it <insert expletive> works!

src/iisy_config_2/.setup_assistant

@@ -1,13 +1,13 @@
 moveit_setup_assistant_config:
   urdf:
-    package: iisy_config
+    package: iisy_config_2
-    relative_path: urdf/iisy_xacro.urdf
+    relative_path: config/iisy.urdf
   srdf:
     relative_path: config/iisy.srdf
   package_settings:
     author_name: Bastian Hofmann
     author_email: bhogm4@gmail.com
-    generated_timestamp: 1676632718
+    generated_timestamp: 1677166762
   control_xacro:
     command:
       - position

src/iisy_config_2/config/kinematics.yaml

@@ -1 +1,4 @@
-{}
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

src/iisy_config_2/config/moveit.rviz

@@ -1,281 +1,51 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 70
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
-        - /InteractiveMarkers1
-      Splitter Ratio: 0.5
-    Tree Height: 163
   - Class: rviz_common/Help
     Name: Help
   - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
 Visualization Manager:
-  Class: ""
   Displays:
-    - Alpha: 0.5
+    - Class: rviz_default_plugins/Grid
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
       Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
       Value: true
-    - Acceleration_Scaling_Factor: 0.1
+    - Class: moveit_rviz_plugin/MotionPlanning
-      Class: moveit_rviz_plugin/MotionPlanning
-      Enabled: true
-      Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
-      MoveIt_Allow_External_Program: false
-      MoveIt_Allow_Replanning: false
-      MoveIt_Allow_Sensor_Positioning: false
-      MoveIt_Planning_Attempts: 10
-      MoveIt_Planning_Time: 5
-      MoveIt_Use_Cartesian_Path: false
-      MoveIt_Use_Constraint_Aware_IK: false
-      MoveIt_Workspace:
-        Center:
-          X: 0
-          Y: 0
-          Z: 0
-        Size:
-          X: 2
-          Y: 2
-          Z: 2
       Name: MotionPlanning
       Planned Path:
-        Color Enabled: false
-        Interrupt Display: false
-        Links:
-          All Links Enabled: true
-          Expand Joint Details: false
-          Expand Link Details: false
-          Expand Tree: false
-          Link Tree Style: Links in Alphabetic Order
-          base_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          base_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          base_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link1_full:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link2_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link2_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link3_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link3_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          table:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          world:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
         Loop Animation: true
-        Robot Alpha: 0.5
-        Robot Color: 150; 50; 150
-        Show Robot Collision: false
-        Show Robot Visual: true
-        Show Trail: false
         State Display Time: 0.05 s
-        Trail Step Size: 1
         Trajectory Topic: display_planned_path
-        Use Sim Time: false
-      Planning Metrics:
-        Payload: 1
-        Show Joint Torques: false
-        Show Manipulability: false
-        Show Manipulability Index: false
-        Show Weight Limit: false
-        TextHeight: 0.07999999821186066
-      Planning Request:
-        Colliding Link Color: 255; 0; 0
-        Goal State Alpha: 1
-        Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0
-        Joint Violation Color: 255; 0; 255
-        Planning Group: arm
-        Query Goal State: true
-        Query Start State: false
-        Show Workspace: false
-        Start State Alpha: 1
-        Start State Color: 0; 255; 0
       Planning Scene Topic: monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
         Scene Alpha: 1
-        Scene Color: 50; 230; 50
-        Scene Display Time: 0.009999999776482582
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
       Scene Robot:
-        Attached Body Color: 150; 50; 150
-        Links:
-          All Links Enabled: true
-          Expand Joint Details: false
-          Expand Link Details: false
-          Expand Tree: false
-          Link Tree Style: Links in Alphabetic Order
-          base_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          base_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          base_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link1_full:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link2_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link2_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link3_bottom:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          link3_top:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          table:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          world:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
         Robot Alpha: 0.5
-        Show Robot Collision: false
-        Show Robot Visual: true
       Value: true
-      Velocity_Scaling_Factor: 0.9999999999999999
-    - Class: rviz_default_plugins/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Interactive Markers Namespace: ""
-      Name: InteractiveMarkers
-      Show Axes: false
-      Show Descriptions: true
-      Show Visual Aids: false
-      Value: true
-  Enabled: true
   Global Options:
-    Background Color: 48; 48; 48
     Fixed Frame: world
-    Frame Rate: 30
-  Name: root
   Tools:
     - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
     - Class: rviz_default_plugins/Select
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4.384417533874512
+      Distance: 2.0
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
       Focal Point:
-        X: -0.10000000149011612
+        X: -0.1
         Y: 0.25
-        Z: 0.30000001192092896
+        Z: 0.30
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5
-      Pitch: 0.4799998998641968
       Target Frame: world
-      Value: Orbit (rviz_default_plugins)
+      Yaw: -0.623
-      Yaw: 3.7451796531677246
-    Saved: ~
 Window Geometry:
-  Displays:
-    collapsed: false
   Height: 975
-  Help:
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-    collapsed: false
-  Hide Left Dock: false
-  Hide Right Dock: false
-  MotionPlanning:
-    collapsed: false
-  MotionPlanning - Trajectory Slider:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000379fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb000000100044006900730070006c006100790073010000003b00000124000000c700fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000165000001930000016a00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fe000000b6000000a000ffffff000001f60000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Views:
-    collapsed: false
   Width: 1200
-  X: 1360
-  Y: 388

src/iisy_config_2/config/moveit_controllers.yaml

@@ -16,4 +16,4 @@ moveit_simple_controller_manager:
       - link1_link2_joint
       - link2_rot
       - link2_link3_joint
-      - link3_rot
+      - link3_rot

src/moveit_test/src/test.cpp

@@ -24,9 +24,11 @@ int main(int argc, char * argv[])
         msg.orientation.w = 1.0;
         msg.position.x = 0.25;
         msg.position.y = 0.25;
-        msg.position.z = 0.0;
+        msg.position.z = 1.25;
         return msg;
     }();
+
+    move_group_interface.setGoalOrientationTolerance(100000);
     move_group_interface.setPoseTarget(target_pose);
 
     //std::map<std::string,double> states = {