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[ INFO] [1552288531.401593129, 50.845000000]: ur5_bot[BiTRRT]: No optimization objective specified. Defaulting to mechanical work minimization. [ERROR] [1552288536.402383780, 51.163000000]: ur5_bot[BiTRRT]: Goal tree has no valid states!

I've never seen this error message, but it sounds like the goal is not set correctly. I'd like to see the part of your code where you set the goal pose and calculate the motion plan. Can you add it as an edit to your post?

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