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Answering my own question.

There where some differences in the arms in orientation, and how axes where set, that got me confused. That is now corrected, and using the ik_1.py program I can now close the kinematic loops.

The use case is that, during experiments I need to change the model slightly, larger rower, shorter oars etc. After that the kinematic loops are broken and should be closed again.

Sorry for the confusion.

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