# Revision history [back]

This can have several causes.

• pose1 might simply be unreachable by the arm -> use a pose of which you know that it is reachable
• pose1 is reachable but the inverse kinematics plugin failed to find a joint configuration that results in the end-effector being near that pose -> use a different IK or different parameters (trac_ik or a specialized ikfast perform best atm)
• The planner failed to find a path to the goal -> is there a path by which you can move from the current configuration to the goal configuration (within the specified software limits)
• if there are paths the planner should be able to find, you might want to try a different planner -> e.g. group.setPlannerId("RRTConnectkConfigDefault")
• the planner might find the path with more time available -> group.setPlanningTime(<insert-time-limit-here>)

This can have several causes.

• pose1 might simply be unreachable by the arm -> use a pose of which you know that it is reachable
• pose1 is reachable but the inverse kinematics plugin failed to find a joint configuration that results in the end-effector being near that pose -> use a different IK or different parameters (trac_ik or a specialized ikfast perform best atm)good)
• The planner failed to find a path to the goal -> is there a path by which you can move from the current configuration to the goal configuration (within the specified software limits)
• if there are paths the planner should be able to find, you might want to try a different planner -> e.g. group.setPlannerId("RRTConnectkConfigDefault")
• the planner might find the path with more time available -> group.setPlanningTime(<insert-time-limit-here>)