# Revision history [back]

### Getting final robot state from a moveit plan

I want to plan two consecutive motions on a move group. How can I do that without executing the first plan. Not that I cannot put the first goal as viapoint because I need to execute some other actions unrelated to the robot.

On the tutorials I also saw something like this:

   start_state.setFromIK(joint_model_group, start_pose2);
move_group.setStartState(start_state);


But obviously this cannot guarantee continuous joint motion if there are mutiple IK solutions, I think.

My current code is this:

    moveit::planning_interface::MoveGroupInterface::Plan plan1;
move_group.setPoseTarget(pose1);
bool success = (move_group.plan(plan1) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
if (!success) {
ROS_ERROR_STREAM("plan1 failed");
return false;
}

moveit::planning_interface::MoveGroupInterface::Plan plan2;
/*
I want to get endState of plan1 here, something like:
move_group.setStartState(plan1.getEndState());
*/
move_group.setPoseTarget(pose2);
bool success = (move_group.plan(plan2) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
if (!success) {
ROS_ERROR_STREAM("plan2 failed");
return false;
}