diff --git a/src/pycram/bullet_world_reasoning.py b/src/pycram/bullet_world_reasoning.py
index 9a6c0ee94..3d6af78a9 100644
--- a/src/pycram/bullet_world_reasoning.py
+++ b/src/pycram/bullet_world_reasoning.py
@@ -320,7 +320,7 @@ def blocking(pose_or_object: Union[Object, Pose],
             target_map.orientation.w = grasp_orientation[3]
 
         try:
-            inv = request_ik(target_map, robot, joints, gripper_name)
+            inv = request_ik(target_map, shadow_robot, joints, gripper_name)
         except IKError as e:
             rospy.logerr(f"Pose is not reachable: {e}")
             return None