[INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-03-08-39-30-381003-docker-desktop-45
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [46]
[INFO] [robot_state_publisher-2]: process started with pid [48]
[INFO] [tf2_listener-3]: process started with pid [50]
[joint_state_publisher-1] [INFO] [1785746371.317076490] [joint_state_publisher_cpp]: joint_state_publisher_cpp started, joints: 3
[tf2_listener-3] [INFO] [1785746371.496087617] [tf2_listener_cpp]: tf2_listener_cpp started
[robot_state_publisher-2] [INFO] [1785746371.881604147] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1785746371.881920376] [robot_state_publisher]: got segment gripper
[robot_state_publisher-2] [INFO] [1785746371.881940674] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1785746371.881948723] [robot_state_publisher]: got segment link2
[tf2_listener-3] [INFO] [1785746371.996437265] [tf2_listener_cpp]: gripper in base_link: x=0.013 y=0.004 z=0.299
[tf2_listener-3] [INFO] [1785746372.496379332] [tf2_listener_cpp]: gripper in base_link: x=0.019 y=0.009 z=0.298
[tf2_listener-3] [INFO] [1785746372.996514629] [tf2_listener_cpp]: gripper in base_link: x=0.024 y=0.013 z=0.296
[tf2_listener-3] [INFO] [1785746373.496537884] [tf2_listener_cpp]: gripper in base_link: x=0.027 y=0.012 z=0.296
[tf2_listener-3] [INFO] [1785746373.996671137] [tf2_listener_cpp]: gripper in base_link: x=0.028 y=0.007 z=0.296
[tf2_listener-3] [INFO] [1785746374.496810765] [tf2_listener_cpp]: gripper in base_link: x=0.024 y=-0.000 z=0.297
[tf2_listener-3] [INFO] [1785746374.996864552] [tf2_listener_cpp]: gripper in base_link: x=0.017 y=-0.004 z=0.298
[tf2_listener-3] [INFO] [1785746375.496864454] [tf2_listener_cpp]: gripper in base_link: x=0.006 y=-0.003 z=0.300
[tf2_listener-3] [INFO] [1785746375.996864732] [tf2_listener_cpp]: gripper in base_link: x=-0.002 y=0.001 z=0.300
[tf2_listener-3] [INFO] [1785746376.496761854] [tf2_listener_cpp]: gripper in base_link: x=-0.012 y=0.006 z=0.299
[tf2_listener-3] [INFO] [1785746376.997136114] [tf2_listener_cpp]: gripper in base_link: x=-0.021 y=0.006 z=0.298
[tf2_listener-3] [INFO] [1785746377.496974435] [tf2_listener_cpp]: gripper in base_link: x=-0.027 y=0.002 z=0.296
[tf2_listener-3] [INFO] [1785746377.997189104] [tf2_listener_cpp]: gripper in base_link: x=-0.029 y=-0.005 z=0.296
[tf2_listener-3] [INFO] [1785746378.497026589] [tf2_listener_cpp]: gripper in base_link: x=-0.026 y=-0.011 z=0.296
[tf2_listener-3] [INFO] [1785746378.997122056] [tf2_listener_cpp]: gripper in base_link: x=-0.021 y=-0.011 z=0.297
[tf2_listener-3] [INFO] [1785746379.497295054] [tf2_listener_cpp]: gripper in base_link: x=-0.014 y=-0.007 z=0.299
[tf2_listener-3] [INFO] [1785746379.997304065] [tf2_listener_cpp]: gripper in base_link: x=-0.006 y=-0.002 z=0.300
