When changing set_max_velocity_scaling_factor(0.5), moveit couldn't plan trajectory

edit

Hii,

I tried the first solution and set the tolerance to 0.05, but error stays the same. And I couldn't afford more tolerance in my process. My planning sequence is something like this:

`abb.set_start_state(robot.get_current_state())
 abb.set_pose_target(table1, end_effector_link)
 plan = abb.plan()
 if plan.joint_trajectory.points:
    abb.set_max_velocity_scaling_factor(0.5)
    abb.execute(plan,wait=False)
    rospy.sleep(2)`

Is there any other solution?

So like I said, I'm not familiar with abb, but what does the initial pose look like? Per here you might need to send a joint move to get it away from an initial singularity, and then plan to a pose. But based on the fact you do it with velocity at 100% makes me think this isn't the case.

Is the velocity scaling the only thing changed?

yes, you are right. Only thing that is changed here is velocity scaling. I also test this code: abb.set_start_state_to_current_state() start_pose1.pose.position.z = start_pose1.pose.position.z + 0.6 abb.set_pose_target(start_pose1, end_effector_link) plan = abb_plan_path(abb) if not plan == False: abb.set_max_velocity_scaling_factor(0.2) abb.execute(plan,wait=False) rospy.sleep(2)

But error stays the same. But when I use abb.go() for combine planning and execution ,everything works. Why is it like that?