Controlling a robotic arm to reach a specified grasp pose using commands

[yaoyao-sourse]

I am using the same Linux system and ROS version as you (Ubuntu 18.04, Melodic). We can interactively specify the target position for the robot arm's motion in Rviz, and once we have the target position, we can visualize the motion trajectory planned by Moveit in Rviz. This works in both simulation and real environments, and the robot arm successfully reaches the target position.

However, I'm encountering issues when trying to achieve the same operations through the command line. Specifically, I've added a virtual graspable block in Rviz via the command line and generated a grasp pose using code. Moveit attempts to plan a trajectory based on the target grasp pose but returns the error message 'Failed to pick, not trying further.' I'm wondering what could be causing this issue. I have two hypotheses: 1. Moveit fails to plan a path. 2. Planning is successful, but execution fails. I'm unsure if my assumptions are correct. Could you provide some advice? Thank you very much!