GetIKTargetJointPosition returning None

[tomsilver]

In the code below, GetIKTargetJointPosition returns None.

1. Is this expected behavior when IK fails?
2. Are robot.data["position"] and robot.data["quaternion"] in the same frame as the input to GetIKTargetJointPosition?
3. If not, where can I find the current position and quaternion in the IK frame?

from pyrcareworld.envs.base_env import RCareWorld
import numpy as np
import os
import argparse

def _main(use_graphics=False):

    script_dir = os.path.dirname(os.path.abspath(__file__))
    executable_file = os.path.join(script_dir, "Bathing", "BathingPlayer.x86_64")
    env = RCareWorld(executable_file=executable_file, graphics=use_graphics)

    stretch_id = 221582
    robot = env.GetAttr(stretch_id)
    robot.EnabledNativeIK(False)
    env.step()

    current_position = robot.data["position"]
    current_quaternion = robot.data["quaternion"]
    joints = robot.GetIKTargetJointPosition(current_position, quaternion=current_quaternion)
    print(joints)  # None

   
if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation.')
    parser.add_argument('-g', '--graphics', action='store_true', help='Enable graphics')
    args = parser.parse_args()
    _main(use_graphics=args.graphics)

[YoruCathy]

Hi @tomsilver , ideally the results will be stored in result_joint_position but seems not working right now. Could potentially be a bug.