[tf2_listener-3] [INFO] [1785746380.497290417] [tf2_listener_cpp]: gripper in base_link: x=0.004 y=0.000 z=0.300
[tf2_listener-3] [INFO] [1785746380.997262459] [tf2_listener_cpp]: gripper in base_link: x=0.014 y=-0.002 z=0.299
[tf2_listener-3] [INFO] [1785746381.497306715] [tf2_listener_cpp]: gripper in base_link: x=0.021 y=-0.007 z=0.298
[tf2_listener-3] [INFO] [1785746381.997472857] [tf2_listener_cpp]: gripper in base_link: x=0.024 y=-0.012 z=0.296
[tf2_listener-3] [INFO] [1785746382.497517542] [tf2_listener_cpp]: gripper in base_link: x=0.026 y=-0.014 z=0.296
[tf2_listener-3] [INFO] [1785746382.997489577] [tf2_listener_cpp]: gripper in base_link: x=0.026 y=-0.011 z=0.296
[tf2_listener-3] [INFO] [1785746383.493353822] [tf2_listener_cpp]: gripper in base_link: x=0.024 y=-0.005 z=0.297
[tf2_listener-3] [INFO] [1785746383.993345141] [tf2_listener_cpp]: gripper in base_link: x=0.016 y=0.001 z=0.299
[tf2_listener-3] [INFO] [1785746384.493508096] [tf2_listener_cpp]: gripper in base_link: x=0.007 y=0.002 z=0.300
[tf2_listener-3] [INFO] [1785746384.993422845] [tf2_listener_cpp]: gripper in base_link: x=-0.004 y=-0.002 z=0.300
[tf2_listener-3] [INFO] [1785746385.493589851] [tf2_listener_cpp]: gripper in base_link: x=-0.011 y=-0.006 z=0.299
[tf2_listener-3] [INFO] [1785746385.993580865] [tf2_listener_cpp]: gripper in base_link: x=-0.020 y=-0.009 z=0.298
[tf2_listener-3] [INFO] [1785746386.493741973] [tf2_listener_cpp]: gripper in base_link: x=-0.026 y=-0.007 z=0.296
[tf2_listener-3] [INFO] [1785746386.993760576] [tf2_listener_cpp]: gripper in base_link: x=-0.030 y=-0.001 z=0.296
[tf2_listener-3] [INFO] [1785746387.493818888] [tf2_listener_cpp]: gripper in base_link: x=-0.028 y=0.006 z=0.296
[tf2_listener-3] [INFO] [1785746387.993897792] [tf2_listener_cpp]: gripper in base_link: x=-0.022 y=0.009 z=0.297
[tf2_listener-3] [INFO] [1785746388.493876517] [tf2_listener_cpp]: gripper in base_link: x=-0.014 y=0.008 z=0.299
[tf2_listener-3] [INFO] [1785746388.993929006] [tf2_listener_cpp]: gripper in base_link: x=-0.006 y=0.003 z=0.300
[tf2_listener-3] [INFO] [1785746389.494117544] [tf2_listener_cpp]: gripper in base_link: x=0.004 y=-0.001 z=0.300
[tf2_listener-3] [INFO] [1785746389.994044812] [tf2_listener_cpp]: gripper in base_link: x=0.013 y=-0.002 z=0.299
[tf2_listener-3] [INFO] [1785746390.494123474] [tf2_listener_cpp]: gripper in base_link: x=0.022 y=0.003 z=0.298
[tf2_listener-3] [INFO] [1785746390.994017428] [tf2_listener_cpp]: gripper in base_link: x=0.026 y=0.010 z=0.296
[tf2_listener-3] [INFO] [1785746391.494201169] [tf2_listener_cpp]: gripper in base_link: x=0.026 y=0.014 z=0.296
[tf2_listener-3] [INFO] [1785746391.994225935] [tf2_listener_cpp]: gripper in base_link: x=0.025 y=0.013 z=0.296
[tf2_listener-3] [INFO] [1785746392.494365400] [tf2_listener_cpp]: gripper in base_link: x=0.022 y=0.008 z=0.297
