Dear all, I configured a 3 link planar arm with moveIt and I tried to control it via movegroupinterface using C++. When I gave a random joint values using group.setRandomTarget(); and then planned (group.plan()) it gives a solution. But when I give a customized position target using group.setPositionTarget(double, double,double, string) It always failed, and gives a no motion plan found error. But I am sure position I am giving is reachable, Since I give position which is generated by group.getRandomPose(); Here is how I set position target.

geometrymsgs::PoseStamped st = group.getRandomPose ("thirdlink"); geometrymsgs::Pose p = st.pose; group.setPositionTarget(p.position.x, p.position.y, p.position.z, "thirdlink");

Planning failed every time, [ERROR] [1402999800.154472484]: LBKPIECE1: Unable to sample any valid states for goal tree [ WARN] [1402999799.970997395]: Fail: ABORTED: No motion plan found. No execution attempted.

Sometimes it gives this additional error also [ERROR] [1402999800.149097683]: Unable to sample a point inside the constraint region

I am new to moveit and stuck here. Any help is really appreciated.