I am replicating the example for Cartesian Paths given at Moveit tutorial Cartesian Paths , making it more simplify I am just trying to increase the z axis movement , however after one loop it send the error that

[INFO] [1674757419.169270608]: ABORTED: CONTROL_FAILED

Here is the snippet of the code I am using

while not rospy.is_shutdown():
        waypoints = []
        scale = 1

        wpose = self.move_group.get_current_pose().pose
        wpose.position.z += scale * 0.01 
        waypoints.append(copy.deepcopy(wpose))


       (plan, fraction) = self.move_group.compute_cartesian_path(waypoints, 0.01, 0.0, avoid_collisions = True ) # waypoints to follow  # eef_step # jump_threshold
        display_trajectory = moveit_msgs.msg.DisplayTrajectory()
        display_trajectory.trajectory_start = self.robot.get_current_state()
        display_trajectory.trajectory.append(plan)
        # Publish
        self.display_trajectory_publisher.publish(display_trajectory)
        self.move_group.execute(plan, wait=True)