I'm using a UR5 which and am trying to move the robot forward 0.1m in the y direction. Here are my start up commands:

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=169.254.198.35 kinematics_config:="${HOME}/my_robot_calibration.yaml"
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Some information on the current starting position of the UR5 (Don't have the points to upload pictures unfortunately):

joint positions: [-1.5844348112689417, -0.9981825987445276, -1.9562018553363245, -1.8684194723712366, 1.4567383527755737, 2.39935302734375]

Coordinates of End Effector: (0.12241, 0.23884, 0.4266)

Orientation of End Effector: [0.265, 0.5945, -0.307, 0.694]

My controllers.yaml file inside ur5moveitconfig/config file looks like this:

controller_list:
 - name: /scaled_pos_traj_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true
   joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint

My kinematics.yaml file also in ur5moveitconfig/config looks like this:

manipulator:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.01
  kinematics_solver_attempts: 3

Here is the console output of running roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=169.254.198.35 kinematics_config:="${HOME}/my_robot_calibration.yaml"

... logging to /home/shu/.ros/log/e301052a-0f7d-11ea-9d0c-3c918077fd81/roslaunch-sewts-ideapad-002-26797.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sewts-ideapad-002:39421/

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 125
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /hardware_control_loop/loop_hz: 125
 * /hardware_interface/joints: ['shoulder_pan_jo...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /pos_traj_controller/action_monitor_rate: 10
 * /pos_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_traj_controller/constraints/goal_time: 0.6
 * /pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_traj_controller/state_publish_rate: 125
 * /pos_traj_controller/stop_trajectory_duration: 0.5
 * /pos_traj_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /scaled_pos_traj_controller/action_monitor_rate: 10
 * /scaled_pos_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_traj_controller/state_publish_rate: 125
 * /scaled_pos_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_traj_controller/type: position_controll...
 * /speed_scaling_state_controller/publish_rate: 125
 * /speed_scaling_state_controller/type: ur_controllers/Sp...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/shu/catkin_...
 * /ur_hardware_interface/kinematics/forearm/pitch: 0.000670340723934
 * /ur_hardware_interface/kinematics/forearm/roll: 0.000150389826896
 * /ur_hardware_interface/kinematics/forearm/x: -0.425316567681
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: -0.000129296667033
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_72470218391...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: 8.77666344309e-05
 * /ur_hardware_interface/kinematics/shoulder/z: 0.0893072092318
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.57027963108
 * /ur_hardware_interface/kinematics/upper_arm/x: 8.02597230883e-05
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: -0.000256378975585
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: 3.139985598
 * /ur_hardware_interface/kinematics/wrist_1/roll: 3.13404114506
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.392232740578
 * /ur_hardware_interface/kinematics/wrist_1/y: 0.000835269385168
 * /ur_hardware_interface/kinematics/wrist_1/yaw: 3.14149191057
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.110607503694
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.57084155987
 * /ur_hardware_interface/kinematics/wrist_2/x: 3.88210393792e-05
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.0949976987238
 * /ur_hardware_interface/kinematics/wrist_2/yaw: 5.57612237128e-05
 * /ur_hardware_interface/kinematics/wrist_2/z: -4.2970377454e-06
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.57047457779
 * /ur_hardware_interface/kinematics/wrist_3/x: 7.18408705395e-05
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0828382643859
 * /ur_hardware_interface/kinematics/wrist_3/yaw: -3.14148013852
 * /ur_hardware_interface/kinematics/wrist_3/z: -2.66531297376e-05
 * /ur_hardware_interface/output_recipe_file: /home/shu/catkin_...
 * /ur_hardware_interface/robot_ip: 169.254.198.35
 * /ur_hardware_interface/script_file: /home/shu/catkin_...
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 0
 * /ur_hardware_interface/use_tool_communication: False

