[cumotion_planner]: Error raised in execute callback: 'grip_joint' is not in list

[lzjie-tchip]

hi,
When I try to run isaac_ros_cumotion_moveit for my robot,as I click plan in moveit,I got errors:
[move_group-4] [INFO] [1744192177.694824171] [moveit_move_group_default_capabilities.move_action_capability]: Received request [rviz2-1] [INFO] [1744192177.695379576] [move_group_interface]: Planning request accepted [move_group-4] [INFO] [1744192177.695440150] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [move_group-4] [INFO] [1744192177.695712556] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-4] [INFO] [1744192177.696210139] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'isaac_ros_cumotion' [move_group-4] [INFO] [1744192177.697019550] [move_group]: Planning trajectory [move_group-4] [INFO] [1744192177.697559275] [move_group]: Sending goal [move_group-4] [INFO] [1744192177.710888567] [move_group]: Goal accepted by server, waiting for result [cumotion_planner_node-9] [INFO] [1744192177.717123996] [cumotion_planner]: Executing goal... [cumotion_planner_node-9] [INFO] [1744192177.720970837] [cumotion_planner]: Planning with time_dilation_factor: 0.1 [cumotion_planner_node-9] [INFO] [1744192177.729818366] [cumotion_planner]: Calculating goal pose from Joint target [cumotion_planner_node-9] [ERROR] [1744192177.740169362] [cumotion_planner]: Error raised in execute callback: 'grip_joint' is not in list [cumotion_planner_node-9] Traceback (most recent call last): [cumotion_planner_node-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal [cumotion_planner_node-9] execute_result = await await_or_execute(execute_callback, goal_handle) [cumotion_planner_node-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute [cumotion_planner_node-9] return callback(*args) [cumotion_planner_node-9] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 724, in execute_callback [cumotion_planner_node-9] goal_state = self.motion_gen.get_active_js( [cumotion_planner_node-9] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2177, in get_active_js [cumotion_planner_node-9] opt_js = in_js.get_ordered_joint_state(opt_jnames) [cumotion_planner_node-9] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 394, in get_ordered_joint_state [cumotion_planner_node-9] new_js.inplace_reindex(ordered_joint_names) [cumotion_planner_node-9] File "/usr/lib/python3.10/contextlib.py", line 79, in inner [cumotion_planner_node-9] return func(*args, **kwds) [cumotion_planner_node-9] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in inplace_reindex [cumotion_planner_node-9] new_index_l = [self.joint_names.index(j) for j in joint_names] [cumotion_planner_node-9] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in <listcomp> [cumotion_planner_node-9] new_index_l = [self.joint_names.index(j) for j in joint_names] [cumotion_planner_node-9] ValueError: 'grip_joint' is not in list [move_group-4] [INFO] [1744192177.748574123] [move_group]: Received result [move_group-4] [INFO] [1744192177.748582602] [move_group]: Checking results [move_group-4] [INFO] [1744192177.748732677] [move_group]: Success [move_group-4] [INFO] [1744192177.753812275] [move_group]: Received trajectory result [move_group-4] [ERROR] [1744192177.753871824] [move_group]: No trajectory [move_group-4] [INFO] [1744192177.754011244] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted. [rviz2-1] [INFO] [1744192177.755499607] [move_group_interface]: Planning request aborted [rviz2-1] [ERROR] [1744192177.756143041] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
It said that 'grip_joint' is not in list,did my any yaml files or urdf files may miss it?