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Hi @q1 A while ago I ran into the same throw, if you look closely you'll see it happens when your script is terminated.

It is a known bug, please see: https://github.com/ros-planning/moveit/issues/331

See also the note in the tutorials under "running the code" http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.html

Hope this helps

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