NODES
  /
    controller_stopper (controller_stopper/node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [26814]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e301052a-0f7d-11ea-9d0c-3c918077fd81
process[rosout-1]: started with pid [26830]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [26849]
process[ur_hardware_interface-3]: started with pid [26850]
process[ros_control_controller_spawner-4]: started with pid [26857]
process[ros_control_stopped_spawner-5]: started with pid [26871]
process[controller_stopper-6]: started with pid [26890]
[ INFO] [1574684395.131712683]: Initializing dashboard client
[ INFO] [1574684395.133002127]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [26907]
[ INFO] [1574684395.147398645]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1574684395.148325153]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1574684395.159114696]: Initializing urdriver
[ INFO] [1574684395.159460126]: Checking if calibration data matches connected robot.
[ WARN] [1574684395.159751885]: No realtime capabilities found. Consider using a realtime system for better performance
[INFO] [1574684395.385368]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1574684395.386575]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1574684395.535172595]: Calibration checked successfully.
[ WARN] [1574684396.237150652]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1574684396.312434961]: Setting up RTDE communication with frequency 125.000000
[ INFO] [1574684397.333403855]: Robot ready to receive control commands.
[ WARN] [1574684397.340061000]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1574684397.340270528]: Loaded ur_robot_driver hardware_interface
[ INFO] [1574684397.391057035]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1574684397.391091579]: Service available.
[ INFO] [1574684397.391111114]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1574684397.391720306]: Service available.
[INFO] [1574684397.503742]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1574684397.504913]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1574684397.506956]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1574684397.507879]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1574684397.509686]: Loading controller: joint_state_controller
[INFO] [1574684397.510480]: Loading controller: pos_traj_controller
[INFO] [1574684397.525853]: Loading controller: scaled_pos_traj_controller
[INFO] [1574684397.613978]: Controller Spawner: Loaded controllers: pos_traj_controller
[ INFO] [1574684397.615694377]: Robot's safety mode is now NORMAL
[ INFO] [1574684397.616154860]: Robot mode is now RUNNING
[INFO] [1574684397.693950]: Loading controller: speed_scaling_state_controller
[INFO] [1574684397.709805]: Loading controller: force_torque_sensor_controller
[INFO] [1574684397.725947]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1574684397.733998]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

and of roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

... logging to /home/shu/.ros/log/e301052a-0f7d-11ea-9d0c-3c918077fd81/roslaunch-sewts-ideapad-002-27342.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sewts-ideapad-002:37179/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.01
 * /robot_description_kinematics/manipulator/solve_type: Manipulation2
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [27362]
[ INFO] [1574684401.833724797]: Loading robot model 'ur5'...
[ WARN] [1574684401.833771432]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1574684401.833782142]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1574684401.873049056]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1574684401.873076502]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1574684401.873092438]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1574684401.873102406]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1574684401.873111716]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1574684401.873120892]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1574684401.873134026]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1574684401.874291167]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1574684401.875881932]: Using solve type Manipulation2
[ INFO] [1574684401.898915187]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1574684401.901086160]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1574684401.901115018]: Starting scene monitor
[ INFO] [1574684401.903142747]: Listening to '/planning_scene'
[ INFO] [1574684401.903166072]: Starting world geometry monitor
[ INFO] [1574684401.905106361]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1574684401.906997552]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1574684401.913668092]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1574684401.933429980]: Initializing OMPL interface using ROS parameters
[ INFO] [1574684401.952189659]: Using planning interface 'OMPL'
[ INFO] [1574684401.954236784]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1574684401.954594224]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1574684401.954915281]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574684401.955231614]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574684401.955527350]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1574684401.955822963]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1574684401.955860170]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1574684401.955874173]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1574684401.955890927]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1574684401.955904664]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1574684401.955918480]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1574684402.227946532]: Added FollowJointTrajectory controller for /scaled_pos_traj_controller
[ INFO] [1574684402.228107488]: Returned 1 controllers in list
[ INFO] [1574684402.263652579]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1574684402.431023705]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1574684402.431186168]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1574684402.431233647]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1574684431.548546279]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1574684431.551236491]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1574684431.552088822]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574684434.370715825]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1574684434.370752006]: Solution found in 2.818948 seconds
[ INFO] [1574684434.409350084]: SimpleSetup: Path simplification took 0.002416 seconds and changed from 3 to 2 states
[ INFO] [1574684450.899686941]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1574684450.900425061]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1574684450.900816206]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574684450.926512730]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1574684450.926599523]: Solution found in 0.025874 seconds
[ INFO] [1574684450.942298582]: SimpleSetup: Path simplification took 0.011022 seconds and changed from 3 to 2 states
[ INFO] [1574684458.147771793]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1574684458.148691643]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1574684458.148949821]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1574684463.150180926]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1574684463.150239704]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1574684463.150267946]: No solution found after 5.001417 seconds
[ INFO] [1574684463.158762281]: Unable to solve the planning problem

