Moveit planning with pose goal

Hi! I am coding a program to make my custom finger move, but i can't do a pose goal planning, only joint space planning is working. I am new to moveit and i am working on ROS Indigo. I leave a [link](https://groups.google.com/forum/#!topic/moveit-users/-OTdu9MtLoo) with my urdf, c++ files, the package generated from moveit and the error mesages that appear on the terminal for you to see what i did. Hope you can help me. Thanks