The difference of inverse kinematic in pr2 and my robot

edit

when I test inverse kinematic , I find some difference config in pr2 and my robot.

the pr2:

geometry_msgs::PoseStamped target_pose;
target_pose.header.frame_id = referenceFrame;
 target_pose.header.stamp = ros::Time::now();  
target_pose.pose.position.x = position_action[0];
target_pose.pose.position.y = position_action[1];
target_pose.pose.position.z = position_action[2];
target_pose.pose.orientation.w = 1.0;

my robot:

geometry_msgs::PoseStamped target_pose;
target_pose.header.frame_id = referenceFrame;
target_pose.header.stamp = ros::Time::now();  
target_pose.pose.position.x = position_action[0];
target_pose.pose.position.y = position_action[1];
target_pose.pose.position.z = position_action[2];
target_pose.pose.orientation.x = position_action[3];
target_pose.pose.orientation.y = position_action[4];
target_pose.pose.orientation.z = position_action[5];
target_pose.pose.orientation.w = position_action[6];

when I make my robot config like pr2, I will fail in planning.

why about this?

advance thank for any help