{"action":"closed","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/319","labels_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/319/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/319/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_hironx/issues/319/events","html_url":"https://github.com/start-jsk/rtmros_hironx/issues/319","id":56752946,"number":319,"title":"setTargetPoseRelative fails with any values","user":{"login":"130s","id":1840401,"avatar_url":"https://avatars.githubusercontent.com/u/1840401?v=3","gravatar_id":"","url":"https://api.github.com/users/130s","html_url":"https://github.com/130s","followers_url":"https://api.github.com/users/130s/followers","following_url":"https://api.github.com/users/130s/following{/other_user}","gists_url":"https://api.github.com/users/130s/gists{/gist_id}","starred_url":"https://api.github.com/users/130s/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/130s/subscriptions","organizations_url":"https://api.github.com/users/130s/orgs","repos_url":"https://api.github.com/users/130s/repos","events_url":"https://api.github.com/users/130s/events{/privacy}","received_events_url":"https://api.github.com/users/130s/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/start-jsk/rtmros_hironx/labels/critical","name":"critical","color":"e11d21"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-02-06T00:34:27Z","updated_at":"2015-03-12T04:47:32Z","closed_at":"2015-03-12T04:47:32Z","body":"The last time I ran this method was in January when I didn't see this happen. Today I'm seeing this on 2 different Precise machine.\r\n\r\n```\r\nIn [9]: robot.goInitial(tm=3)\r\n[hrpsys.py] , JntAnglesOfGr=torso, INITPOSE[i]=[0], tm=3, wait=True\r\n[hrpsys.py] , JntAnglesOfGr=head, INITPOSE[i]=[0, 0], tm=3, wait=True\r\n[hrpsys.py] , JntAnglesOfGr=rarm, INITPOSE[i]=[-0.6, 0, -100, 15.2, 9.4, 3.2], tm=3, wait=True\r\n[hrpsys.py] , JntAnglesOfGr=larm, INITPOSE[i]=[0.6, 0, -100, -15.2, 9.4, -3.2], tm=3, wait=True\r\nOut[9]: True\r\n\r\nIn [10]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0.01, tm=0.5)\r\n[ 0.32557512  0.18236314  1.04762452] [-3.07343703 -1.56902262  3.07324704]\r\nlarm WAIST [0.32557512384154097, 0.18236314012331811, 1.0476245226774712] [-3.0734370292072337, -1.5690226177313638, 3.0732470442072231] 0.5\r\nsetTargetPose failed. Maybe SequencePlayer failed to solve IK.\r\nCurrently, returning IK result error\r\n(like the one in https://github.com/start-jsk/rtmros_hironx/issues/103) is not implemented. Patch is welcomed.\r\nOut[10]: False\r\n```\r\nIK error on simulator console:\r\n```\r\nIK Fail, iter = 50\r\n  err : 5.67759e-08 ( -0.000228188 -1.61829e-05 6.66665e-05) < 1e-08\r\n      : 1.50796e-09 ( 1.3689e-05 3.63397e-05 -1.64837e-08) < 1e-06\r\n[setTargetPose] IK failed\r\n```\r\n\r\nFails even with 0 displacement:\r\n```\r\nIn [11]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0, tm=0.5)\r\n[ 0.32557512  0.18236314  1.03762452] [-3.07343703 -1.56902262  3.07324704]\r\nlarm WAIST [0.32557512384154097, 0.18236314012331811, 1.0376245226774712] [-3.0734370292072337, -1.5690226177313638, 3.0732470442072231] 0.5\r\nsetTargetPose failed. Maybe SequencePlayer failed to solve IK.\r\nCurrently, returning IK result error\r\n(like the one in https://github.com/start-jsk/rtmros_hironx/issues/103) is not implemented. Patch is welcomed.\r\nOut[11]: False\r\n\r\n[getCurrentPose] linkaname = LARM_JOINT5, frame_name = (null)\r\nIK Fail, iter = 50\r\n  err : 1.03758e-07 ( -0.000309656 -2.20198e-05 8.59463e-05) < 1e-08\r\n      : 2.76389e-09 ( 1.84887e-05 4.92144e-05 -7.40257e-10) < 1e-06\r\n[setTargetPose] IK failed\r\n```\r\n\r\n```\r\n$ dpkg -p ros-hydro-hrpsys|grep Vers\r\nVersion: 315.2.7-0precise-20150101-1749-+0000\r\n$ dpkg -p ros-hydro-hrpsys-ros-bridge|grep Vers\r\nVersion: 1.2.6-0precise-20150204-0145-+0000\r\n$ dpkg -p ros-hydro-hironx-ros-bridge|grep Vers\r\nVersion: 1.0.27-0precise-20150204-0343-+0000\r\n```\r\n"}}