Fake arm to pick

edit

Dear all

Now I am using Moveit to try Pick-and-Place using fake arm (in attached file) . when I rosrun the attached file (pick_and_place. py). MOVEIT give me the following information:

[ WARN] [1428442734.449159346]: MessageFilter [target=/odom ]: Discarding message from [/moveit_demo] due to empty frame_id.  This message will only print once.
[ERROR] [1428442734.449930138]: Attached body 'target' not found
[ INFO] [1428442735.452340991]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1428442735.452665160]: Planning attempt 1 of at most 5
[ INFO] [1428442735.457061870]: No planner specified. Using default.
[ INFO] [1428442735.457674031]: RRTConnect: Starting with 1 states
[ INFO] [1428442735.469498841]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428442735.469675346]: Solution found in 0.012174 seconds
[ INFO] [1428442735.470080088]: Path simplification took 0.000285 seconds

[ INFO] [1428442754.837308738]: Planning attempt 5 of at most 5
[ INFO] [1428442754.837772713]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428442754.837923277]: Added plan for pipeline 'pick'. Queue is now of size 2
[ INFO] [1428442754.838019965]: Added plan for pipeline 'pick'. Queue is now of size 2
[ INFO] [1428442754.838095313]: Added plan for pipeline 'pick'. Queue is now of size 3
[ INFO] [1428442754.838154730]: Added plan for pipeline 'pick'. Queue is now of size 4
[ INFO] [1428442754.838219788]: Added plan for pipeline 'pick'. Queue is now of size 5
[ INFO] [1428442754.838310542]: Added plan for pipeline 'pick'. Queue is now of size 6
[ INFO] [1428442754.999287813]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.002306396]: Manipulation plan 2 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428442755.010113422]: Manipulation plan 1 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1428442755.022239977]: Manipulation plan 3 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1428442755.166828630]: Manipulation plan 4 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.167803550]: Manipulation plan 5 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1428442755.172000208]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 1
[ WARN] [1428442755.172278129]: All supplied grasps failed. Retrying last grasp in verbose mode.
[ INFO] [1428442755.172551829]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1428442755.225552908]: IK failed
[ INFO] [1428442755.277540833]: IK failed
[ INFO] [1428442755.329368118]: IK failed
[ INFO] [1428442755.329441308]: Sampler failed to produce a state
[ INFO] [1428442755.329486707]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1428442755.329757781]: Pickup planning completed after 0.334797 seconds
[ INFO] [1428442755.534634011]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1428442755.534910127]: Planning attempt 1 of at most 5
[ INFO] [1428442755.537382476]: RRTConnect: Starting with 1 states
[ INFO] [1428442755.549514291]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1428442755.549609875]: Solution found in 0.012579 seconds
[ INFO] [1428442755.549708587]: Path simplification took 0.000012 seconds
[ INFO] [1428442755.752946000]: Combined planning ...