Hi,
I'm using a simple 4 DoF arm and want to use MoveIt! to calculate and execute trajectories for it.
I followed the [setup tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) and the [Move Group Python Interface Tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.html) which allow me to give the pr2 a pose goal to which he then plans a trajectory.
However, when I'm using this approach on my own model it doesn't work.
I tried various Cartesian coordinates as pose goal, some that he is definitively able to reach, but I always receive:
"Fail: ABORTED: No motion plan found. No execution attempted." and "RRTConnect: Unable to sample any valid states for goal tree"
I even (unsuccessfully) tried to move to the current position using:
pose_target = group.get_current_pose()
group.set_pose_target(pose_target)
The second application from the tutorial of planning to a joint-space goal is working correctly.
The planning group I use contains all 4 joints of the arm nothing else (I also tried a group containing all joints and links).
I also added an end-effector in the setup, but it didn't help.
This problem is annoying me for some time already, every hint or solution is welcomed :)
↧