Apologies--that's a bug that's been fixed in Electric but hasn't been back-released into Diamondback yet. I'll try to get that updated this week. In the meantime, the patch below should stop it from crashing. As to why there's no IK solution, I'm not sure--it's trying to find a constrained position by the robot's side that keeps the object level, and perhaps it's in a weird grasp position? Definitely shouldn't crash because of that, though. The 'else' is just tabbed wrong:

Index: controller_manager.py

--- controller_manager.py (revision 52775) +++ controller_manager.py (working copy) @@ -585,9 +585,9 @@ rospy.loginfo("IK solution found for constrained goal") orientation_constraint.orientation = desired_pose.pose.orientation break - else: - rospy.loginfo("no IK solution found for goal, aborting") - return 0 + else: + rospy.loginfo("no IK solution found for goal, aborting") + return 0

 move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.append(orientation_constraint)

Apologies--that's a bug that's been fixed in Electric but hasn't been back-released into Diamondback yet. I'll try to get that updated this week. In the meantime, the patch below should stop it from crashing. As to why there's no IK solution, I'm not sure--it's trying to find a constrained position by the robot's side that keeps the object level, and perhaps it's in a weird grasp position? Definitely shouldn't crash because of that, though. The 'else' is just tabbed wrong:

 0

move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.append(orientation_constraint)