Thank you, facontidavide It solved the second part of the problem. Simply added joint limits to _urdf/ur5.urdf.xacro_ and updated limits to _ur5_moveit_config/config/joint_limits.yaml_. But the first part problem didn't get solved, it still collides without any reason, although **pose_goal** is in the workspace. but not under. --- [Visit Topic](https://discourse.ros.org/t/moveit-motion-planning-issue/7641/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: