Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 2

asked 2019-07-15 13:26:36 -0500

luca123 gravatar image

updated 2019-07-15 14:36:19 -0500

gvdhoorn gravatar image

hello,everyone, i met a problem at running the pick&place node. i followed the moveit pick&place tutorial and change some codes only for the table size and position and the place&place position in the source code, when i run the pick place node and launch the demo.launch, it happened the following error, the robot stoped at the location that after picking, the console output:

[ INFO] [1563214574.219295207]: Planning attempt 1 of at most 1
[ INFO] [1563214574.219851071]: Added plan for pipeline 'place'. Queue is now of size 1
[ INFO] [1563214574.220522313]: Added 1 place locations
[ INFO] [1563214574.348873212]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 2
[ WARN] [1563214574.349574764]: All supplied place locations failed. Retrying last location in verbose mode.
[ INFO] [1563214574.349826052]: Re-added last failed plan for pipeline 'place'. Queue is now of size 1
[ INFO] [1563214574.351519067]: Found a contact between 'table2' (type 'Object') and 'panda_link5' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1563214574.351590934]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1563214574.406890397]: IK failed

it always cannot find the place trajectory and check a collision for place. i dont know what is the problem, or it is a bug for the pick and place function. can you help me ? thank you very much in advance!

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