New user constantly getting "IK Failed! Cannot find valid solution." about mplib HOT 3 CLOSED

Finally got it working. My problem was my control mode. I changed to pd_joint_pos and it worked perfectly :)

EDIT:
Finally got it working. I had two problems.

1. My target pose
2. ManiSkill control mode.

The target pose was likely leading to a collision, since I was trying to go to [0, 0, 0.5] and the reference is the robot base link. So I changed the target pose to Pose([0.615, 0, 0.5][0, 1, 0, 0]) and the planning was working.

Then I had a problem, that the actions were not really controlling the robot in a desired way. My actions are coming only from the position of the planning. So I changed the ManiSkill control_mode to pd_joint_pos and it worked perfectly :)

from mplib.

Thanks for the follow-up! "IK Failed! Cannot find valid solution" can also often be triggered by collision. I am not sure why the control mode in maniskill should have anything to do with IK in mplib.

from mplib.

Oh no, I also changed the pose. I updated my comment from before just to keep this complete.
Thanks for the reply!

from mplib.