diff --git a/src/common/Pose.cpp b/src/common/Pose.cpp
index e49955d2..51ba9d22 100644
--- a/src/common/Pose.cpp
+++ b/src/common/Pose.cpp
@@ -177,7 +177,7 @@ Pose Pose::inverse() const {
 }
 
 bool Pose::is_close(const Pose &other, double eps_r, double eps_t) const {
-  return (this->translation() - other.translation()).norm() < eps_t &&
+  return (this->translation() - other.translation()).lpNorm<1>() < eps_t &&
          this->quaternion().angularDistance(other.quaternion()) < eps_r;
 }
 
diff --git a/src/common/Pose.h b/src/common/Pose.h
index 26d958c3..92e317ff 100644
--- a/src/common/Pose.h
+++ b/src/common/Pose.h
@@ -55,7 +55,7 @@ struct RPY {
   }
 
   bool is_close(const RPY &other, double eps = 1e-8) const {
-    return this->as_vector().isApprox(other.as_vector(), eps);
+    return (this->as_vector() - other.as_vector()).lpNorm<1>() < eps;
   }
 };
 
diff --git a/src/sim/FR3.cpp b/src/sim/FR3.cpp
index 16e405e7..5fa5880c 100644
--- a/src/sim/FR3.cpp
+++ b/src/sim/FR3.cpp
@@ -187,15 +187,18 @@ void FR3::set_cartesian_position(const common::Pose& pose) {
 }
 void FR3::is_moving_callback() {
   common::Vector7d current_angles = this->get_joint_position();
-  this->state.is_moving = not this->state.previous_angles.isApprox(
-      current_angles, 0.0001);  // TODO: careful with isapprox
+  // difference of the largest element is smaller than threshold
+  this->state.is_moving =
+      (current_angles - this->state.previous_angles).cwiseAbs().maxCoeff() >
+      0.0001;
   this->state.previous_angles = current_angles;
 }
 
 void FR3::is_arrived_callback() {
   common::Vector7d current_angles = this->get_joint_position();
-  this->state.is_arrived = this->state.target_angles.isApprox(
-      current_angles, this->cfg.joint_rotational_tolerance);
+  this->state.is_arrived =
+      (current_angles - this->state.target_angles).cwiseAbs().maxCoeff() <
+      this->cfg.joint_rotational_tolerance;
 }
 
 bool FR3::collision_callback() {