Inverse Kinematics: solution found, but mismatch in the orientation part detected.

[joyyang1215]

What does the warning message mean?
And, how can I resolve this?

[croesmann]

We compute the inverse kinematics analytically. However, the arm cannot reach arbitrary endeffector poses due to the limited degrees of freedom. The inverse kinematics method prints a warning, if a small mismatch in terms of the orientation is detected. Unfortunately, the warning appears often, even if the pose should be correct. Probably someone has to investigate, whether the check (and the internal tolerances) are implemented properly.