{"action":"created","comment":{"url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/comments/243283067","pull_request_review_id":187010662,"id":243283067,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDI0MzI4MzA2Nw==","diff_hunk":"@@ -2,15 +2,16 @@\n \n import pyexotica as exo\n from pyexotica.publish_trajectory import *\n-\n+from time import sleep\n+import signal\n \n def handle_attaching(i, x, scene):\n     # Update state\n     scene.update(x)\n     if i == 0:\n         # Reset object pose\n         scene.attach_object_local(\n-            'Item', '', exo.KDLFrame([0.6, -0.3, 0.5, 0, 0, 0, 1]))\n+            'Item', '', exo.KDLFrame([0.61, -0.3, 0.5, 0, 0, 0, 1]))","path":"examples/exotica_examples/scripts/example_attach.py","position":15,"original_position":15,"commit_id":"b6207ff5755d2e9d374c23d3a3b0844347d0ce80","original_commit_id":"b6207ff5755d2e9d374c23d3a3b0844347d0ce80","user":{"login":"VladimirIvan","id":4905049,"node_id":"MDQ6VXNlcjQ5MDUwNDk=","avatar_url":"https://avatars0.githubusercontent.com/u/4905049?v=4","gravatar_id":"","url":"https://api.github.com/users/VladimirIvan","html_url":"https://github.com/VladimirIvan","followers_url":"https://api.github.com/users/VladimirIvan/followers","following_url":"https://api.github.com/users/VladimirIvan/following{/other_user}","gists_url":"https://api.github.com/users/VladimirIvan/gists{/gist_id}","starred_url":"https://api.github.com/users/VladimirIvan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VladimirIvan/subscriptions","organizations_url":"https://api.github.com/users/VladimirIvan/orgs","repos_url":"https://api.github.com/users/VladimirIvan/repos","events_url":"https://api.github.com/users/VladimirIvan/events{/privacy}","received_events_url":"https://api.github.com/users/VladimirIvan/received_events","type":"User","site_admin":false},"body":"Well, I increased Rho=1e3 so now the solver reaches exactly where it's supposed to so the it touches the box on approach. I increased the distance otherwise OMPL start/goal state are invalid.","created_at":"2018-12-20T14:07:50Z","updated_at":"2018-12-20T14:07:50Z","html_url":"https://github.com/ipab-slmc/exotica/pull/465#discussion_r243283067","pull_request_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/comments/243283067"},"html":{"href":"https://github.com/ipab-slmc/exotica/pull/465#discussion_r243283067"},"pull_request":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465"}},"in_reply_to_id":243195195},"pull_request":{"url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465","id":240029617,"node_id":"MDExOlB1bGxSZXF1ZXN0MjQwMDI5NjE3","html_url":"https://github.com/ipab-slmc/exotica/pull/465","diff_url":"https://github.com/ipab-slmc/exotica/pull/465.diff","patch_url":"https://github.com/ipab-slmc/exotica/pull/465.patch","issue_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/465","number":465,"state":"open","locked":false,"title":"Changed the underlying method used by the IK solver","user":{"login":"VladimirIvan","id":4905049,"node_id":"MDQ6VXNlcjQ5MDUwNDk=","avatar_url":"https://avatars0.githubusercontent.com/u/4905049?v=4","gravatar_id":"","url":"https://api.github.com/users/VladimirIvan","html_url":"https://github.com/VladimirIvan","followers_url":"https://api.github.com/users/VladimirIvan/followers","following_url":"https://api.github.com/users/VladimirIvan/following{/other_user}","gists_url":"https://api.github.com/users/VladimirIvan/gists{/gist_id}","starred_url":"https://api.github.com/users/VladimirIvan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VladimirIvan/subscriptions","organizations_url":"https://api.github.com/users/VladimirIvan/orgs","repos_url":"https://api.github.com/users/VladimirIvan/repos","events_url":"https://api.github.com/users/VladimirIvan/events{/privacy}","received_events_url":"https://api.github.com/users/VladimirIvan/received_events","type":"User","site_admin":false},"body":"- Retired explicit pseudo-inverse computation, using a linear solver instead (solving for `(SJW)q=y`).\r\n- Retired LAPACK, using `completeOrthogonalDecomposition` when available, `householderQr` otherwise.\r\n- Runtime performance on both LWR and Valkyrie models is the same per single call.\r\n- New solver is more numerically stable.\r\n- Relates to #458 \r\n- Fixes #391\r\n\r\nNote:\r\n- Setting C=0 means no regularisation. C=0.9999 (or similar) will regularise by virtually appending a scaled Identity matrix to the Jacobian. Values closer to 1 regularise more. The qNominal is used as a target to move towards for the added rows in the Jacobian. This can be achieved by adding an Identity task map to the problem though (only keeping this for convenience).