# PILZ Industrial Motion Planner claims missing cartesian limits

I am trying to use the Pilz Industrial Motion Planner and follow the tutorial at https://ros-planning.github.io/moveit_tutorials/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.html. It says there:

For cartesian trajectory generation (LIN/CIRC) the planner needs an information about the maximum speed in 3D cartesian space. Namely translational/rotational velocity/acceleration/deceleration need to be set on the parameter server like this:

cartesian_limits: max_trans_vel: 1 max_trans_acc: 2.25 max_trans_dec: -5 max_rot_vel: 1.57

I can confirm, the parameters are set by checking the parameter server:

for k in  [x for x in rospy.get_param_names() if 'cartesian' in x]:
print("%s: %s" % (k, rospy.get_param(k)))
>>>
/mygen3/move_group/planning_pipelines/pilz_industrial_motion_planner/cartesian_limits/max_trans_vel: 1
/mygen3/move_group/planning_pipelines/pilz_industrial_motion_planner/cartesian_limits/max_trans_acc: 2.25
/mygen3/move_group/planning_pipelines/pilz_industrial_motion_planner/cartesian_limits/max_trans_dec: -5
/mygen3/move_group/planning_pipelines/pilz_industrial_motion_planner/cartesian_limits/max_rot_vel: 1.57


I want to test a simple pose-to-pose motion like this:

    pose_goal = Pose()
current = move_group.get_current_pose()

pose_goal.position.x = current.pose.position.x + 0.1
pose_goal.position.y = current.pose.position.y + 0.1
pose_goal.position.z = current.pose.position.z + 0.1
pose_goal.orientation.x = current.pose.orientation.x
pose_goal.orientation.y = current.pose.orientation.y
pose_goal.orientation.z = current.pose.orientation.z
pose_goal.orientation.w = current.pose.orientation.w

move_group.set_pose_target(pose_goal)
move_group.set_planner_id("LIN")

success, trajectory, _, _ = move_group.plan()


However, when I try to set 'CIRC' or 'LIN' as planner_id, I get the error message that those values are not set:

[ INFO] [1707743911.888372195]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1707743911.888790244]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.888832115]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.888893625]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.888919033]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.888989485]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889011769]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889060415]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889087766]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889155949]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889179529]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889230011]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889255732]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889325734]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889348487]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889401687]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889431184]: Exception caught executing adapter 'Resolve constraint frames to robot links': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889501274]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889525123]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889577145]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889602502]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889669077]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889691494]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889745535]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889771364]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889841539]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889864721]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889915581]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.889941562]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890008547]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890031268]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890082819]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890111921]: Exception caught executing adapter 'Add Time Parameterization': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890183283]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890207110]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890260854]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890286564]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890354149]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890377555]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890433257]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890460080]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890528850]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890552561]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890606194]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890631362]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890699221]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890721577]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890774367]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890803617]: Exception caught executing adapter 'Resolve constraint frames to robot links': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890873333]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890897442]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890951197]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.890977545]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891048756]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891072346]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891128257]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891155153]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891227220]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891253341]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891308987]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891335961]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891408790]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891433673]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891490353]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891522890]: Exception caught executing adapter 'Limiting Max Cartesian Speed': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891599267]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891624827]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891681715]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891709498]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891787523]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891812253]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891870167]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891899065]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.891974087]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892000138]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892085217]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892153799]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892297245]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892339941]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892426374]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892471061]: Exception caught executing adapter 'Resolve constraint frames to robot links': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892579406]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892618156]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892701773]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892740606]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892844422]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892880147]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.892961187]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893000736]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893100606]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893137370]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893219037]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893257115]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893358485]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893393729]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893473370]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893513294]: Exception caught executing adapter 'Add Time Parameterization': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893617463]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893654700]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893732781]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893770138]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893868340]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893902786]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.893981155]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894018132]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894112455]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894145856]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894218343]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894252248]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894342630]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894373922]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894444121]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894481448]: Exception caught executing adapter 'Resolve constraint frames to robot links': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894574812]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894608312]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894679885]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894714174]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894806612]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894836785]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894904053]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.894936293]: Exception caught executing adapter 'Fix Workspace Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895019819]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895050808]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895116505]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895147944]: Exception caught executing adapter 'Fix Start State Bounds': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895230691]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895259363]: Exception caught executing adapter 'Fix Start State In Collision': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895324449]: Exception caught executing adapter 'Fix Start State Path Constraints': Cartesian limits are not fully set for CIRC trajectory generator.
Skipping adapter instead.
[ERROR] [1707743911.895373114]: Exception caught: 'Cartesian limits are not fully set for CIRC trajectory generator.'


Can anyone please help me point out what the cause is here?

• OS: Ubuntu 20
• ROS: Noetic
• Robot: Kinova Gen3