ERROR] [1724487258.469181201] [cumotion_action_server]: Motion planning failed wih status: MotionGenStatus.IK_FAIL

[Aruen24]

INFO] [1724487257.179121493] [cumotion_action_server]: Calculating goal pose from Joint target
[ERROR] [1724487258.469181201] [cumotion_action_server]: Motion planning failed wih status: MotionGenStatus.IK_FAIL
[INFO] [1724487258.469535963] [cumotion_action_server]: returned planning result (query, success, failure_status): 0 False MotionGenStatus.IK_FAIL

format: "xrdf"

format_version: 1.0

default_joint_positions:
base_joint: 0.0
joint_1: 0.0
joint_2: 0.0
joint_3: 0.0
joint_4: 0.0
joint_5: 0.0
joint_6: 0.0
gripper_base_joint: -0.0
gripper_jaw1_joint: -0.0
gripper_jaw2_joint: -0.0

cspace:
joint_names:
- "base_joint"
- "joint_1"
- "joint_2"
- "joint_3"
- "joint_4"
- "joint_5"
- "joint_6"
- "gripper_base_joint"
- "gripper_jaw1_joint"
- "gripper_jaw2_joint"
acceleration_limits: [10, 10, 10, 10, 10, 10, 10, 10, 10, 10]
jerk_limits: [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]

tool_frames: ["gripper_jaw2_link"]

collision:
geometry: "auto_generated_collision_sphere_group"
buffer_distance:
base_link: 0.004
link_1: 0.004
link_2: 0.004
link_3: 0.004
link_4: 0.004
link_5: 0.004
link_6: 0.004
gripper_base_link: 0.004
gripper_jaw1_link: 0.004
gripper_jaw2_link: 0.004

self_collision:
geometry: "auto_generated_collision_sphere_group"
buffer_distance:
base_link: 0.01
gripper_jaw2_joint: 0.0
ignore:
base_link:
- "link_1"
link_1:
- "link_2"
link_2:
- "link_3"
link_3:
- "link_4"
link_4:
- "link_5"
link_5:
- "link_6"
link_6:
- "ee_link"
gripper_base_link:
- "gripper_jaw1_link"
- "gripper_jaw2_link"
gripper_jaw1_link:
- "gripper_jaw2_link"

geometry:
auto_generated_collision_sphere_group:
spheres:
link_1:
- center: [0.0, 0.0, 0.0]
radius: 0.08
- center: [-0.013, 0.05, -0.149]
radius: 0.08
link_2:
- center: [-0.0, -0.082, -0.035]
radius: 0.08
- center: [-0.0, -0.243, -0.059]
radius: 0.08
link_4:
- center: [0.0, 0.0, 0.0]
radius: 0.08
- center: [0.0, 0.003, -0.158]
radius: 0.08