\r\n- `qNominal` is no longer minimised in the null space (see above).","created_at":"2018-12-20T01:58:07Z","updated_at":"2018-12-20T14:07:50Z","closed_at":null,"merged_at":null,"merge_commit_sha":"a336476c0851e69e8dd54e14ae10f71bb01e6dc4","assignee":null,"assignees":[],"requested_reviewers":[{"login":"christian-rauch","id":8226248,"node_id":"MDQ6VXNlcjgyMjYyNDg=","avatar_url":"https://avatars0.githubusercontent.com/u/8226248?v=4","gravatar_id":"","url":"https://api.github.com/users/christian-rauch","html_url":"https://github.com/christian-rauch","followers_url":"https://api.github.com/users/christian-rauch/followers","following_url":"https://api.github.com/users/christian-rauch/following{/other_user}","gists_url":"https://api.github.com/users/christian-rauch/gists{/gist_id}","starred_url":"https://api.github.com/users/christian-rauch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/christian-rauch/subscriptions","organizations_url":"https://api.github.com/users/christian-rauch/orgs","repos_url":"https://api.github.com/users/christian-rauch/repos","events_url":"https://api.github.com/users/christian-rauch/events{/privacy}","received_events_url":"https://api.github.com/users/christian-rauch/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465/commits","review_comments_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465/comments","review_comment_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/465/comments","statuses_url":"https://api.github.com/repos/ipab-slmc/exotica/statuses/b6207ff5755d2e9d374c23d3a3b0844347d0ce80","head":{"label":"ipab-slmc:vi-iksolver","ref":"vi-iksolver","sha":"b6207ff5755d2e9d374c23d3a3b0844347d0ce80","user":{"login":"ipab-slmc","id":10714328,"node_id":"MDEyOk9yZ2FuaXphdGlvbjEwNzE0MzI4","avatar_url":"https://avatars0.githubusercontent.com/u/10714328?v=4","gravatar_id":"","url":"https://api.github.com/users/ipab-slmc","html_url":"https://github.com/ipab-slmc","followers_url":"https://api.github.com/users/ipab-slmc/followers","following_url":"https://api.github.com/users/ipab-slmc/following{/other_user}","gists_url":"https://api.github.com/users/ipab-slmc/gists{/gist_id}","starred_url":"https://api.github.com/users/ipab-slmc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipab-slmc/subscriptions","organizations_url":"https://api.github.com/users/ipab-slmc/orgs","repos_url":"https://api.github.com/users/ipab-slmc/repos","events_url":"https://api.github.com/users/ipab-slmc/events{/privacy}","received_events_url":"https://api.github.com/users/ipab-slmc/received_events","type":"Organization","site_admin":false},"repo":{"id":44607894,"node_id":"MDEwOlJlcG9zaXRvcnk0NDYwNzg5NA==","name":"exotica","full_name":"ipab-slmc/exotica","private":false,"owner":{"login":"ipab-slmc","id":10714328,"node_id":"MDEyOk9yZ2FuaXphdGlvbjEwNzE0MzI4","avatar_url":"https://avatars0.githubusercontent.com/u/10714328?v=4","gravatar_id":"","url":"https://api.github.com/users/ipab-slmc","html_url":"https://github.com/ipab-slmc","followers_url":"https://api.github.com/users/ipab-slmc/followers","following_url":"https://api.github.com/users/ipab-slmc/following{/other_user}","gists_url":"https://api.github.com/users/ipab-slmc/gists{/gist_id}","starred_url":"https://api.github.com/users/ipab-slmc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipab-slmc/subscriptions","organizations_url":"https://api.github.com/users/ipab-slmc/orgs","repos_url":"https://api.github.com/users/ipab-slmc/repos","events_url":"https://api.github.com/users/ipab-slmc/events{/privacy}","received_events_url":"https://api.github.com/users/ipab-slmc/received_events","type":"Organization","site_admin":false},"html_url":"https://github.com/ipab-slmc/exotica","description":"Extensible Optimization Framework","fork":false,"url":"https://api.github.com/repos/ipab-slmc/exotica","forks_url":"https://api.github.com/repos/ipab-slmc/exotica/forks","keys_url":"https://api.github.com/repos/ipab-slmc/exotica/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ipab-slmc/exotica/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ipab-slmc/exotica/teams","hooks_url":"https://api.github.com/repos/ipab-slmc/exotica/hooks","issue_events_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/events{/number}","events_url":"https://api.github.com/repos/ipab-slmc/exotica/events","assignees_url":"https://api.github.com/repos/ipab-slmc/exotica/assignees{/user}","branches_url":"https://api.github.com/repos/ipab-slmc/exotica/branches{/branch}","tags_url":"https://api.github.com/repos/ipab-slmc/exotica