Stuck on Raisu Palace (possible spoilers)

I got all the way to the emperor and shiro, but my party couldn't do anything. Shiro is invulnerable, and the emperor can't be healed (as he is at full health). My party spent 5 minutes walking around, and we tried all sorts of methods to try to bring Togo right next to the emperor, but nothing happened, and the mission bar goes down to 0 and we lose.
Anyone happen to know what went wrong?

Was I in your party, i got the same thing also

Alot of missions seem bugged. Theres Vizinuh, and Amberstone(sp?) I currently know of. Although, it is extremly rare that a newly released game is bug free.


Ashleigh