def joint_angles(args):
# arg_fmt = argparse.RawDescriptionHelpFormatter
# parser = argparse.ArgumentParser(formatter_class=arg_fmt,
# description=main.__doc__)
# parser.add_argument(
# "-q", "--joint_angles", type=float,
# nargs='+', default=[0.0, -0.9, 0.0, 1.8, 0.0, -0.9, 0.0],
# help="A list of joint angles, one for each of the 7 joints, J0...J6")
# parser.add_argument(
# "-s", "--speed_ratio", type=float, default=0.5,
# help="A value between 0.001 (slow) and 1.0 (maximum joint velocity)")
# parser.add_argument(
# "-a", "--accel_ratio", type=float, default=0.5,
# help="A value between 0.001 (slow) and 1.0 (maximum joint accel)")
# parser.add_argument(
# "--timeout", type=float, default=None,
# help="Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout.")
try:
#rospy.init_node('go_to_joint_angles_py')
limb = Limb()
traj = MotionTrajectory(limb=limb)
wpt_opts = MotionWaypointOptions(
max_joint_speed_ratio=args.speed_ratio,
max_joint_accel=args.accel_ratio)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles=joint_angles)
traj.append_waypoint(waypoint.to_msg())
if len(args.joint_angles) != len(joint_angles):
rospy.logerr('The number of joint_angles must be %d',
len(joint_angles))
return None
waypoint.set_joint_angles(joint_angles=args.joint_angles)
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=args.timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
return True
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def move(self, point_list, wait = True, MAX_LIN_SPD=7.0, MAX_LIN_ACCL=1.5): # one point = [x_coord, y_coord, z_coord, x_deg, y_deg, z_deg]
try:
limb = Limb() # point_list = [pointA, pointB, pointC, ...]
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.CARTESIAN
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
except:
print("There may have been an error while exiting")
if self.STOP:
traj.stop_trajectory()
return True
wpt_opts = MotionWaypointOptions(max_linear_speed=MAX_LIN_SPD, max_linear_accel=MAX_LIN_ACCL, corner_distance=0.002)
for point in point_list:
q_base = quaternion_from_euler(0, 0, math.pi/2)
#q_rot = quaternion_from_euler(math.radians(point[3]), math.radians(point[4]), math.radians(point[5]))
q_rot = quaternion_from_euler(point[3], point[4], point[5])
q = quaternion_multiply(q_rot, q_base)
newPose = PoseStamped()
newPose.header = Header(stamp=rospy.Time.now(), frame_id='base')
newPose.pose.position.x = point[0] + 0.65
newPose.pose.position.y = point[1] + 0.0
newPose.pose.position.z = point[2] + 0.4
newPose.pose.orientation.x = q[0]
newPose.pose.orientation.y = q[1]
newPose.pose.orientation.z = q[2]
newPose.pose.orientation.w = q[3]
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
waypoint.set_cartesian_pose(newPose, "right_hand", limb.joint_ordered_angles())
traj.append_waypoint(waypoint.to_msg())
if(wait):
print(" \n --- Sending trajectory and waiting for finish --- \n")
result = traj.send_trajectory(wait_for_result=wait)
if result is None:
rospy.logerr('Trajectory FAILED to send')
success = False
elif result.result:
rospy.loginfo('Motion controller successfully finished the trajcetory')
success = True
else:
rospy.logerr('Motion controller failed to complete the trajectory. Error: %s', result.errorId)
success = False
else:
print("\n --- Sending trajector w/out waiting --- \n")
traj.send_trajectory(wait_for_result=wait)
success = True
return success
def moveRoboticArm(position, orientation, linear_speed, linear_accel):
"""
Move the robot arm to the specified configuration given a positionX, positionY, positionZ, quaternion array and max linear speed.