/tags","blobs_url":"https://api.github.com/repos/ipab-slmc/exotica/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ipab-slmc/exotica/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ipab-slmc/exotica/git/refs{/sha}","trees_url":"https://api.github.com/repos/ipab-slmc/exotica/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ipab-slmc/exotica/statuses/{sha}","languages_url":"https://api.github.com/repos/ipab-slmc/exotica/languages","stargazers_url":"https://api.github.com/repos/ipab-slmc/exotica/stargazers","contributors_url":"https://api.github.com/repos/ipab-slmc/exotica/contributors","subscribers_url":"https://api.github.com/repos/ipab-slmc/exotica/subscribers","subscription_url":"https://api.github.com/repos/ipab-slmc/exotica/subscription","commits_url":"https://api.github.com/repos/ipab-slmc/exotica/commits{/sha}","git_commits_url":"https://api.github.com/repos/ipab-slmc/exotica/git/commits{/sha}","comments_url":"https://api.github.com/repos/ipab-slmc/exotica/comments{/number}","issue_comment_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/comments{/number}","contents_url":"https://api.github.com/repos/ipab-slmc/exotica/contents/{+path}","compare_url":"https://api.github.com/repos/ipab-slmc/exotica/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ipab-slmc/exotica/merges","archive_url":"https://api.github.com/repos/ipab-slmc/exotica/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ipab-slmc/exotica/downloads","issues_url":"https://api.github.com/repos/ipab-slmc/exotica/issues{/number}","pulls_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls{/number}","milestones_url":"https://api.github.com/repos/ipab-slmc/exotica/milestones{/number}","notifications_url":"https://api.github.com/repos/ipab-slmc/exotica/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ipab-slmc/exotica/labels{/name}","releases_url":"https://api.github.com/repos/ipab-slmc/exotica/releases{/id}","deployments_url":"https://api.github.com/repos/ipab-slmc/exotica/deployments","created_at":"2015-10-20T13:24:57Z","updated_at":"2018-12-20T14:05:37Z","pushed_at":"2018-12-20T14:05:38Z","git_url":"git://github.com/ipab-slmc/exotica.git","ssh_url":"git@github.com:ipab-slmc/exotica.git","clone_url":"https://github.com/ipab-slmc/exotica.git","svn_url":"https://github.com/ipab-slmc/exotica","homepage":"http://wcms.inf.ed.ac.uk/ipab/slmc/research/EXOTica","size":15788,"stargazers_count":13,"watchers_count":13,"language":"C","has_issues":true,"has_projects":false,"has_downloads":true,"has_wiki":false,"has_pages":true,"forks_count":27,"mirror_url":null,"archived":false,"open_issues_count":34,"license":{"key":"other","name":"Other","spdx_id":"NOASSERTION","url":null,"node_id":"MDc6TGljZW5zZTA="},"forks":27,"open_issues":34,"watchers":13,"default_branch":"master"}},"base":{"label":"ipab-slmc:master","ref":"master","sha":"a414d920c3a35042a0ce3c49d0cc0d98c0820d10","user":{"login":"ipab-slmc","id":10714328,"node_id":"MDEyOk9yZ2FuaXphdGlvbjEwNzE0MzI4","avatar_url":"https://avatars0.githubusercontent.com/u/10714328?v=4","gravatar_id":"","url":"https://api.github.com/users/ipab-slmc","html_url":"https://github.com/ipab-slmc","followers_url":"https://api.github.com/users/ipab-slmc/followers","following_url":"https://api.github.com/users/ipab-slmc/following{/other_user}","gists_url":"https://api.github.com/users/ipab-slmc/gists{/gist_id}","starred_url":"https://api.github.com/users/ipab-slmc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipab-slmc/subscriptions","organizations_url":"https://api.github.com/users/ipab-slmc/orgs","repos_url":"https://api.github.com/users/ipab-slmc/repos","events_url":"https://api.github.com/users/ipab-slmc/events{/privacy}","received_events_url":"https://api.github.com/users/ipab-slmc/received_events","type":"Organization","site_admin":false},"repo":{"id":44607894,"node_id":"MDEwOlJlcG9zaXRvcnk0NDYwNzg5NA==","name":"exotica","full_name":"ipab-slmc/exotica","private":false,"owner":{"login":"ipab-slmc","id":10714328,"node_id":"MDEyOk9yZ2FuaXphdGlvbjEwNzE0MzI4","avatar_url":"https://avatars0.githubusercontent.com/u/10714328?v=4","gravatar_id":"","url":"https://api.github.com/users/ipab-slmc","html_url":"https://github.com/ipab-slmc","followers_url":"https://api.github.com/users/ipab-slmc/followers","following_url":"https://api.github.com/users/ipab-slmc/following{/other_user}","gists_url":"https://api.github.com/users/ipab-slmc/gists{/gist_id}","starred_url":"https://api.github.com/users/ipab-slmc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipab-slmc/subscriptions","organizations_url":"https://api.github.com/users/ipab-slmc/orgs","repos_url":"https://api.github.com/users/ipab-slmc/repos","events_url":"https://api.github.com/users/ipab-slmc/events{/privacy}","received_events_url":"https://api.github.com/users/ipab-slmc/received_events","type":"Organization","site_admin":false},"html_url":"https://github.com/ipab-slmc/exotica","description":"Extensible