[Maarten]

You're using forward kinematics SolveFK(), where you should be using inverse kinematics SolveIK(). The first returns the robot (flange or tool) pose given its joint values, the latter returns a set of joint values given a robot (flange or tool) pose.

Also be mindful that "pose_1" will be the pose of the tool "TCP_ITEM" (w.r.t the "frame_robot"), which is not necessarily the pose of the TCP.

Best regards,

Maarten