"""
try:
limb = Limb()
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.CARTESIAN
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
wpt_opts = MotionWaypointOptions(max_linear_speed=linear_speed,
max_linear_accel=linear_accel)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_names = limb.joint_names()
endpoint_state = limb.tip_state('right_hand')
pose = endpoint_state.pose
if position is not None and len(position) == 3:
pose.position.x = position[0]
pose.position.y = position[1]
pose.position.z = position[2]
if orientation is not None and len(orientation) == 4:
pose.orientation.x = orientation[0]
pose.orientation.y = orientation[1]
pose.orientation.z = orientation[2]
pose.orientation.w = orientation[3]
poseStamped = PoseStamped()
poseStamped.pose = pose
joint_angles = limb.joint_ordered_angles()
waypoint.set_cartesian_pose(poseStamped, 'right_hand', joint_angles)
rospy.loginfo('Sending waypoint: \n%s', waypoint.to_string())
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory()
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
print("Something went wrong")
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def go_to_angles(joint_angles_goal, speed_ratio_goal, accel_ratio_goal,
timeout_goal):
try:
#rospy.init_node('go_to_joint_angles_py') # initialze once
limb = Limb()
traj = MotionTrajectory(limb=limb)
wpt_opts = MotionWaypointOptions(
max_joint_speed_ratio=speed_ratio_goal,
max_joint_accel=accel_ratio_goal)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles=joint_angles)
traj.append_waypoint(waypoint.to_msg())
if len(joint_angles_goal) != len(joint_angles):
rospy.logerr('The number of joint_angles must be %d',
len(joint_angles))
return None
waypoint.set_joint_angles(joint_angles=joint_angles_goal)
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=timeout_goal)
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def gen_rand_waypoint(self):
newX = (random.random() / 5) - 0.1
newY = (random.random() / 5) - 0.7
newZ = (random.random() / 5) + 0.4
newPose = PoseStamped()
newPose.header = Header(stamp=rospy.Time.now(), frame_id='base')
newPose.pose.position.x = newX
newPose.pose.position.y = newY
newPose.pose.position.z = newZ
newPose.pose.orientation.x = 0.5
newPose.pose.orientation.y = -0.5
newPose.pose.orientation.z = 0.5
newPose.pose.orientation.w = 0.5
limb = Limb()
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=1.0,
max_joint_accel=1.0,
corner_distance=0.05)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
waypoint.set_cartesian_pose(newPose, "right_hand",
limb.joint_ordered_angles())
self.waypoints.append(waypoint)
def joint_angles_in_contact(input_arg):
"""
Move the robot arm to the specified configuration
with the desired interaction control options.
Call using:
$ rosrun intera_examples go_to_joint_angles_in_contact.py [arguments: see below]
-q 0.0 0.0 0.0 0.0 0.0 0.0 0.0
--> Go to joint pose: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 using default settings
-q 0.1 -0.2 0.15 -0.05 -0.08 0.14 -0.04 -s 0.1
--> Go to pose [...] with a speed ratio of 0.1
-q -0.2 0.1 0.1 0.2 -0.3 0.2 0.4 -s 0.9 -a 0.1
--> Go to pose [...] witha speed ratio of 0.9 and an accel ratio of 0.1
--trajType CARTESIAN
--> Use a Cartesian interpolated endpoint path to reach the goal
=== Interaction Mode options ===
-st 1
--> Set the interaction controller state (1 for True, 0 for False) in the current configuration
-k 500.0 500.0 500.0 10.0 10.0 10.0
--> Set K_impedance to [500.0 500.0 500.0 10.0 10.0 10.0] in the current configuration
-m 0
--> Set max_impedance to False for all 6 directions in the current configuration
-m 1 1 0 1 1 1
--> Set max_impedance to [True True False True True True] in the current configuration
-kn 5.0 3.0 5.0 4.0 6.0 4.0 6.0
--> Set K_nullspace to [5.0 3.0 5.0 4.0 6.0 4.0 6.0] in the current configuration
