Moveit Ik

[chillvamp]

Move it ik fails way to often to sample valid goal states. I have tried to set a goal tolerance , but no luck, Its a very different behavior than wen running the same SMACH on my local gazebo and wrs World.... Any ideas?

Planning attempt 4 of at most 5
simulator_1 | [ INFO] [1648591076.487782747, 853.233000000]: Starting state is just outside bounds (joint 'arm_lift_joint'). Assuming within bounds.
simulator_1 | [ INFO] [1648591076.487806729, 853.233000000]: Starting state is just outside bounds (joint 'arm_flex_joint'). Assuming within bounds.
simulator_1 | [ INFO] [1648591076.488739942, 853.233000000]: Planner[ERROR] [1648591081.497352381, 855.546000000]: RRTConnect: Unable to sample any valid states for goal tree
simulator_1 | [ERROR] [1648591086.500285633, 857.832000000]: RRTConnect: Unable to sample any valid states for goal tree