{"action":"created","comment":{"url":"https://api.github.com/repos/rdiankov/openrave/pulls/comments/230619298","pull_request_review_id":171395893,"id":230619298,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIzMDYxOTI5OA==","diff_hunk":"@@ -1145,29 +1158,40 @@ class IkFastModule : public ModuleBase\n                     }\n                 }\n \n-                if( !pmanip->GetIkSolver()->GetFreeParameters(vfreeparameters_real) ) {\n+                if( !piksolver->GetFreeParameters(vfreeparameters_real) ) {\n                     RAVELOG_WARN(\"failed to get freeparameters\");\n                 }\n                 if( bTestSelfCollision && robot->CheckSelfCollision()) {\n                     RAVELOG_VERBOSE(\"robot in self-collision\\n\");\n                     continue;\n                 }\n \n+                if( !piksolver->GetFreeParameters(vfreeparameters) ) {\n+                    RAVELOG_WARN(\"failed to get freeparameters\");\n+                }\n+                vfreeparameters_out.resize(vfreeparameters.size());\n+                \n                 // have to start at a random config\n                 while(1) {\n-                    for(int j = 0; j < (int)vrand.size(); j++) {\n+                    for(int j = 0; j < (int) narminds; j++) {\n                         vrand[j] = vlowerlimit[j] + (vupperlimit[j]-vlowerlimit[j])*RaveRandomFloat();\n                     }\n+                    for(int k = 0; k < (int) nfreeparams; k++) 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an extra test that computes with free joint values known; keep the original test that computes with free joint values unknown","created_at":"2018-11-05T02:09:58Z","updated_at":"2018-11-05T02:09:58Z","html_url":"https://github.com/rdiankov/openrave/pull/616#discussion_r230619298","pull_request_url":"https://api.github.com/repos/rdiankov/openrave/pulls/616","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/rdiankov/openrave/pulls/comments/230619298"},"html":{"href":"https://github.com/rdiankov/openrave/pull/616#discussion_r230619298"},"pull_request":{"href":"https://api.github.com/repos/rdiankov/openrave/pulls/616"}},"in_reply_to_id":230276790},"pull_request":{"url":"https://api.github.com/repos/rdiankov/openrave/pulls/616","id":227830000,"node_id":"MDExOlB1bGxSZXF1ZXN0MjI3ODMwMDAw","html_url":"https://github.com/rdiankov/openrave/pull/616","diff_url":"https://github.com/rdiankov/openrave/pull/616.diff","patch_url":"https://github.com/rdiankov/openrave/pull/616.patch","issue_url":"https://api.github.com/repos/rdiankov/openrave/issues/616","number":616,"state":"open","locked":false,"title":" set real joint values to free joints when testing an IK solver","user":{"login":"tgn3000","id":771584,"node_id":"MDQ6VXNlcjc3MTU4NA==","avatar_url":"https://avatars3.githubusercontent.com/u/771584?v=4","gravatar_id":"","url":"https://api.github.com/users/tgn3000","html_url":"https://github.com/tgn3000","followers_url":"https://api.github.com/users/tgn3000/followers","following_url":"https://api.github.com/users/tgn3000/following{/other_user}","gists_url":"https://api.github.com/users/tgn3000/gists{/gist_id}","starred_url":"https://api.github.com/users/tgn3000/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tgn3000/subscriptions","organizations_url":"https://api.github.com/users/tgn3000/orgs","repos_url":"https://api.github.com/users/tgn3000/repos","events_url":"https://api.github.com/users/tgn3000/events{/privacy}","received_events_url":"https://api.github.com/users/tgn3000/received_events","type":"User","site_admin":false},"body":"- put the class definition 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