Problem running moveIt in virtualBox

Hello everybody,

I have run the example demo using the simclient VM and a natively server and it worked. Now, I am trying to execute my code, which works natively, using VM, but it doesn't work.

In my code, I am working with moveIt! libraries to control the arm, and moveit_simple_grasps library (done by Dave Coleman) to do the grasping. Moreover, I am not using RViz in the VM because it produces some errors relationed with GPU. Are there any special step to do before using this kind of libraries with a VM?

In my case, when I use the VM client, the robot start to move using moveIt! and it works, but later when I pick the first object, an error appears and stop my program:

Code:

calling move_along_joint_path towards next target_zone
Response.error_message:
Response.stop_reason: path finished
Move done
[ERROR] [1412172226.839515233, 154.635000000]: Attempting to attach object 'red_cube' to link 'link7' but no geometry specified and such an object does not exist in the collision world
[ERROR] [1412172226.854286326, 154.635000000]: Execution of path-completion side-effect failed. Preempting.
[ INFO] [1412172226.911315390, 154.649000000]: Stopping execution due to preempt request
[ INFO] [1412172226.914956020, 154.649000000]: MoveitSimpleControllerManager: Cancelling execution for /joints_controller
[ INFO] [1412172226.921286737, 154.649000000]: Stopped trajectory execution.
[ WARN] [1412172227.060449933, 154.953000000]: Transitioning goal to LOST
number of joints:7
calling move_along_joint_path towards next target_zone
Response.error_message:
Response.stop_reason: path finished
Move done
[move_group-5] process has died [pid 7291, exit code -11, cmd /opt/ros/hydro/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/simguest/.ros/log/50a439de-4973-11e4-904e-ac220b78be47/move_group-5.log].
log file: /home/simguest/.ros/log/50a439de-4973-11e4-904e-ac220b78be47/move_group-5*.log

Thanks for your attention,
Luis

lrubio has notified us that he has solved this moveit problem:

We solved our last problem with some moveit libraries no using them, and we had to implement them by ourself, but now it is working in the VM (very slowly, but working).