Enable task execution in moveit_task_constructor_demo

[pkkulhari]

The task execution is disabled by default in ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo.

How to enable it, I tried to pass execute:=true param, but it does not work.

ros version: ros2 humble

[rhaschke]

Check wether existing issues are related!
If not, provide the full log output.

[pkkulhari]

log says Execution disabled at the end.

ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo
[INFO] [launch]: All log files can be found below /home/praveen/.ros/log/2025-06-13-16-58-49-664855-pop-os-185653
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [pick_place_demo-1]: process started with pid [185654]
[pick_place_demo-1] [INFO] [1749814130.891591722] [moveit_task_constructor_demo]: Initializing task pipeline
[pick_place_demo-1] [INFO] [1749814130.900153251] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00144507 seconds
[pick_place_demo-1] [INFO] [1749814130.900172290] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[pick_place_demo-1] [INFO] [1749814130.916483565] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[pick_place_demo-1] [INFO] [1749814130.918031921] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[pick_place_demo-1] [INFO] [1749814130.918041208] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[pick_place_demo-1] [INFO] [1749814130.918043512] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[pick_place_demo-1] [INFO] [1749814130.918057279] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[pick_place_demo-1] [INFO] [1749814130.918064189] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[pick_place_demo-1] [INFO] [1749814130.918066360] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[pick_place_demo-1] [INFO] [1749814130.918071272] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[pick_place_demo-1] [INFO] [1749814130.918073249] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[pick_place_demo-1] [INFO] [1749814130.918078714] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[pick_place_demo-1] [INFO] [1749814130.918084037] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[pick_place_demo-1] [INFO] [1749814130.918087215] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[pick_place_demo-1] [INFO] [1749814130.918088595] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[pick_place_demo-1] [INFO] [1749814130.918089987] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[pick_place_demo-1] [INFO] [1749814130.918091241] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[pick_place_demo-1] [INFO] [1749814130.918092613] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[pick_place_demo-1] [INFO] [1749814130.919583332] [moveit_task_constructor_demo]: Start searching for task solutions
[pick_place_demo-1] [INFO] [1749814130.934515838] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [WARN] [1749814130.938917780] [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.
[pick_place_demo-1] [INFO] [1749814130.984272127] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.008076039] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.027390688] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.054671216] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.073124312] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.090490753] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.107585481] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.139375675] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.153736197] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.167985474] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.185642326] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.222036704] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.238467734] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.303284188] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.370504369] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.388696082] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.403869560] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.422629387] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.469981934] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.537267478] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.603319812] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.633335363] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.650232164] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.667420429] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.737129519] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.765503977] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.799233979] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.864657815] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.880758106] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.944730357] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814131.962128677] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.038937988] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.056006465] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.123644727] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.142956289] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.207168833] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.226156166] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.244722909] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.262824966] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1749814132.280262166] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 7 ] out of 34. Explanations follow in command line. Contacts are published on /display_contacts
[pick_place_demo-1] [INFO] [1749814132.280278317] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'table' (type 'Object') and 'panda_rightfinger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[pick_place_demo-1] [INFO] [1749814132.280281031] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[pick_place_demo-1] [ERROR] [1749814132.280350379] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[pick_place_demo-1] [INFO] [1749814132.390508556] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.406481748] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.429790711] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.447735439] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.461151446] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.526269835] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.542998649] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.557358032] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.623830390] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.650697979] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.666841178] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.730506958] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [WARN] [1749814132.845976881] [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.
[pick_place_demo-1] [INFO] [1749814132.876729813] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.894554477] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814132.933222225] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.000161325] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.017016385] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.054613311] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.074852998] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.091787071] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.110151950] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [INFO] [1749814133.135397893] [moveit_task_constructor_demo]: Planning succeded
[pick_place_demo-1] [INFO] [1749814133.135416503] [moveit_task_constructor_demo]: Execution disabled