STOMP can't plan path avoid obstacle if using mimic joints

[Yosukee]

I tried STOMP using mimic joints, but STOMP can't plan path avoid obstacle.
To use 6dof robot as 4dof, I change 2 joints to mimic joint.
If I use robot(6dof) used not mimic, STOMP can plan avoid obstacle.

STOMP can do it if obviously there are no obstacles around but STOMP show error messages.

If theare are obstacles around, STOMP shows just these error messages and can't plan.

Your environment

• ROS Distro: [Kinetic]
• OS Version: Ubuntu 16.04
• Robot: mh180-120 (http://wiki.ros.org/motoman_mh_support)

[jrgnicho]

@Yosukee yes stomp assumes that all joints are independent