Optimization Framework","fork":false,"url":"https://api.github.com/repos/ipab-slmc/exotica","forks_url":"https://api.github.com/repos/ipab-slmc/exotica/forks","keys_url":"https://api.github.com/repos/ipab-slmc/exotica/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ipab-slmc/exotica/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ipab-slmc/exotica/teams","hooks_url":"https://api.github.com/repos/ipab-slmc/exotica/hooks","issue_events_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/events{/number}","events_url":"https://api.github.com/repos/ipab-slmc/exotica/events","assignees_url":"https://api.github.com/repos/ipab-slmc/exotica/assignees{/user}","branches_url":"https://api.github.com/repos/ipab-slmc/exotica/branches{/branch}","tags_url":"https://api.github.com/repos/ipab-slmc/exotica/tags","blobs_url":"https://api.github.com/repos/ipab-slmc/exotica/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ipab-slmc/exotica/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ipab-slmc/exotica/git/refs{/sha}","trees_url":"https://api.github.com/repos/ipab-slmc/exotica/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ipab-slmc/exotica/statuses/{sha}","languages_url":"https://api.github.com/repos/ipab-slmc/exotica/languages","stargazers_url":"https://api.github.com/repos/ipab-slmc/exotica/stargazers","contributors_url":"https://api.github.com/repos/ipab-slmc/exotica/contributors","subscribers_url":"https://api.github.com/repos/ipab-slmc/exotica/subscribers","subscription_url":"https://api.github.com/repos/ipab-slmc/exotica/subscription","commits_url":"https://api.github.com/repos/ipab-slmc/exotica/commits{/sha}","git_commits_url":"https://api.github.com/repos/ipab-slmc/exotica/git/commits{/sha}","comments_url":"https://api.github.com/repos/ipab-slmc/exotica/comments{/number}","issue_comment_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/comments{/number}","contents_url":"https://api.github.com/repos/ipab-slmc/exotica/contents/{+path}","compare_url":"https://api.github.com/repos/ipab-slmc/exotica/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ipab-slmc/exotica/merges","archive_url":"https://api.github.com/repos/ipab-slmc/exotica/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ipab-slmc/exotica/downloads","issues_url":"https://api.github.com/repos/ipab-slmc/exotica/issues{/number}","pulls_url":"https://api.github.com/repos/ipab-slmc/exotica/pulls{/number}","milestones_url":"https://api.github.com/repos/ipab-slmc/exotica/milestones{/number}","notifications_url":"https://api.github.com/repos/ipab-slmc/exotica/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ipab-slmc/exotica/labels{/name}","releases_url":"https://api.github.com/repos/ipab-slmc/exotica/releases{/id}","deployments_url":"https://api.github.com/repos/ipab-slmc/exotica/deployments","created_at":"2015-10-20T13:24:57Z","updated_at":"2018-12-20T14:05:37Z","pushed_at":"2018-12-20T14:05:38Z","git_url":"git://github.com/ipab-slmc/exotica.git","ssh_url":"git@github.com:ipab-slmc/exotica.git","clone_url":"https://github.com/ipab-slmc/exotica.git","svn_url":"https://github.com/ipab-slmc/exotica","homepage":"http://wcms.inf.ed.ac.uk/ipab/slmc/research/EXOTica","size":15788,"stargazers_count":13,"watchers_count":13,"language":"C","has_issues":true,"has_projects":false,"has_downloads":true,"has_wiki":false,"has_pages":true,"forks_count":27,"mirror_url":null,"archived":false,"open_issues_count":34,"license":{"key":"other","name":"Other","spdx_id":"NOASSERTION","url":null,"node_id":"MDc6TGljZW5zZTA="},"forks":27,"open_issues":34,"watchers":13,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465"},"html":{"href":"https://github.com/ipab-slmc/exotica/pull/465"},"issue":{"href":"https://api.github.com/repos/ipab-slmc/exotica/issues/465"},"comments":{"href":"https://api.github.com/repos/ipab-slmc/exotica/issues/465/comments"},"review_comments":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465/comments"},"review_comment":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ipab-slmc/exotica/pulls/465/commits"},"statuses":{"href":"https://api.github.com/repos/ipab-slmc/exotica/statuses/b6207ff5755d2e9d374c23d3a3b0844347d0ce80"}},"author_association":"MEMBER"}}
{"actor":{"display_login":"VladimirIvan"}}