Real UR5 Error RRTConnect: Unable to sample any valid states for goal tree

edit

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 ur5_moveit_config/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 ur5_moveit_config/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 ...