No motion plan found. No execution attempted

[YongJunYou]

Description

One paragraph to explain the issue

roslaunch kinova_gazebo robot_launch.launch kinova_robotType:=j2n6s300use_trajectory_controller:=true
roslaunch j2n6s300_moveit_config j2n6s300_gazebo_demo.launch
rosrun kinova_arm_moveit_demo pick_place

Version

ROS distribution : melodic

No motion plan found. No execution attempted

and grasp is far from cylinder

how can i fix?? i'm beginner

Steps to reproduce

1. • I didn't make any code modifications*

Terminal error message1

    # [ INFO] [1690424428.665199239]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1690424428.665495994]: Execution completed: SUCCEEDED
[ INFO] [1690424429.764936684]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424429.766529045]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424429.767146774]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424429.787907850]: RRTConnect: Created 6 states (3 start + 3 goal)
[ INFO] [1690424429.788052690]: Solution found in 0.021182 seconds
[ INFO] [1690424429.835900512]: SimpleSetup: Path simplification took 0.047733 seconds and changed from 5 to 4 states
[ INFO] [1690424432.734481808]: Execution request received
[ INFO] [1690424432.765483939]: Fake execution of trajectory
[ INFO] [1690424449.264556808]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1690424449.264858566]: Execution completed: SUCCEEDED
[ INFO] [1690424450.364959558]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1690424450.365185967]: Goal constraints are already satisfied. No need to plan or execute any motions
[ WARN] [1690424450.467974311]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1690424450.468252980]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1690424450.568153313]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1690424450.568402749]: Empty quaternion found in pose message. Setting to neutral orientation.
[ WARN] [1690424450.568549332]: Empty quaternion found in pose message. Setting to neutral orientation.
[ INFO] [1690424452.464905404]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424452.467093254]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424452.467641891]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424452.493260610]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1690424452.493410669]: Solution found in 0.025998 seconds
[ INFO] [1690424452.524772865]: SimpleSetup: Path simplification took 0.026983 seconds and changed from 4 to 2 states
[ INFO] [1690424457.187603853]: Execution request received
[ INFO] [1690424457.265118366]: Fake execution of trajectory
[ INFO] [1690424462.564743954]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1690424462.565208737]: Execution completed: SUCCEEDED
[ INFO] [1690424463.665159434]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424463.666894989]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424463.667405536]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424463.703870716]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1690424463.704016894]: Solution found in 0.036822 seconds
[ INFO] [1690424463.731848158]: SimpleSetup: Path simplification took 0.026319 seconds and changed from 4 to 2 states
[ INFO] [1690424465.515045142]: Execution request received
[ INFO] [1690424465.565335416]: Fake execution of trajectory
[ INFO] [1690424475.864900979]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1690424475.865218894]: Execution completed: SUCCEEDED
[ INFO] [1690424476.965356509]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424476.966818328]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424476.967358024]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424488.510268719]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424488.510328154]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424488.516347957]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424488.516389464]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424488.522503003]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424488.522557800]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424488.527760383]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424488.527814987]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1690424500.040987357]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1690424500.041048124]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1690424500.041088637]: No solution found after 23.073987 seconds
[ INFO] [1690424500.041165763]: Unable to solve the planning problem
[ INFO] [1690424500.165093678]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424500.166620324]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424500.167545009]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424511.708200498]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424511.708239605]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424511.714278704]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424511.714321430]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424511.720377896]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424511.720408727]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424511.726467398]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424511.726498796]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1690424523.252331243]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1690424523.252371340]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1690424523.252410646]: No solution found after 23.085359 seconds
[ INFO] [1690424523.252477949]: Unable to solve the planning problem
[ INFO] [1690424523.364952107]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424523.366526823]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424523.367074035]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424534.933614781]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424534.933666217]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424534.938880824]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424534.938935861]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424534.944180765]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424534.944224136]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424534.949464747]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424534.949506548]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1690424546.452310914]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1690424546.452375501]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1690424546.452449474]: No solution found after 23.085624 seconds
[ INFO] [1690424546.452518060]: Unable to solve the planning problem
[ INFO] [1690424546.564946121]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424546.566604086]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424546.567200760]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424558.120531266]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424558.120585568]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424558.125790965]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424558.125833127]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424558.131962484]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424558.132019869]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424558.137269694]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424558.137312237]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1690424569.603699311]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1690424569.603752773]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1690424569.603809273]: No solution found after 23.036861 seconds
[ INFO] [1690424569.603878780]: Unable to solve the planning problem
[ INFO] [1690424569.764701494]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424569.765807514]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424569.766185472]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424581.313259514]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424581.313320440]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424581.318544102]: Found a contact between 'table' (type 'Object') and 'j2n6s300_link_2' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424581.318587255]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424581.324661810]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424581.324705193]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690424581.330786287]: Found a contact between 'target_cylinder' (type 'Object') and 'j2n6s300_link_finger_tip_1' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1690424581.330831916]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1690424592.841798855]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1690424592.841863912]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1690424592.841903556]: No solution found after 23.075896 seconds
[ INFO] [1690424592.841932768]: Unable to solve the planning problem
[ INFO] [1690424593.964860773]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1690424593.965121129]: Planning attempt 1 of at most 1
[ INFO] [1690424593.966697317]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424593.967321355]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424593.984405964]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1690424593.984504753]: Solution found in 0.017463 seconds
[ INFO] [1690424594.023133981]: SimpleSetup: Path simplification took 0.038552 seconds and changed from 5 to 2 states
[ INFO] [1690424594.064431812]: Fake execution of trajectory
[ INFO] [1690424596.564951338]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1690424596.665008068]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1690424596.666813253]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690424596.667405994]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1690424596.707889421]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1690424596.707996860]: Solution found in 0.040884 seconds
[ INFO] [1690424596.740798622]: SimpleSetup: Path simplification took 0.029227 seconds and changed from 4 to 2 states
 #

