Revision history [back]

Have you tried this configuration and motion plan using the MoveIt GUI (in rviz)? That may help determine why IK is saying the pose is unreachable. It's easy to flip a sign on the end-effector orientation, in particular, which would cause the wrist to have to go the wrong direction and thereby cause the workspace to be much smaller. Visualizing the poses in the MoveIt GUI often makes it much easier to see what's happening with IK, since you can drag the end-effector around interactively.