[tf2_listener-3] [INFO] [1785746392.994299594] [tf2_listener_cpp]: gripper in base_link: x=0.016 y=0.003 z=0.299
[tf2_listener-3] [INFO] [1785746393.494336899] [tf2_listener_cpp]: gripper in base_link: x=0.006 y=-0.000 z=0.300
[tf2_listener-3] [INFO] [1785746393.994478649] [tf2_listener_cpp]: gripper in base_link: x=-0.004 y=0.001 z=0.300
[tf2_listener-3] [INFO] [1785746394.494587177] [tf2_listener_cpp]: gripper in base_link: x=-0.012 y=0.006 z=0.299
[tf2_listener-3] [INFO] [1785746394.994674211] [tf2_listener_cpp]: gripper in base_link: x=-0.019 y=0.010 z=0.298
[tf2_listener-3] [INFO] [1785746395.494691448] [tf2_listener_cpp]: gripper in base_link: x=-0.025 y=0.011 z=0.296
[tf2_listener-3] [INFO] [1785746395.994634551] [tf2_listener_cpp]: gripper in base_link: x=-0.029 y=0.007 z=0.296
[tf2_listener-3] [INFO] [1785746396.494795424] [tf2_listener_cpp]: gripper in base_link: x=-0.028 y=-0.000 z=0.296
[tf2_listener-3] [INFO] [1785746396.994828501] [tf2_listener_cpp]: gripper in base_link: x=-0.023 y=-0.005 z=0.297
[tf2_listener-3] [INFO] [1785746397.494801750] [tf2_listener_cpp]: gripper in base_link: x=-0.014 y=-0.006 z=0.299
[tf2_listener-3] [INFO] [1785746397.994993450] [tf2_listener_cpp]: gripper in base_link: x=-0.005 y=-0.003 z=0.300
[tf2_listener-3] [INFO] [1785746398.495096046] [tf2_listener_cpp]: gripper in base_link: x=0.004 y=0.002 z=0.300
[tf2_listener-3] [INFO] [1785746398.994936454] [tf2_listener_cpp]: gripper in base_link: x=0.013 y=0.004 z=0.299
[tf2_listener-3] [INFO] [1785746399.495189976] [tf2_listener_cpp]: gripper in base_link: x=0.022 y=0.001 z=0.297
[tf2_listener-3] [INFO] [1785746399.995182111] [tf2_listener_cpp]: gripper in base_link: x=0.027 y=-0.005 z=0.296
[tf2_listener-3] [INFO] [1785746400.495324050] [tf2_listener_cpp]: gripper in base_link: x=0.027 y=-0.011 z=0.296
[tf2_listener-3] [INFO] [1785746400.995201645] [tf2_listener_cpp]: gripper in base_link: x=0.025 y=-0.013 z=0.296
[tf2_listener-3] [INFO] [1785746401.495322185] [tf2_listener_cpp]: gripper in base_link: x=0.020 y=-0.011 z=0.297
[tf2_listener-3] [INFO] [1785746401.995312174] [tf2_listener_cpp]: gripper in base_link: x=0.014 y=-0.005 z=0.299
[tf2_listener-3] [INFO] [1785746402.495516455] [tf2_listener_cpp]: gripper in base_link: x=0.005 y=-0.001 z=0.300
[tf2_listener-3] [INFO] [1785746402.995357182] [tf2_listener_cpp]: gripper in base_link: x=-0.005 y=-0.001 z=0.300
[tf2_listener-3] [INFO] [1785746403.495721348] [tf2_listener_cpp]: gripper in base_link: x=-0.013 y=-0.004 z=0.299
[tf2_listener-3] [INFO] [1785746403.995673080] [tf2_listener_cpp]: gripper in base_link: x=-0.020 y=-0.010 z=0.297
[tf2_listener-3] [INFO] [1785746404.495639517] [tf2_listener_cpp]: gripper in base_link: x=-0.024 y=-0.013 z=0.296
[tf2_listener-3] [INFO] [1785746404.995571059] [tf2_listener_cpp]: gripper in base_link: x=-0.027 y=-0.012 z=0.296
