How to set the same coordinate with PR2?

edit

I lift the PR2 gazebo torso to the top both.

I can run this command on PR2.

The coordinate I use is base_link.

system("rosrun sam_controller_ik_move_right_hand_pose move_hand_pose_bin 0.48 0.35 1.2 0 0 0");

But I can't run it on gazebo.

It says:

sam@sam:~$ export LC_ALL=C
sam@sam:~$ rosrun sam_controller_ik_move_right_hand_pose move_hand_pose_bin 0.48 0.35 1.2 0 0 0
[ INFO] [1405253520.532017199]: Get Solver INFO
[ INFO] [1405253520.535473770]: IK Computation Failed!!
Trace/breakpoint trap
sam@sam:~$

How to set gazebo totally the same as PR2?

Thank you~