# Problems using descartes package

Hi!

I would like to use the descartes-package and I'm facing some issues. I'm using an UR5 with the moveit- and universal_robot package and want use the descarts-package parallel to that. To achieve that I just copied the code of the descartes-tutorial in the existing c++-API and adjusted it for the UR5.

Until `// 3. Create a planner and initialize it with our robot model`

everything seems to work fine, the robot model initialization seems to be okay but at `// 4. Feed the trajectory to the planner`

I get errors.

```
[ INFO] [1431433577.983985044]: PreviousID: ID0 was not found
[ERROR] [1431433578.183296398]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.383429099]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.578341457]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.771480441]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.971189692]: Found 0 joint solutions out of 10 iterations
[ WARN] [1431433578.971260392]: Failed for find ANY joint poses, returning
[ INFO] [1431433578.971298149]: CartID: ID1 JointPoses count: 0
[ WARN] [1431433578.971329605]: no joint solution for this point... potential discontinuity in the graph
[ERROR] [1431433579.168980816]: Found 0 joint solutions out of 10 iterations
```

and so on until

```
[ERROR] [1431433587.831773855]: no joint solutions defined, thus no graph vertices
[ERROR] [1431433587.831796860]: unable to populate graph from input points
[ERROR] [1431433587.831822842]: Could not solve for a valid path
```

First I thought it's because it cannot reach the target pose, but I checked it for several poses which should be reachable and every time I get the same errors.

Does somebody know how I could solve this?

An additional question would be, whether the descartes-planner is considering the collision_scene of moveit?

Thanks and regards

EDIT: This is one of the trajectories I trying to reach. I think those could definitely be reached.

```
// 1. Define sequence of points
TrajectoryVec points;
for (unsigned int i = 0; i < 10; ++i)
{
Eigen::Affine3d pose;
pose = Eigen::Translation3d(0.370 - 0.05 * i, -0.450, 0.675);
descartes_core::TrajectoryPtPtr pt = makeTolerancedCartesianPoint(pose);
points.push_back(pt);
}
```