[tf2_listener-3] [INFO] [1785746405.495699621] [tf2_listener_cpp]: gripper in base_link: x=-0.028 y=-0.006 z=0.296
[tf2_listener-3] [INFO] [1785746405.995755115] [tf2_listener_cpp]: gripper in base_link: x=-0.023 y=0.001 z=0.297
[tf2_listener-3] [INFO] [1785746406.495935458] [tf2_listener_cpp]: gripper in base_link: x=-0.015 y=0.004 z=0.299
[tf2_listener-3] [INFO] [1785746406.995915855] [tf2_listener_cpp]: gripper in base_link: x=-0.006 y=0.003 z=0.300
[tf2_listener-3] [INFO] [1785746407.496177567] [tf2_listener_cpp]: gripper in base_link: x=0.004 y=-0.002 z=0.300
[tf2_listener-3] [INFO] [1785746407.996289984] [tf2_listener_cpp]: gripper in base_link: x=0.014 y=-0.006 z=0.299
[tf2_listener-3] [INFO] [1785746408.496079448] [tf2_listener_cpp]: gripper in base_link: x=0.022 y=-0.006 z=0.297
[tf2_listener-3] [INFO] [1785746408.996244465] [tf2_listener_cpp]: gripper in base_link: x=0.027 y=-0.001 z=0.296
[tf2_listener-3] [INFO] [1785746409.496147848] [tf2_listener_cpp]: gripper in base_link: x=0.029 y=0.006 z=0.296
[tf2_listener-3] [INFO] [1785746409.996263188] [tf2_listener_cpp]: gripper in base_link: x=0.025 y=0.011 z=0.296
[tf2_listener-3] [INFO] [1785746410.496388565] [tf2_listener_cpp]: gripper in base_link: x=0.021 y=0.011 z=0.297
[tf2_listener-3] [INFO] [1785746410.996257817] [tf2_listener_cpp]: gripper in base_link: x=0.014 y=0.007 z=0.299
[tf2_listener-3] [INFO] [1785746411.496573337] [tf2_listener_cpp]: gripper in base_link: x=0.006 y=0.002 z=0.300
[tf2_listener-3] [INFO] [1785746411.996493063] [tf2_listener_cpp]: gripper in base_link: x=-0.005 y=-0.001 z=0.300
[tf2_listener-3] [INFO] [1785746412.496630532] [tf2_listener_cpp]: gripper in base_link: x=-0.015 y=0.002 z=0.299
[tf2_listener-3] [INFO] [1785746412.996505296] [tf2_listener_cpp]: gripper in base_link: x=-0.021 y=0.008 z=0.297
[tf2_listener-3] [INFO] [1785746413.493986425] [tf2_listener_cpp]: gripper in base_link: x=-0.025 y=0.013 z=0.296
[tf2_listener-3] [INFO] [1785746413.994008183] [tf2_listener_cpp]: gripper in base_link: x=-0.026 y=0.014 z=0.296
[tf2_listener-3] [INFO] [1785746414.494203819] [tf2_listener_cpp]: gripper in base_link: x=-0.026 y=0.010 z=0.296
[tf2_listener-3] [INFO] [1785746414.994030874] [tf2_listener_cpp]: gripper in base_link: x=-0.023 y=0.004 z=0.297
[tf2_listener-3] [INFO] [1785746415.494112809] [tf2_listener_cpp]: gripper in base_link: x=-0.015 y=-0.001 z=0.299
[tf2_listener-3] [INFO] [1785746415.994161575] [tf2_listener_cpp]: gripper in base_link: x=-0.006 y=-0.002 z=0.300
[tf2_listener-3] [INFO] [1785746416.494364698] [tf2_listener_cpp]: gripper in base_link: x=0.005 y=0.003 z=0.300
[tf2_listener-3] [INFO] [1785746416.994450475] [tf2_listener_cpp]: gripper in base_link: x=0.013 y=0.007 z=0.299
[tf2_listener-3] [INFO] [1785746417.494504962] [tf2_listener_cpp]: gripper in base_link: x=0.021 y=0.009 z=0.297