Terminal message 2

    # :~/ws_moveit$ rosrun kinova_arm_moveit_demo pick_place 
[ INFO] [1690424363.989769890]: Loading robot model 'j2n6s300'...
[ WARN] [1690424363.991193992]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1690424363.991238451]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1690424364.222369669]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1690424364.233436574]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1690424364.238894100]: IK Using joint j2n6s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.238930697]: IK Using joint j2n6s300_link_2 0.820305 5.46288
[ INFO] [1690424364.238959400]: IK Using joint j2n6s300_link_3 0.331613 5.95157
[ INFO] [1690424364.238986518]: IK Using joint j2n6s300_link_4 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.239012307]: IK Using joint j2n6s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.239039412]: IK Using joint j2n6s300_link_6 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.239065389]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1690424364.240832538]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1690424364.242412720]: Using solve type Manipulation2
[ INFO] [1690424364.522251717]: Loading robot model 'j2n6s300'...
[ WARN] [1690424364.522300248]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1690424364.522336166]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1690424364.705455714]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1690424364.710315300]: IK Using joint j2n6s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.710376098]: IK Using joint j2n6s300_link_2 0.820305 5.46288
[ INFO] [1690424364.710399894]: IK Using joint j2n6s300_link_3 0.331613 5.95157
[ INFO] [1690424364.710423100]: IK Using joint j2n6s300_link_4 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.710446431]: IK Using joint j2n6s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.710475058]: IK Using joint j2n6s300_link_6 -3.40282e+38 3.40282e+38
[ INFO] [1690424364.710500694]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1690424364.712317689]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1690424364.714138367]: Using solve type Manipulation2
[ INFO] [1690424365.019519378]: Loading robot model 'j2n6s300'...
[ WARN] [1690424365.019557942]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1690424365.019578049]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1690424365.200268207]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1690424365.205175741]: IK Using joint j2n6s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1690424365.205223321]: IK Using joint j2n6s300_link_2 0.820305 5.46288
[ INFO] [1690424365.205288427]: IK Using joint j2n6s300_link_3 0.331613 5.95157
[ INFO] [1690424365.205344025]: IK Using joint j2n6s300_link_4 -3.40282e+38 3.40282e+38
[ INFO] [1690424365.205401244]: IK Using joint j2n6s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1690424365.205433856]: IK Using joint j2n6s300_link_6 -3.40282e+38 3.40282e+38
[ INFO] [1690424365.205460175]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1690424365.207305055]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1690424365.209117149]: Using solve type Manipulation2
[ INFO] [1690424366.274594824]: Ready to take commands for planning group arm.
[ INFO] [1690424366.997029547]: Ready to take commands for planning group gripper.
[ INFO] [1690424369.254986693]: Press any key to send robot to home position ...
e
[ INFO] [1690424373.220003563]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424382.766246774]: Joint space motion planing without obstacle
[ INFO] [1690424382.766393425]: Demonstrates moving robot from one joint position to another
[ INFO] [1690424382.766512371]: Planning to go to start pose ...
[ INFO] [1690424382.766696720]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424390.465301638]: Planning to go to pre-grasp joint pose ...
[ INFO] [1690424390.465506350]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424398.366252251]: Approaching grasp position ...
