Problems using descartes package

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Hi!

I would like to use the descartes-package and I'm facing some issues. I'm using an UR5 with the moveit- and universal_robot package and want use the descarts-package parallel to that. To achieve that I just copied the code of the descartes-tutorial in the existing c++-API and adjusted it for the UR5.

Until // 3. Create a planner and initialize it with our robot model everything seems to work fine, the robot model initialization seems to be okay but at // 4. Feed the trajectory to the planner I get errors.

[ INFO] [1431433577.983985044]: PreviousID: ID0 was not found
[ERROR] [1431433578.183296398]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.383429099]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.578341457]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.771480441]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.971189692]: Found 0 joint solutions out of 10 iterations
[ WARN] [1431433578.971260392]: Failed for find ANY joint poses, returning
[ INFO] [1431433578.971298149]: CartID: ID1 JointPoses count: 0
[ WARN] [1431433578.971329605]: no joint solution for this point... potential discontinuity in the graph
[ERROR] [1431433579.168980816]: Found 0 joint solutions out of 10 iterations

and so on until

[ERROR] [1431433587.831773855]: no joint solutions defined, thus no graph vertices
[ERROR] [1431433587.831796860]: unable to populate graph from input points
[ERROR] [1431433587.831822842]: Could not solve for a valid path

First I thought it's because it cannot reach the target pose, but I checked it for several poses which should be reachable and every time I get the same errors.

Does somebody know how I could solve this?

An additional question would be, whether the descartes-planner is considering the collision_scene of moveit?

Thanks and regards

EDIT: This is one of the trajectories I trying to reach. I think those could definitely be reached.

// 1. Define sequence of points
  TrajectoryVec points;
  for (unsigned int i = 0; i < 10; ++i)
  {
    Eigen::Affine3d pose;
    pose = Eigen::Translation3d(0.370 - 0.05 * i, -0.450, 0.675);
    descartes_core::TrajectoryPtPtr pt = makeTolerancedCartesianPoint(pose);
    points.push_back(pt);
  }