Case1: lock_goal == True, JointTarget

gistfile1.txt

[DEBUG] [1541599378.973538833]: STOMP Found no seed trajectory
[DEBUG] [1541599378.973601801]: STOMP Found goal from joint constraints
[DEBUG] [1541599378.975588566]: No cartesian constraints were found, failed validation
[DEBUG] [1541599378.975645497]: No cartesian constraints were found, failed validation
[DEBUG] [1541599379.171920211]: STOMP completed iteration 1 with cost 255,890387
[DEBUG] [1541599379.172004291]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599379.352017639]: STOMP completed iteration 2 with cost 255,503074
[DEBUG] [1541599379.352077281]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599379.550639466]: STOMP completed iteration 3 with cost 255,503074
[DEBUG] [1541599379.550696939]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599379.739133440]: STOMP completed iteration 4 with cost 255,503074
[DEBUG] [1541599379.739188165]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599379.946226073]: STOMP completed iteration 5 with cost 156,260832
[DEBUG] [1541599379.946259599]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599380.186020601]: STOMP completed iteration 6 with cost 156,260832
[DEBUG] [1541599380.186057057]: Found valid solution, will iterate 4 more time(s) 
[DEBUG] [1541599380.404337238]: STOMP completed iteration 7 with cost 156,260832
[DEBUG] [1541599380.404380284]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599380.684197253]: STOMP completed iteration 8 with cost 156,260832
[DEBUG] [1541599380.684252526]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599380.949330316]: STOMP completed iteration 9 with cost 156,260832
[DEBUG] [1541599380.949385405]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599381.225132447]: STOMP completed iteration 10 with cost 156,260832
[DEBUG] [1541599381.225166908]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599381.469280058]: STOMP completed iteration 11 with cost 156,260832
[DEBUG] [1541599381.469313695]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599381.731501574]: STOMP completed iteration 12 with cost 156,260832
[DEBUG] [1541599381.731546432]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599381.999600949]: STOMP completed iteration 13 with cost 156,260832
[DEBUG] [1541599381.999656562]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599382.237528490]: STOMP completed iteration 14 with cost 156,260832
[DEBUG] [1541599382.237564374]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599382.493575354]: STOMP completed iteration 15 with cost 156,260832
[DEBUG] [1541599382.493631234]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599382.746435488]: STOMP completed iteration 16 with cost 156,260832
[DEBUG] [1541599382.746512616]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599382.999674971]: STOMP completed iteration 17 with cost 156,260832
[DEBUG] [1541599382.999731256]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599383.249769006]: STOMP completed iteration 18 with cost 156,260832
[DEBUG] [1541599383.249845417]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599383.512950767]: STOMP completed iteration 19 with cost 156,260832
[DEBUG] [1541599383.512986216]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599383.786945727]: STOMP completed iteration 20 with cost 156,260832
[DEBUG] [1541599383.786979089]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599384.062198129]: STOMP completed iteration 21 with cost 156,260832
[DEBUG] [1541599384.062253569]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599384.339755636]: STOMP completed iteration 22 with cost 156,260832
[DEBUG] [1541599384.339795500]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599384.619939982]: STOMP completed iteration 23 with cost 156,260832
[DEBUG] [1541599384.619972793]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599384.882760323]: STOMP completed iteration 24 with cost 156,260832
[DEBUG] [1541599384.882826015]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599385.160741035]: STOMP completed iteration 25 with cost 156,260832
[DEBUG] [1541599385.160796753]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599385.420128550]: STOMP completed iteration 26 with cost 156,260832
[DEBUG] [1541599385.420159747]: Found valid solution, will iterate 4 more time(s) 
[DEBUG] [1541599385.654338723]: STOMP completed iteration 27 with cost 156,260832
[DEBUG] [1541599385.654409793]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599385.919178310]: STOMP completed iteration 28 with cost 156,260832
[DEBUG] [1541599385.919264743]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599386.164404513]: STOMP completed iteration 29 with cost 156,260832
[DEBUG] [1541599386.164472107]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599386.405597005]: STOMP completed iteration 30 with cost 156,260832
[DEBUG] [1541599386.405632637]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599386.674655401]: STOMP completed iteration 31 with cost 156,260832
[DEBUG] [1541599386.674718598]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599386.963878115]: STOMP completed iteration 32 with cost 156,260832
[DEBUG] [1541599386.963919705]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599387.243254691]: STOMP completed iteration 33 with cost 156,260832
[DEBUG] [1541599387.243318838]: Found valid solution, will iterate 4 more time(s) 
[DEBUG] [1541599387.493146728]: STOMP completed iteration 34 with cost 156,260832
[DEBUG] [1541599387.493182543]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599387.750969249]: STOMP completed iteration 35 with cost 156,260832
[DEBUG] [1541599387.751004178]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599388.019579298]: STOMP completed iteration 36 with cost 156,260832
[DEBUG] [1541599388.019693211]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599388.294372922]: STOMP completed iteration 37 with cost 156,260832
[DEBUG] [1541599388.294407273]: Found valid solution, will iterate 5 more time(s) 
[DEBUG] [1541599388.522393042]: STOMP completed iteration 38 with cost 156,260832
[DEBUG] [1541599388.522428120]: Solution is no longer valid, resetting valid_iterations
[DEBUG] [1541599388.790403254]: STOMP completed iteration 39 with cost 156,260832
[DEBUG] [1541599388.790480102]: Solution is no longer valid, resetting valid_iterations
[ERROR] [1541599388.974014560]: STOMP exceeded allowed time of 10,000000 , terminating
[ WARN] [1541599388.974052997]: Interrupting STOMP
[ERROR] [1541599388.975796218]: Stomp was terminated