I am in kinetic .The model is yumi.[link text](https://github.com/ethz-asl/yumi/tree/yumi-stacking)
My robotic arm is a yumi7 DOF dual-arm robot. I fixed his 6 and 7 joints into 5 degrees of freedom. I modified the urdf file and the srdf file. I modified the group to make link6 its end executor. I can use setjointvaluetarget function, but I can't use setposetarget function. This error will occur " Fail: ABORTED: No motion plan found. No execution attempted" . The ball inside rviz can't be dragged either.
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