I have been using javaclient for a while, and have found a bug regarding the ir interface. When I query for poses of the ir interface, it returns the data but the first item does not correspond to the one defined on the .cfg file. It is the same bug I experienced with sonar interface, which I also corrected and sent report of it. The correction is simple, first call function xdrDecodeFloat(), before attempting to set data on Playerpose. I attached the corresponding file, IRInterface.java, corrected.
Hope this works