFO] [1731932420.023590719] [mtc_node]: Success
  704. [mtc_node-1] [INFO] [1731932420.028705743] [mtc_node]: Received trajectory result
  705. [mtc_node-1] [ERROR] [1731932420.028765176] [mtc_node]: No trajectory
  706. [mtc_node-1] [WARN] [1731932420.157589198] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  707. [mtc_node-1] [INFO] [1731932420.169244779] [mtc_node]: Planning trajectory
  708. [mtc_node-1] [INFO] [1731932420.169663175] [mtc_node]: Sending goal
  709. [mtc_node-1] [INFO] [1731932420.176009493] [mtc_node]: Goal accepted by server, waiting for result
  710. [mtc_node-1] [INFO] [1731932420.698645188] [mtc_node]: Received result
  711. [mtc_node-1] [INFO] [1731932420.698660757] [mtc_node]: Checking results
  712. [mtc_node-1] [INFO] [1731932420.698748725] [mtc_node]: Success
  713. [mtc_node-1] [INFO] [1731932420.703864821] [mtc_node]: Received trajectory result
  714. [mtc_node-1] [ERROR] [1731932420.703954702] [mtc_node]: No trajectory
  715. [mtc_node-1] [WARN] [1731932420.838751691] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  716. [mtc_node-1] [INFO] [1731932420.849288523] [mtc_node]: Planning trajectory
  717. [mtc_node-1] [INFO] [1731932420.849647296] [mtc_node]: Sending goal
  718. [mtc_node-1] [INFO] [1731932420.857376035] [mtc_node]: Goal accepted by server, waiting for result
  719. [mtc_node-1] [INFO] [1731932420.946332986] [mtc_node]: Received result
  720. [mtc_node-1] [INFO] [1731932420.948662790] [mtc_node]: Received trajectory result
  721. [mtc_node-1] [INFO] [1731932420.948807365] [mtc_node]: Trajectory success!
  722. [mtc_node-1] [INFO] [1731932421.345855543] [mtc_node]: Planning trajectory
  723. [mtc_node-1] [INFO] [1731932421.346281263] [mtc_node]: Sending goal
  724. [mtc_node-1] [INFO] [1731932421.349717692] [mtc_node]: Goal accepted by server, waiting for result
  725. [mtc_node-1] [INFO] [1731932421.767088584] [mtc_node]: Received result
  726. [mtc_node-1] [INFO] [1731932421.767110757] [mtc_node]: Checking results
  727. [mtc_node-1] [INFO] [1731932421.767212520] [mtc_node]: Success
  728. [mtc_node-1] [INFO] [1731932421.772297166] [mtc_node]: Received trajectory result
  729. [mtc_node-1] [ERROR] [1731932421.772352231] [mtc_node]: No trajectory
  730. [mtc_node-1] [INFO] [1731932421.782519981] [mtc_node]: Planning trajectory
  731. [mtc_node-1] [INFO] [1731932421.782937756] [mtc_node]: Sending goal
  732. [mtc_node-1] [INFO] [1731932421.788938236] [mtc_node]: Goal accepted by server, waiting for result
  733. [mtc_node-1] [INFO] [1731932421.876371236] [mtc_node]: Received result
  734. [mtc_node-1] [INFO] [1731932421.880259746] [mtc_node]: Received trajectory result
  735. [mtc_node-1] [INFO] [1731932421.880324549] [mtc_node]: Trajectory success!
  736. [mtc_node-1] [WARN] [1731932422.021063093] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  737. [mtc_node-1] [INFO] [1731932422.346307648] [mtc_node]: Planning trajectory
  738. [mtc_node-1] [INFO] [1731932422.346681970] [mtc_node]: Sending goal
  739. [mtc_node-1] [INFO] [1731932422.352916465] [mtc_node]: Goal accepted by server, waiting for result
  740. [mtc_node-1] [INFO] [1731932422.437447150] [mtc_node]: Received result
  741. [mtc_node-1] [INFO] [1731932422.437474613] [mtc_node]: Checking results
  742. [mtc_node-1] [INFO] [1731932422.437620049] [mtc_node]: Success
  743. [mtc_node-1] [INFO] [1731932422.442738109] [mtc_node]: Received trajectory result
  744. [mtc_node-1] [INFO] [1731932422.442815567] [mtc_node]: Trajectory success!
