[ WARN] [1640283666.869208053]: Empty quaternion found in pose message. Setting to neutral orientation.
[ INFO] [1640283667.898647714]: Planning attempt 1 of at most 1
[ INFO] [1640283667.907960284]: Added plan for pipeline 'pick'. Queue is now of size 1
[ERROR] [1640283667.912636361]: Unable to transform from frame '' to frame 'world'. Returning identity.
[ERROR] [1640283667.912701229]: Unable to transform from frame '' to frame 'world'. Returning identity.
[ INFO] [1640283667.914600607]: Manipulation plan 0 failed at stage 'approach & translate' on thread 2
[ WARN] [1640283667.914741539]: All supplied grasps failed. Retrying last grasp in verbose mode.
[ INFO] [1640283667.914882497]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1640283667.917362634]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: -0.003240 0.706807 -0.003495 0.707390, error: x=0.000356, y=0.000826, z=0.009524, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.917399536]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.500059, -0.500048, 0.499969
[ INFO] [1640283667.917424933]: Differences -5.90058e-05 4.75648e-05 3.05949e-05
[ERROR] [1640283667.917450267]: Unable to transform from frame '' to frame 'world'. Returning identity.
[ERROR] [1640283667.917471503]: Unable to transform from frame '' to frame 'world'. Returning identity.
[ INFO] [1640283667.919566749]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: 0.004428 0.705635 0.001442 0.708560, error: x=0.004239, y=0.004120, z=0.008310, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.919596449]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.500186, -0.500307, 0.499743
[ INFO] [1640283667.919615446]: Differences -0.000185926 0.000306508 0.000257309
[ INFO] [1640283667.923053516]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: -0.003019 0.708074 -0.002681 0.706127, error: x=0.000467, y=0.002755, z=0.008059, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.923085646]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.499516, -0.499486, 0.499340
[ INFO] [1640283667.923104957]: Differences 0.000484444 -0.000514445 0.000660029
[ INFO] [1640283667.923664824]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: 0.001650 0.707682 0.005217 0.706510, error: x=0.005052, y=0.001633, z=0.009716, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.923693218]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.500157, -0.500511, 0.500407
[ INFO] [1640283667.923713123]: Differences -0.000156803 0.000510837 -0.000407198
[ INFO] [1640283667.924571836]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: 0.002970 0.704049 -0.003631 0.710136, error: x=0.009332, y=0.008614, z=0.000894, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.924601813]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.499478, -0.499565, 0.499467
[ INFO] [1640283667.924624543]: Differences 0.000521916 -0.000435484 0.000533417
[ INFO] [1640283667.925095284]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: 0.000364 0.707543 0.001007 0.706670, error: x=0.000910, y=0.001233, z=0.001940, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.925140308]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.499170, -0.499702, 0.500104
[ INFO] [1640283667.925180284]: Differences 0.000829535 -0.000298122 -0.000103689
[ INFO] [1640283667.925718201]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: -0.003106 0.705560 0.003441 0.708635, error: x=0.009258, y=0.004350, z=0.000453, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.925761457]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.499365, -0.499471, 0.500275
[ INFO] [1640283667.925797400]: Differences 0.000635344 -0.000528753 -0.000275283
[ INFO] [1640283667.927903750]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: -0.001820 0.709243 -0.003567 0.704953, error: x=0.002494, y=0.006057, z=0.007626, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.927961191]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.500044, -0.499237, 0.500214
[ INFO] [1640283667.927982829]: Differences -4.35895e-05 -0.000763454 -0.000214215
[ INFO] [1640283667.928575403]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: 0.003622 0.707322 -0.001257 0.706881, error: x=0.006899, y=0.000635, z=0.003343, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.928619997]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.499749, -0.499989, 0.499996
[ INFO] [1640283667.928641434]: Differences 0.000250789 -1.0712e-05 4.01658e-06
[ INFO] [1640283667.928818238]: Orientation constraint satisfied for link 'ee_link'. Quaternion desired: -0.000000 0.707107 0.000000 0.707107, quaternion actual: -0.004930 0.705389 -0.002059 0.708800, error: x=0.004085, y=0.004804, z=0.009893, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1640283667.928861984]: Position constraint satisfied on link 'ee_link'. Desired: 0.500000, -0.500000, 0.500000, current: 0.500762, -0.499956, 0.500614
[ INFO] [1640283667.928898171]: Differences -0.000761605 -4.3963e-05 -0.000614322
[ INFO] [1640283667.928937270]: Manipulation plan 0 failed at stage 'approach & translate' on thread 1
[ INFO] [1640283667.929052559]: Pickup planning completed after 0.015724 seconds
[ INFO] [1640283668.998019009]: Planning attempt 1 of at most 1
[ERROR] [1640283668.998184008]: Attached body 'object' not found