# Get\_inverse\_kin "close to qnear"

**URL:** <https://forum.universal-robots.com/t/get-inverse-kin-close-to-qnear/4765>\
**Category:** URScript\
**Created:** [July 19, 2019, 8:41am UTC](https://forum.universal-robots.com/t/get-inverse-kin-close-to-qnear/4765 "2019-07-19T08:41:35Z")\
**Posts on this page:** 1\
**Showing post:** 12

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [August 18, 2020, 3:01pm UTC](https://forum.universal-robots.com/t/get-inverse-kin-close-to-qnear/4765/12 "2020-08-18T15:01:35Z")

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Both script snippets that are shared here is affected by the issue described here:

> [@Get\_inverse\_kin - qnear is not always updated](https://forum.universal-robots.com/t/get-inverse-kin-qnear-is-not-always-updated/8396):
>
> Summary get\_inverse\_kin() is not always updating the qnear if it is called several time with the same x (Tool pose) Versions Affected Robot Software Version(s): 5.8.2 Affected Robot Hardware Version(s): Simulator Robot Serial Number: Simulator UR+ product(s) installed:- URCaps Software version(s): - Impact The returned joint angles will, in some cases, be different than expected Issue details The issue was found during looking into the functionality of qnear. The investigations is made on th…

Please apply the workaround and give us the feedback if you are still having issues!

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_[View the full topic](https://forum.universal-robots.com/t/get-inverse-kin-close-to-qnear/4765)._