FrankChan

> ### Description > Sometimes when running the hybrid planner, a ABORT signal is sent just before the plan succeeds. This makes the goal handle send SUCCEEDED just after sending...

> Hi [@frankchan12138](https://github.com/frankchan12138) > > Unfortunately I don't remember if I ever solved this. I stopped working on this such a long time ago. Sorry to be of no help.....

Hi! @balakumar-s I have another question， I found that when I successfully call plan_single with pose_cost_metric set. The first call will return the result as I want link this ...

@balakumar-s Thanks for reply， I try to use motion_gen.reset(reset_seed=True) as follow, but still get the same result. i.e first call I get the result I want, but second call will...

@balakumar-s Thanks for reply！ I will try `plan_grasp`latter.

@balakumar-s Thanks for reply. Right now I have another question, I have tried to manager the two arms into one group. And the curobo would work for that. But when...

> [@sjahr](https://github.com/sjahr), I noticed that the local planner and global planner nodes don't have the option `automatically_declare_parameters_from_overrides()` enabled. [The Moveit tutorial](https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html#examine-the-code) states that parameters need this option to work correctly....

Hello @Mat198 , Thanks for reply. I modified the code as your advice, and it still do not work properly. Later I modified `moveit_planning_pipeline.cpp` according to the output log and...