Inverse Kinematics Mismatch

[z1huo]

I tried to run the test by executing

rosrun pxpincher_lib pxpincher_test

It worked fine initially, however, after it reaches a position (TCP pose: [x: 0.125, y: -0.080 z: -0.005]; TCP rpy: [roll: -0.000 pitch: 1.509 yaw: -0.569]; gripper opened: 20%), it stops moving and an error message appeared

rosrun pxpincher_lib pxpincher_test
[ INFO] [1550614680.723574814]: Waiting for arm action server to start.
[ INFO] [1550614681.098810545]: Arm action server found. Waiting for gripper action server to start.
[ INFO] [1550614681.393284466]: All action servers started.
[ INFO] [1550614681.460526786]: Waiting for joint_states message...
[ INFO] [1550614681.616289894]: Driving into default position in order to setup kinematic model...
[ INFO] [1550614681.617034467]: Initialization completed.
[ INFO] [1550614689.633672318]: Current joint configuration q=[0.8 0.6 0.9 1.6]
[ INFO] [1550614694.045851361]: TCP rotation matrix w.r.t. base:
   0.043    -0.72      0.7
   0.044      0.7     0.72
      -1 -3.7e-06    0.062
[ INFO] [1550614694.046022662]: TCP translation vector w.r.t. base: [   0.12    0.12 -0.0036]
[ WARN] [1550614694.049992051]: Inverse Kinematics: solution found, but mismatch in the translational part detected.
[ WARN] [1550614694.050625792]: Inverse Kinematics: solution found, but mismatch in the orientation part detected.
rosrun pxpincher_lib pxpincher_test
[ INFO] [1550614680.723574814]: Waiting for arm action server to start.
[ INFO] [1550614681.098810545]: Arm action server found. Waiting for gripper action server to start.
[ INFO] [1550614681.393284466]: All action servers started.
[ INFO] [1550614681.460526786]: Waiting for joint_states message...
[ INFO] [1550614681.616289894]: Driving into default position in order to setup kinematic model...
[ INFO] [1550614681.617034467]: Initialization completed.
[ INFO] [1550614689.633672318]: Current joint configuration q=[0.8 0.6 0.9 1.6]
[ INFO] [1550614694.045851361]: TCP rotation matrix w.r.t. base:
   0.043    -0.72      0.7
   0.044      0.7     0.72
      -1 -3.7e-06    0.062
[ INFO] [1550614694.046022662]: TCP translation vector w.r.t. base: [   0.12    0.12 -0.0036]
[ WARN] [1550614694.049992051]: Inverse Kinematics: solution found, but mismatch in the translational part detected.
[ WARN] [1550614694.050625792]: Inverse Kinematics: solution found, but mismatch in the orientation part detected.

I searched online but found no one has solved this problem. Does anyone has any ideas?