# Revision history [back]

### IK fails for pose acquired with FK for the same arm

Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though.

I have tried to change seeds as suggested here, but no luck.

Any clues?

Thanks

### IK fails for pose acquired with FK for the same arm

Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though.

I have tried to change seeds as suggested here, but no luck.

Any clues?

Thanks

EDIT #1:

I set value 0.5f for all joints in FK and received following Cartesian pose:

Position: -0.435193,0.448097,1.33023
Orientation: 0.708541 0.328067 0.000000 0.624774

But it produces error

[ INFO]: IK service call error code: -31
when I am feeding this data back to IK with the following command:
$rosservice call /execute_cartesian_ik_trajectory -- \ "{ \ header: { frame_id: /base_link}, \ poses: [{ \ position: [-0.435193, 0.448097, 1.33023], \ orientation: [0.708541, 0.328067, 0.0, 0.624774] \ } \ ]}" I have tried to set seeds as follows for(int i = 0; i < 7; i++) ik_request.ik_request.ik_seed_state.joint_state.position[i] = 0.5f; //start_angles[i]; but result is the same.  ### IK fails for pose acquired with FK for the same arm Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though. I have tried to change seeds as suggested here, but no luck. Any clues? Thanks EDIT #1: I set value 0.5f for all joints in FK and received following Cartesian pose: Position: -0.435193,0.448097,1.33023 Orientation: 0.708541 0.328067 0.000000 0.624774 But it produces error [ INFO]: IK service call error code: -31  when I am feeding this data back to IK with the following command: $ rosservice call /execute_cartesian_ik_trajectory -- \
"{ \
poses: [{ \
position: [-0.435193, 0.448097, 1.33023], \
orientation: [0.708541, 0.328067, 0.0, 0.624774] \
} \
]}"]}"


I have tried to set seeds as follows

for(int i = 0; i < 7; i++)
ik_request.ik_request.ik_seed_state.joint_state.position[i] = 0.5f; //start_angles[i];//start_angles[i];


but result is the same.

### IK fails for pose acquired with FK for the same arm

Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though.

I have tried to change seeds as suggested here, but no luck.

Any clues?

Thanks

EDIT #1:

I set value 0.5f for all joints in FK and received following Cartesian pose:

Position: -0.435193,0.448097,1.33023
Orientation: 0.708541 0.328067 0.000000 0.624774

But it produces error

[ INFO]: IK service call error code: -31


when I am feeding this data back to IK with the following command:

$rosservice call /execute_cartesian_ik_trajectory -- \ "{ \ header: { frame_id: /base_link}, \ poses: [{ \ position: [-0.435193, 0.448097, 1.33023], \ orientation: [0.708541, 0.328067, 0.0, 0.624774] \ } \ ]}"  I have tried to set seeds as follows for(int i = 0; i < 7; i++) ik_request.ik_request.ik_seed_state.joint_state.position[i] = 0.5f; //start_angles[i];  but result is the same. ### IK fails for pose acquired with FK for the same arm Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though. I have tried to change seeds as suggested here, but no luck. Any clues? Thanks EDIT #1: I set value 0.5f for all joints in FK and received following Cartesian pose: Position: -0.435193,0.448097,1.33023 Orientation: 0.708541 0.328067 0.000000 0.624774 But it produces error [ INFO]: IK service call error code: -31 when I am feeding this data back to IK with the following command:  $ rosservice call /execute_cartesian_ik_trajectory -- \
"{ \
poses: [{ \
position: [-0.435193, 0.448097, 1.33023], \
orientation: [0.708541, 0.328067, 0.0, 0.624774] \
} \
]}"


I have tried to set seeds as follows

for(int i = 0; i < 7; i++)
ik_request.ik_request.ik_seed_state.joint_state.position[i] = 0.5f; //start_angles[i];


but result is the same.

### IK fails for pose acquired with FK for the same arm

Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though.

I have tried to change seeds as suggested here, but no luck.

Any clues?

Thanks

EDIT #1:

I set value 0.5f for all joints in FK and received following Cartesian pose:

Position: -0.435193,0.448097,1.33023
Orientation: 0.708541 0.328067 0.000000 0.624774

But it produces error

[ INFO]: INFO: IK service call error code: -31
ERROR: IK solution not found for trajectory point number 0

when I am feeding this data back to IK with the following command:

\$ rosservice call /execute_cartesian_ik_trajectory -- \
"{ \
poses: [{ \
position: [-0.435193, 0.448097, 1.33023], \
orientation: [0.708541, 0.328067, 0.0, 0.624774] \
} \
]}"


I have tried to set seeds as follows

for(int i = 0; i < 7; i++)
ik_request.ik_request.ik_seed_state.joint_state.position[i] = 0.5f; //start_angles[i];


but result is the same.