  745. [mtc_node-1] [WARN] [1731932422.631805723] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  746. [mtc_node-1] [WARN] [1731932422.744285237] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  747. [mtc_node-1] [WARN] [1731932422.883162506] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  748. [mtc_node-1] [WARN] [1731932422.997627498] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  749. [mtc_node-1] [WARN] [1731932423.098053542] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  750. [mtc_node-1] [WARN] [1731932423.239210428] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  751. [mtc_node-1] [WARN] [1731932423.436012158] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  752. [mtc_node-1] [WARN] [1731932423.581524692] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  753. [mtc_node-1] [WARN] [1731932423.715663482] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  754. [mtc_node-1] [WARN] [1731932423.936639867] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  755. [mtc_node-1] [WARN] [1731932424.095529828] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  756. [mtc_node-1] [WARN] [1731932424.402933171] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  757. [mtc_node-1] [WARN] [1731932424.623383351] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  758. [mtc_node-1] [WARN] [1731932424.813759570] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  759. [mtc_node-1] [WARN] [1731932425.002564759] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  760. [mtc_node-1] [WARN] [1731932425.131039246] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  761. [mtc_node-1] [WARN] [1731932425.331875307] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  762. [mtc_node-1] [WARN] [1731932425.469109444] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  763. [mtc_node-1] [WARN] [1731932425.605835133] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  764. [mtc_node-1] [WARN] [1731932425.732586300] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  765. [mtc_node-1] [WARN] [1731932425.859727961] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  766. [mtc_node-1] [WARN] [1731932426.056231005] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  767. [mtc_node-1] [WARN] [1731932426.266832747] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  768. [mtc_node-1] [WARN] [1731932426.391734864] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  769. [mtc_node-1] [WARN] [1731932426.558724743] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  770. [mtc_node-1] [WARN] [1731932426.736554851] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  771. [mtc_node-1] [WARN] [1731932426.909231031] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  772. [mtc_node-1] [WARN] [1731932427.076589371] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  773. [mtc_node-1] [WARN] [1731932427.172641385] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  774. [mtc_node-1] [WARN] [1731932427.341722361] [moveit_robot_state.cartesian_interpolator]: The computed trajectory is too short to detect jumps in joint-space Need at least 10 steps, only got 2. Try a lower max_step.
  775. [mtc_node-1] 0 - ← 0 → - 0 / demo task
  776. [mtc_node-1] 1 - ← 1 → - 0 / current
  777. [mtc_node-1] - 0 → 1 → - 1 / open hand
  778. [mtc_node-1] - 1 → 0 ← 22 - / move to pick
  779. [mtc_node-1] 22 - ← 22 → - 22 / pick object
  780. [mtc_node-1] 22 - ← 22 ← 0 - / approach object
  781. [mtc_node-1] 0 - ← 24 → - 0 / grasp pose IK
  782. [mtc_node-1] 25 - ← 25 → - 25 / generate grasp pose
  783. [mtc_node-1] - 0 → 24 → - 0 / allow collision (hand,object)
  784. [mtc_node-1] - 0 → 24 → - 0 / close hand
  785. [mtc_node-1] - 0 → 24 → - 0 / attach object
  786. [mtc_node-1] - 0 → 24 → - 24 / lift object
  787. [mtc_node-1] - 22 → 0 ← 32 - / move to place
  788. [mtc_node-1] 32 - ← 32 → - 0 / place object
  789. [mtc_node-1] 222 - ← 222 → - 0 / place pose IK
  790. [mtc_node-1] 240 - ← 240 → -240 / generate place pose
  791. [mtc_node-1] - 0 → 222 → - 0 / open hand
  792. [mtc_node-1] - 0 → 222 → - 0 / forbid collision (hand,object)
  793. [mtc_node-1] - 0 → 222 → - 0 / detach object
  794. [mtc_node-1] - 0 → 32 → - 32 / retreat
  795. [mtc_node-1] - 0 → 31 → - 31 / return home
  796. [mtc_node-1] Failing stage(s):
  797. [mtc_node-1] move to pick (0/18): Trajectory end-point deviates too much from goal state
  798. [mtc_node-1] [ERROR] [1731932427.347340191] [mtc_tutorial]: Task planning failed
  799. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
  800. [mtc_node-1] [INFO] [1731932754.232187045] [rclcpp]: signal_handler(signum=2)
  801. [INFO] [mtc_node-1]: process has finished cleanly [pid 5568]
  802.  
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