{"action":"created","comment":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/pulls/comments/61541383","id":61541383,"diff_hunk":"@@ -27,9 +27,9 @@ angle-vector:\n   reset-manip-pose  : [0,  -5,  -57, -68, 111, 38, 59, 0,  5,  -57,   68, 111, -38, 59, 0, 0]\n   untuck-pose : [0,  -5,  -57, -68, 111, 38, 59, 0,  5,  -57,   68, 111, -38, 59, 0, 0] # this is reset-manip-pose\n   tuck-pose   : [0, -57, -119, 152, 146,  0,  0, 0, 57, -119, -152, 136,   0,  0, 0, 0]\n-  fold-pose-upper: [0, -7.80029, -1.12061, -82.9248, 141.438, 116.477, -6.48193, 8.10791, 7.80029, -1.12061, 82.9248, 141.438, -116.477, -6.48193, -8.10791, 0]\n-  fold-pose-middle: [0, 48.8672, -10.437, -80.6616, 148.645, 80.9033, 1.38428, 18.8745, -48.8672, -10.437, 80.6616, 148.645, -80.9033, 1.38428, -18.8745, 0]\n-  fold-pose-lower: [0, -7.27295, 52.6465, -59.9414, 91.582, 123.574, 13.3374, 159.675, 7.27295, 52.6465, 59.9414, 91.582, -123.574, 13.3374, -159.675, 0]\n+  fold-pose-upper: [0, -7.80029, -1.12061, -82.9248, 141.438, 116.477, -6.48193, 8.10791, 35.6955, -0.550063, 174.754, 89.2461, -169.141, 85.136, 4.69734, 90] # this pose of rarm is symmetrical to larm on entrance of bin a\n+  fold-pose-middle: [0, 48.8672, -10.437, -80.6616, 148.645, 80.9033, 1.38428, 18.8745, -48.8672, -10.437, 80.6616, 148.645, -80.9033, 1.38428, -18.8745, 90]\n+  fold-pose-lower: [0, -7.27295, 52.6465, -59.9414, 91.582, 123.574, 13.3374, 159.675, 7.27295, 52.6465, 59.9414, 91.582, -123.574, 13.3374, -159.675, 90]","path":"jsk_2016_01_baxter_apc/robots/baxter.yaml","position":9,"original_position":9,"commit_id":"edfc1aac6748fd7b27ba21edf0abc9e18d488736","original_commit_id":"edfc1aac6748fd7b27ba21edf0abc9e18d488736","user":{"login":"pazeshun","id":14994939,"avatar_url":"https://avatars.githubusercontent.com/u/14994939?v=3","gravatar_id":"","url":"https://api.github.com/users/pazeshun","html_url":"https://github.com/pazeshun","followers_url":"https://api.github.com/users/pazeshun/followers","following_url":"https://api.github.com/users/pazeshun/following{/other_user}","gists_url":"https://api.github.com/users/pazeshun/gists{/gist_id}","starred_url":"https://api.github.com/users/pazeshun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pazeshun/subscriptions","organizations_url":"https://api.github.com/users/pazeshun/orgs","repos_url":"https://api.github.com/users/pazeshun/repos","events_url":"https://api.github.com/users/pazeshun/events{/privacy}","received_events_url":"https://api.github.com/users/pazeshun/received_events","type":"User","site_admin":false},"body":"本当にごめんなさい、 @wkentaro さんの意図がつかめていませんでした。\r\nこのPRが入る前の状態だと、`(send *ri* :ik->bin-entrance :rarm :c)`と`(send *ri* :ik->bin-entrance :larm :a)`とで、左右対称とは程遠い姿勢が出てきます。原因はおそらく、end-coordsの位置がずれたことなのですが、それのせいで、move-arm-body->binの最中に大きく腕を振り回すことになったり、 #1341 のような問題が出たりしていました。\r\nこのPRの結果、`(send *ri* :move-arm-body->bin :rarm :c)`と`(send *ri* :move-arm-body->bin :larm :a)`とはだいたい似たような軌跡をたどるようになっており、このメソッド的には問題ないです。\r\nまた、このPRの状態で、[picking-with-clustering.l](https://github.com/start-jsk/jsk_apc/blob/gripper-v2/jsk_2016_01_baxter_apc/euslisp/examples/picking-with-clustering.l) を用いて、Bin b, c, f, h, i, k, lへグリッパーを伸ばし、中の物品を取ろうとアプローチし、腕を引き出してview-poseに持って行き、order binに物品を入れる、という一連の動作が成功しており、それを見て問題がないと判断しました。IKが失敗したことは一度もありませんでした。\r\nなお、bin eについては、右アームとbaxterが引っかかってしまい、成功しませんでした。しかし、左手でも試してみた所、同じように引っかかったので、これは右手固有の問題ではないと判断しました。\r\n#1363 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IK","user":{"login":"pazeshun","id":14994939,"avatar_url":"https://avatars.githubusercontent.com/u/14994939?v=3","gravatar_id":"","url":"https://api.github.com/users/pazeshun","html_url":"https://github.com/pazeshun","followers_url":"https://api.github.com/users/pazeshun/followers","following_url":"https://api.github.com/users/pazeshun/following{/other_user}","gists_url":"https://api.github.com/users/pazeshun/gists{/gist_id}","starred_url":"https://api.github.com/users/pazeshun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pazeshun/subscriptions","organizations_url":"https://api.github.com/users/pazeshun/orgs","repos_url":"https://api.github.com/users/pazeshun/repos","events_url":"https://api.github.com/users/pazeshun/events{/privacy}","received_events_url":"https://api.github.com/users/pazeshun/received_events","type":"User","site_admin":false},"body":"![screenshot from 2016-04-28 18 57 10](https://cloud.githubusercontent.com/assets/14994939/14882720/ff5bbabc-0d74-11e6-9813-b42f0506dd28.png)\r\nこのような姿勢がIKで出てくるのを防止するためのPRです。\r\n具体的には、グリッパーのサーボのIKでの重みを0にし、IKでは動かないようにします。\r\nグリッパーのサーボを動かす際には、`(send *baxter* :rotate-gripper :rarm 90 :relative nil)`のようにして直接回転させます。","created_at":"2016-04-28T10:13:02Z","updated_at":"2016-04-29T07:16:03Z","closed_at":null,"merged_at":null,"merge_commit_sha":"c447de4017c2e84c4f88ae4f09f110bfc1789c44","assignee":{"login":"ban-masa","id":14898742,"avatar_url":"https://avatars.githubusercontent.com/u/14898742?v=3","gravatar_id":"","url":"https://api.github.com/users/ban-masa","html_url":"https://github.com/ban-masa","followers_url":"https://api.github.com/users/ban-masa/followers","following_url":"https://api.github.com/users/ban-masa/following{/other_user}","gists_url":"https://api.github.com/users/ban-masa/gists{/gist_id}","starred_url":"https://api.github.com/users/ban-masa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ban-masa/subscriptions","organizations_url":"https://api.github.com/users/ban-masa/orgs","repos_url":"https://api.github.com/users/ban-masa/repos","events_url":"https://api.github.com/users/ban-masa/events{/privacy}","received_events_url":"https://api.github.com/users/ban-masa/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/15","html_url":"https://github.com/start-jsk/jsk_apc/milestones/0.2.6:%20Stable%20Grasping%20Objects%20with%20New%20Gripper","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/15/labels","id":1733533,"number":15,"title":"0.2.6: 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