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If the maximum number of iterations/retries is reached and no solution is found, or if an IK solution is found but does not satisfy the constraints, GetConstraintAwarePositionIK will not succeed. This can very easily take less than 5s, especially if your IK routine is fast, and the max_search_iterations parameter is set to a low number. If you would like to keep on trying until the timeout is reached, try increasing max_search_iterations to a large-enough value. Btw, what value are you currently using? (if unspecified it defaults to three).