[ INFO] [1690424398.366413111]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424403.066126705]: Grasping ...
[ INFO] [1690424405.766388237]: Planning to go to retract position ...
[ INFO] [1690424405.766484848]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424409.766353172]: Planning to go to start position ...
[ INFO] [1690424409.766525658]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424418.264614131]: Releasing ...
e
[ INFO] [1690424420.975863218]: *************************
[ INFO] [1690424420.976009161]: *************************
[ INFO] [1690424420.976115909]: *************************
[ INFO] [1690424420.976239268]: Press any key to start motion plan in joint space with obstacle ...
[ INFO] [1690424421.177059514]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424429.666691913]: Planning to come back to start position ...
[ INFO] [1690424429.666892406]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424450.265717326]: Releasing gripper ...
[ INFO] [1690424450.366088400]: *************************
[ INFO] [1690424450.366235156]: *************************
[ INFO] [1690424450.366342978]: *************************
[ INFO] [1690424450.366450151]: Motion planning in cartesian space without obstacles ...
[ INFO] [1690424450.767917988]: Press any key to move to start pose ...
e
[ INFO] [1690424452.432329778]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424463.566205034]: Planning to go to pre-grasp position ...
[ INFO] [1690424463.566376578]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip: e
[ INFO] [1690424476.866300304]: Approaching grasp position ...
[ INFO] [1690424476.866461936]: Setting plan time to 30.000000 sec
[ WARN] [1690424500.041539687]: Fail: ABORTED: No motion plan found. No execution attempted.
at attemp: 1
[ INFO] [1690424500.141751812]: Setting plan time to 40.000000 sec
[ WARN] [1690424523.252861486]: Fail: ABORTED: No motion plan found. No execution attempted.
at attemp: 2
[ INFO] [1690424523.353106227]: Setting plan time to 50.000000 sec
[ WARN] [1690424546.452866021]: Fail: ABORTED: No motion plan found. No execution attempted.
at attemp: 3
[ INFO] [1690424546.553116190]: Setting plan time to 60.000000 sec
[ WARN] [1690424569.604172194]: Fail: ABORTED: No motion plan found. No execution attempted.
at attemp: 4
[ INFO] [1690424569.704381488]: Setting plan time to 70.000000 sec
[ WARN] [1690424592.842391820]: Fail: ABORTED: No motion plan found. No execution attempted.
at attemp: 5
Exit since plan failed until reach maximum attemp: 5
[ INFO] [1690424593.942863551]: Grasping ...
[ INFO] [1690424596.576190577]: Planning to return to start position  ...
[ INFO] [1690424596.576346790]: Setting plan time to 30.000000 sec
at attemp: 1
plan success at attemp: 1
please input e to execute the plan, r to replan, others to skip:  #

Expected behavior

https://youtu.be/WVazZgN_IQo
I want it to behave like this video

but not close to the cylinder

Any other information

http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html
http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html
I had the same error in the panda robot, but it was resolved after using the moveit setup assistant. Tried fixing for kinova as well but didn't work

how can i fix it??

[felixmaisonneuve]

Hi @YongJunYou,

Can you copy your terminal outputs? I see one of your terminal prints an error, but I can't read the error message from the screenshot.

Can you detail your steps once you started the pick_place example? Can you move the arm normally and it fails only when trying to grasp the cylinder? Or is it impossible to move the arm anywhere?

Best,
Felix

[YongJunYou]

thank you!, I just edited my question and add terminal error

&my step

 roslaunch j2n6s300_moveit_config j2n6s300_virtual_robot_demo.launch
 rosrun kinova_arm_moveit_demo pick_place 

I move the arm normally and it fails only when trying to grasp the cylinder.
https://youtu.be/WVazZgN_IQo
I want it to behave like this video

but not close to the cylinder
and waiting lot of time