Maybe failed to update robot state, time diff: 1777626615.625s

[JainHarsh00]

Description

I am facing this issue where my robot arm is moving but the gripper isnt.
When I change Planning Group from arm to gripper it throws an error

Repository i am following : https://github.com/AntoBrandi/Arduino-Bot
Please go through the repo for important files

ROS Distro

Jazzy

OS and version

Ubuntu 24.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

No response

Which RMW are you using?

CycloneDDS

Steps to Reproduce

I want the gripper to be moving just like the arm is. I am using OMPL

Expected behavior

The gripper should change its state just like the arm do.

Actual behavior

The gripper is not changing its state and throwing an error
[rviz2-2] [WARN] [1777627672.508686281] [rviz2.moveit.ros.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1777627402.682s

Backtrace or Console output

harsh@harsh-VirtualBox:~/arduinobot_ws$ ros2 launch arduinobot_moveit moveit.launch.py [INFO] [launch]: All log files can be found below /home/harsh/.ros/log/2026-05-01-14-45-51-079293-harsh-VirtualBox-7771 [INFO] [launch]: Default logging verbosity is set to INFO WARNING:root:Cannot infer URDF from /home/harsh/arduinobot_ws/install/arduinobot_moveit/share/arduinobot_moveit. -- using config/arduinobot.urdf WARNING:root:Cannot infer SRDF from /home/harsh/arduinobot_ws/install/arduinobot_moveit/share/arduinobot_moveit. -- using config/arduinobot.srdf [INFO] [move_group-1]: process started with pid [7774] [INFO] [rviz2-2]: process started with pid [7775] [move_group-1] [INFO] [1777626951.761124836] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds [move_group-1] [INFO] [1777626951.761380558] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'arduinobot'... [move_group-1] [INFO] [1777626951.761398602] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-1] [INFO] [1777626952.126511344] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 [rviz2-2] [INFO] [1777626952.372272778] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1777626952.373533380] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [rviz2-2] [INFO] [1777626952.511195351] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-2] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp [rviz2-2] [WARN] [1777626952.755359649] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [move_group-1] [INFO] [1777626953.258330082] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-1] [INFO] [1777626953.259128917] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-1] [INFO] [1777626953.261082817] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-1] [INFO] [1777626953.268197455] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-1] [INFO] [1777626953.268272786] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher. [move_group-1] [INFO] [1777626953.270614453] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. [move_group-1] [INFO] [1777626953.280917325] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-1] [INFO] [1777626953.281703633] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor [move_group-1] [INFO] [1777626953.283061341] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene' [move_group-1] [INFO] [1777626953.283097289] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-1] [INFO] [1777626953.284184573] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object' [move_group-1] [INFO] [1777626953.287183796] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-1] [WARN] [1777626953.288095423] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-1] [ERROR] [1777626953.288120587] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [move_group-1] [INFO] [1777626955.199199790] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP' [move_group-1] [INFO] [1777626955.203040107] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.204297489] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.204332617] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.205574528] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.205598130] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.205764004] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.205779836] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.205800454] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.209005242] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.214199003] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.214227252] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.217328609] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.217382562] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.220232921] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.275909539] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL' [move_group-1] [INFO] [1777626955.280568997] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.281307617] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.281320335] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.282977990] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.283003024] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.283037280] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.283044440] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.283058909] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.285928404] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.294386988] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.296350251] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.299719631] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.299768467] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.303060273] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.324587644] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-1] [INFO] [1777626955.389157971] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1777626955.389197735] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-1] [INFO] [1777626955.391413815] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC] [move_group-1] [INFO] [1777626955.391479133] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-1] [INFO] [1777626955.394462862] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN] [move_group-1] [INFO] [1777626955.394533908] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1777626955.396365789] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP] [move_group-1] [INFO] [1777626955.396410559] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner' [move_group-1] [INFO] [1777626955.398887032] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.399219732] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.399232609] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.407982275] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.408061652] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.408148800] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.408159425] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.408182947] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.412414684] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.422427488] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.422454134] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.425969723] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.462912963] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP' [move_group-1] [INFO] [1777626955.470430318] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.470763499] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-1] [INFO] [1777626955.470887597] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.477009961] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626955.477035135] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.477066758] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-1] [INFO] [1777626955.477071965] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.477083060] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-1] [INFO] [1777626955.487647214] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.492065917] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626955.492095837] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.492892305] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-1] [INFO] [1777626955.492909479] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.493757677] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-1] [INFO] [1777626955.821607048] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller [move_group-1] [INFO] [1777626955.844054856] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for gripper_controller [move_group-1] [INFO] [1777626955.844399232] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1777626955.844435641] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [rviz2-2] [ERROR] [1777626955.849733313] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available [move_group-1] [INFO] [1777626955.849732060] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-1] [INFO] [1777626955.851949938] [move_group]: MoveGroup debug mode is ON [rviz2-2] [INFO] [1777626956.002107419] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [move_group-1] [INFO] [1777626956.031395351] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action [move_group-1] [INFO] [1777626956.060789351] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-1] [INFO] [1777626956.061080306] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-1] [INFO] [1777626956.064890007] [move_group.moveit.moveit.ros.move_group.executable]: [move_group-1] [move_group-1] ******************************************************** [move_group-1] * MoveGroup using: [move_group-1] * - apply_planning_scene_service [move_group-1] * - clear_octomap_service [move_group-1] * - get_group_urdf [move_group-1] * - load_geometry_from_file [move_group-1] * - CartesianPathService [move_group-1] * - execute_trajectory_action [move_group-1] * - get_planning_scene_service [move_group-1] * - kinematics_service [move_group-1] * - move_action [move_group-1] * - motion_plan_service [move_group-1] * - query_planners_service [move_group-1] * - state_validation_service [move_group-1] * - save_geometry_to_file [move_group-1] * - SequenceAction [move_group-1] * - SequenceService [move_group-1] ******************************************************** [move_group-1] [move_group-1] [INFO] [1777626956.065028505] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl [move_group-1] [INFO] [1777626956.065042113] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete [move_group-1] Loading 'move_group/ApplyPlanningSceneService'... [move_group-1] Loading 'move_group/ClearOctomapService'... [move_group-1] Loading 'move_group/GetUrdfService'... [move_group-1] Loading 'move_group/LoadGeometryFromFileService'... [move_group-1] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-1] Loading 'move_group/MoveGroupKinematicsService'... [move_group-1] Loading 'move_group/MoveGroupMoveAction'... [move_group-1] Loading 'move_group/MoveGroupPlanService'... [move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-1] Loading 'move_group/MoveGroupStateValidationService'... [move_group-1] Loading 'move_group/SaveGeometryToFileService'... [move_group-1] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'... [move_group-1] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... [move_group-1] [move_group-1] You can start planning now! [move_group-1] [rviz2-2] [INFO] [1777626956.197573168] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.0221363 seconds [rviz2-2] [INFO] [1777626956.200472845] [rviz2.moveit.core.robot_model]: Loading robot model 'arduinobot'... [rviz2-2] [INFO] [1777626956.200497528] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] [INFO] [1777626956.652859262] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 [rviz2-2] [INFO] [1777626957.861744069] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor [rviz2-2] [INFO] [1777626957.879851830] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-2] [INFO] [1777626958.256009763] [interactive_marker_display_97990817493728]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-2] [INFO] [1777626958.286691381] [rviz2.moveit.ros.motion_planning_frame]: group arm [rviz2-2] [INFO] [1777626958.288005910] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace '' [rviz2-2] [INFO] [1777626958.367928482] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group arm. [rviz2-2] [INFO] [1777626958.551561040] [interactive_marker_display_97990817493728]: Sending request for interactive markers [rviz2-2] [INFO] [1777626958.785409768] [interactive_marker_display_97990817493728]: Service response received for initialization [rviz2-2] [INFO] [1777626974.502503640] [rviz2.moveit.ros.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-2] [INFO] [1777626974.503439977] [rviz2.moveit.ros.motion_planning_frame]: group gripper [rviz2-2] [INFO] [1777626974.503774276] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace '' [rviz2-2] [INFO] [1777626974.563507075] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group gripper. [rviz2-2] [WARN] [1777626978.154539798] [rviz2.moveit.ros.motion_planning_frame]: Unable to find a random collision free configuration after 100 attempts [move_group-1] [INFO] [1777626980.710858266] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request [move_group-1] [INFO] [1777626980.711384323] [move_group.moveit.moveit.ros.move_group.move_action]: executing.. [rviz2-2] [INFO] [1777626980.711598325] [rviz2.moveit.ros.move_group_interface]: Plan and Execute request accepted [move_group-1] [INFO] [1777626981.117757340] [move_group.moveit.moveit.ros.move_group.move_action]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-1] [INFO] [1777626981.117924310] [move_group.moveit.moveit.ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-1] [INFO] [1777626981.117998416] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'stomp' [move_group-1] [INFO] [1777626981.118195629] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames' [move_group-1] [INFO] [1777626981.118277016] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds' [move_group-1] [INFO] [1777626981.118325766] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds' [move_group-1] [INFO] [1777626981.118391500] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision' [move_group-1] [INFO] [1777626981.118592728] [move_group]: Calling Planner 'STOMP' [move_group-1] [INFO] [1777626981.136472884] [move_group]: Calling PlanningResponseAdapter 'AddTimeOptimalParameterization' [move_group-1] [INFO] [1777626981.174711748] [move_group]: Calling PlanningResponseAdapter 'ValidateSolution' [move_group-1] [INFO] [1777626981.184546802] [move_group]: Calling PlanningResponseAdapter 'DisplayMotionPath' [move_group-1] [INFO] [1777626981.194775720] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1777626981.194832411] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1777626981.194908020] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-1] [INFO] [1777626981.669603710] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1777626981.669691826] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1777626981.673104170] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1777626981.674148833] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to gripper_controller [move_group-1] [INFO] [1777626981.677334716] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: gripper_controller started execution [move_group-1] [INFO] [1777626981.677357679] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [move_group-1] [INFO] [1777626987.381119600] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'gripper_controller' successfully finished [move_group-1] [INFO] [1777626987.381298129] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-1] [INFO] [1777626987.395310401] [move_group.moveit.moveit.ros.move_group.move_action]: Solution was found and executed. [rviz2-2] [INFO] [1777626987.397750089] [rviz2.moveit.ros.move_group_interface]: Plan and Execute request complete! [rviz2-2] [WARN] [1777626988.398585720] [rviz2.moveit.ros.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1777626832.000s

[Ravindar10]

I validated and converted URDFs from 5 popular robots to both
Gazebo SDF and MuJoCo MJCF format.

The tool is free to try (14-day Pro trial, no credit card):

curl -X POST https://roboinfra-api.azurewebsites.net/api/urdf/convert-format?target=mjcf
-H "X-Api-Key: YOUR_KEY"
-F "file=@robot.urdf"

• Validate: POST /api/urdf/validate
• Convert to SDF: POST /api/urdf/convert-format?target=sdf
• Convert to MJCF: POST /api/urdf/convert-format?target=mjcf

Python SDK: pip install roboinfra-sdk
GitHub Action: roboinfra/validate-urdf-action@v1

It handles all 6 joint types, full inertia tensors, visual + collision
geometry, and auto-generates actuators. Free 14-day trial (no credit card):
https://roboinfra-dashboard.azurewebsites.net

Disclaimer: I built this tool.