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Possible causes for this I've seen:

  • your goal state is in collision (or will put the robot in a collision)
  • you are asking the robot to move (whatever link you're planning for) to a pose it cannot reach (or at least: the specific planner deduced that that would be the case)

Again the GUI plans and executes fine, code does not.

While that is helpful, it doesn't really mean that much, as the RViz MoveIt plugin configures all sorts of things, which your code probably doesn't.