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Answering my own question : the solvers provided by Moveit are not adapted for robots wich don't have 6 DOF. It is possible to generate an analytical solver with TracIK http://wiki.ros.org/trac_ik

Answering my own question : the solvers provided by Moveit are not adapted for robots wich don't have 6 DOF. It is possible to generate an analytical solver with TracIK http://wiki.ros.org/trac_ikIKFast http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html