Add changes that are avoiding bugs

ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml

 # Default initial positions for the panda arm's ros2_control fake system
+initial_positions:
+# Default initial positions for the panda arm's ros2_control fake system
 initial_positions:
   joint_a1: 2.97923
   joint_a2: 1.42580
@@ -8,3 +10,12 @@ initial_positions:
   joint_a6: 1.72062
   joint_a7: 0.01032
 
+
+  #joint_a1: 2.97923
+  #joint_a2: 1.42580
+  #joint_a3: 0.02157
+  #joint_a4: 1.64101
+  #joint_a5: 0.14299
+  #joint_a6: 1.72062
+  #joint_a7: 0.01032
+

ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py

@@ -50,9 +50,10 @@ class InverseKinematicsNode(Node):
         r = Rotation.from_quat(quat)
         rotation_matrix = r.as_matrix()
         T_sd = RpToTrans(rotation_matrix, np.array([pose.position.x, pose.position.y, pose.position.z]))
-        eomg = 1e-4  # Fehlergrenze für Winkel
-        ev = 1e-4  # Fehlergrenze für Translation
+        eomg = 1e-4  # error limit for the angle
+        ev = 1e-4  # error limit for the translation
 
+        # define list of angles that are close to satisfying the pose
         self.joint_angles[1] = np.pi/2
         self.joint_angles[2] = 0.0
         self.joint_angles[3] = np.pi/2
@@ -60,7 +61,7 @@ class InverseKinematicsNode(Node):
         self.joint_angles[5] = np.pi/2
         self.joint_angles[6] = 0.0
        
-
+       # call the IKin function from modern robotics library
         joint_angles, success = IKinBody(self.Blist, self.M, T_sd, self.joint_angles, eomg, ev)