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Hi,

Your commands via ipython is to use hrpsys in QNX controller. So it is not related to hrpsys version in ROS system. And as the error message shows, your hrpsys controller on QNX controller, 315.2.8, doesn't support the API clearOfGroup.

https://github.com/fkanehiro/hrpsys-base/pull/704#issuecomment-118189817

I'm afraid you need to update the hrpsys on your QNX controller.

Alternatively, you may be able to stop the motion by overriding withsetJointAnglesOfGroup API. We don't sure it works, but it may be possible to work with the older version.

Thanks.

Hi,

https://github.com/fkanehiro/hrpsys-base/pull/704#issuecomment-118189817

I'm afraid you need to update the hrpsys on your QNX controller.

Alternatively, you may be able to stop the motion by overriding withsetJointAnglesOfGroup API. We don't sure it works, but it may be possible to work with the older version.

Thanks.

Update:

I tried to override setTargetPose by setting JointAnglesOfGroup in simulation, but it didn't work. It jumped to current angle after setTargetPose ends. So I think we cannot go this way.

I think setTargetPose is a bit special function, because it is used only through python interface directly. ROS MoveIt! doen't use this API. It uses joint level API like setJointAnglesOfGroup and playJointAnglesOfGroup and they are overridable (even in old version hrpsys).