[sig.johnnson]

When calling PoseWrt() between two reference frames, if one frame is attached to a robot, then a TargetReachError is thrown.

The attached .py and .rdk files are able to reliably reproduce this problem.

Note: I believe that even when no target reach error occurs, PoseWrt() does not return the expected coordinates when the calling Item is nested under a robot. I was actually investigating that issue when I uncovered the TargetReachError problem.

---

Update: I found a workaround (below). This works great for now, but I would like to go back to using the API in the future.

Code:

def pose_wrt(child, parent):
childPose = child.PoseAbs()
parentPose = parent.PoseAbs()
return parentPose.inv() * childPose