Here's the script I'm using to move the UR5. It's basically the MoveGroupPythonInterfaceTutorial:

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
import math
from std_msgs.msg import String
from moveit_commander.conversions import pose_to_list
from moveit_msgs.msg import RobotState
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from tf.transformations import quaternion_from_euler

class MoveGroupPythonIntefaceTutorial(object):
  def __init__(self):
    super(MoveGroupPythonIntefaceTutorial, self).__init__()
    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node('move_group_python_interface_tutorial',
                    anonymous=True)
    robot = moveit_commander.RobotCommander()
    scene = moveit_commander.PlanningSceneInterface()

    group_name = "manipulator" 
    group = moveit_commander.MoveGroupCommander(group_name)
    display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',
                                                   moveit_msgs.msg.DisplayTrajectory,
                                                   queue_size=20)

    planning_frame = group.get_planning_frame()
    #print "============ Reference frame: %s" % planning_frame

    eef_link = group.get_end_effector_link()
    #print "============ End effector: %s" % eef_link

    group_names = robot.get_group_names()
    #print "============ Robot Groups:", robot.get_group_names()

    # Sometimes for debugging it is useful to print the entire state of the
    # robot:
    #print "============ Printing robot state"
    print(robot.get_current_state())
    #print ""

    # Misc variables
    self.robot = robot
    self.scene = scene
    self.group = group
    self.display_trajectory_publisher = display_trajectory_publisher
    self.planning_frame = planning_frame
    self.eef_link = eef_link
    self.group_names = group_names

def go_to_pose_goal(self):
    group = self.group

    pose_goal.position.x = group.get_current_pose().pose.position.x;
    pose_goal.position.y = group.get_current_pose().pose.position.y +0.1;
    pose_goal.position.z = group.get_current_pose().pose.position.z;
    pose_goal.orientation.x = group.get_current_pose().pose.orientation.x;
    pose_goal.orientation.y = group.get_current_pose().pose.orientation.y;
    pose_goal.orientation.z = group.get_current_pose().pose.orientation.z;
    pose_goal.orientation.w = group.get_current_pose().pose.orientation.w;
    group.set_pose_target(pose_goal)
    print(pose_goal)

    plan = group.go(wait=True)
    group.plan()
    group.stop()
    group.clear_pose_targets()

    current_pose = self.group.get_current_pose().pose
    return all_close(pose_goal, current_pose, 0.01)

def main():
  counter = 0
  while(True):
      try:
        print("============ PUT RVIZ ON THE SCREEN AND THEN PRESS ENTER")
        raw_input()
        tutorial = MoveGroupPythonIntefaceTutorial()
        print("GOING")
        rospy.sleep(2)
        tutorial.go_to_pose_goal()

        print("============ DONE")

      #except rospy.ROSInterrDuptException:
        #return
      except KeyboardInterrupt:
        return

if __name__ == '__main__':
  main()

I am quite sure the goal position is reachable - could someone help me figure out what I'm doing wrong?