{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/53","repository_url":"https://api.github.com/repos/ros-planning/moveit_ikfast","labels_url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/53/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/53/comments","events_url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/53/events","html_url":"https://github.com/ros-planning/moveit_ikfast/pull/53","id":91065772,"number":53,"title":"Harmonize Not Using Harmonized Values","user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":14,"created_at":"2015-06-25T20:20:25Z","updated_at":"2016-06-22T18:21:23Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit_ikfast/pulls/53","html_url":"https://github.com/ros-planning/moveit_ikfast/pull/53","diff_url":"https://github.com/ros-planning/moveit_ikfast/pull/53.diff","patch_url":"https://github.com/ros-planning/moveit_ikfast/pull/53.patch"},"body":"The ```harmonize``` function appears to ```adjust```  joint values to be inside the -2Pi to 2Pi range. To this end, it copies the passed in ```ik_seed_state``` and computes an adjusted version of it ```ss```. This variable is currently never used and in calculating the squared distance, the original is used instead.\r\n\r\nI assume this is a bug, so here's the fix. I've tested it locally and the plugin seems to work but I'd be curious for the input of others. \r\n\r\nAlso, should the joint range be [-2 Pi, 2 Pi] or [- Pi, Pi ]?"},"comment":{"url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/comments/227832851","html_url":"https://github.com/ros-planning/moveit_ikfast/pull/53#issuecomment-227832851","issue_url":"https://api.github.com/repos/ros-planning/moveit_ikfast/issues/53","id":227832851,"user":{"login":"jrgnicho","id":3279718,"avatar_url":"https://avatars.githubusercontent.com/u/3279718?v=3","gravatar_id":"","url":"https://api.github.com/users/jrgnicho","html_url":"https://github.com/jrgnicho","followers_url":"https://api.github.com/users/jrgnicho/followers","following_url":"https://api.github.com/users/jrgnicho/following{/other_user}","gists_url":"https://api.github.com/users/jrgnicho/gists{/gist_id}","starred_url":"https://api.github.com/users/jrgnicho/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrgnicho/subscriptions","organizations_url":"https://api.github.com/users/jrgnicho/orgs","repos_url":"https://api.github.com/users/jrgnicho/repos","events_url":"https://api.github.com/users/jrgnicho/events{/privacy}","received_events_url":"https://api.github.com/users/jrgnicho/received_events","type":"User","site_admin":false},"created_at":"2016-06-22T18:21:23Z","updated_at":"2016-06-22T18:21:23Z","body":"@davetcoleman Yes, that's right, we'd use the joint limits as defined in the urdf.  I think that the implementation for continuous joints would look very similar to the method [`RevoluteJointModel::enforcePositionBounds()`](http://docs.ros.org/jade/api/moveit_core/html/revolute__joint__model_8cpp_source.html#l00171)"}}
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