-f 0.0 0.0 30.0 0.0 0.0 0.0
--> Set force_command to [0.0 0.0 30.0 0.0 0.0 0.0] in the current configuration
-ef
--> Set in_endpoint_frame to True in the current configuration
-en 'right_hand'
--> Specify the desired endpoint frame where impedance and force control behaviors are defined
-md 1
--> Set interaction_control_mode to impedance mode for all 6 directions in the current configuration
(1: impedance, 2: force, 3: impedance with force limit, 4: force with motion limit)
-md 1 1 2 1 1 1
--> Set interaction_control_mode to [impedance, impedance, force, impedance, impedance, impedance] in the current configuration
(1: impedance, 2: force, 3: impedance with force limit, 4: force with motion limit)
"""
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(
formatter_class=arg_fmt, description="joint_angles_in_contact.__doc__")
parser.add_argument(
"-q",
"--joint_angles",
type=float,
nargs='+',
default=[0.0, -0.9, 0.0, 1.8, 0.0, -0.9, 0.0],
help="A list of joint angles, one for each of the 7 joints, J0...J6")
parser.add_argument(
"-s",
"--speed_ratio",
type=float,
default=0.1,
help="A value between 0.001 (slow) and 1.0 (maximum joint velocity)")
parser.add_argument(
"-a",
"--accel_ratio",
type=float,
default=0.5,
help="A value between 0.001 (slow) and 1.0 (maximum joint accel)")
parser.add_argument("-t",
"--trajType",
type=str,
default='JOINT',
choices=['JOINT', 'CARTESIAN'],
help="trajectory interpolation type")
parser.add_argument(
"-st",
"--interaction_active",
type=int,
default=1,
choices=[0, 1],
help="Activate (1) or Deactivate (0) interaction controller")
parser.add_argument(
"-k",
"--K_impedance",
type=float,
nargs='+',
default=[1300.0, 1300.0, 1300.0, 30.0, 30.0, 30.0],
help=
"A list of desired stiffnesses, one for each of the 6 directions -- stiffness units are (N/m) for first 3 and (Nm/rad) for second 3 values"
)
parser.add_argument(
"-m",
"--max_impedance",
type=int,
nargs='+',
default=[1, 1, 1, 1, 1, 1],
choices=[0, 1],
help=
"A list of impedance modulation state, one for each of the 6 directions (a single value can be provided to apply the same value to all the directions) -- 0 for False, 1 for True"
)
parser.add_argument(
"-md",
"--interaction_control_mode",
type=int,
nargs='+',
default=[1, 1, 1, 1, 1, 1],
choices=[1, 2, 3, 4],
help=
"A list of desired interaction control mode (1: impedance, 2: force, 3: impedance with force limit, 4: force with motion limit), one for each of the 6 directions"
)
parser.add_argument(
"-fr",
"--interaction_frame",
type=float,
nargs='+',
default=[0, 0, 0, 1, 0, 0, 0],
help=
"Specify the reference frame for the interaction controller -- first 3 values are positions [m] and last 4 values are orientation in quaternion (w, x, y, z)"
)
parser.add_argument(
"-ef",
"--in_endpoint_frame",
action='store_true',
default=False,
help=
"Set the desired reference frame to endpoint frame; otherwise, it is base frame by default"
)
parser.add_argument(
"-en",
"--endpoint_name",
type=str,
default='right_hand',
help=
"Set the desired endpoint frame by its name; otherwise, it is right_hand frame by default"
)
parser.add_argument(
"-f",
"--force_command",
type=float,
nargs='+',
default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
help=
"A list of desired force commands, one for each of the 6 directions -- in force control mode this is the vector of desired forces/torques to be regulated in (N) and (Nm), in impedance with force limit mode this vector specifies the magnitude of forces/torques (N and Nm) that the command will not exceed"
)
parser.add_argument(
"-kn",
"--K_nullspace",
type=float,
nargs='+',
default=[5.0, 10.0, 5.0, 10.0, 5.0, 10.0, 5.0],
help=
"A list of desired nullspace stiffnesses, one for each of the 7 joints (a single value can be provided to apply the same value to all the directions) -- units are in (Nm/rad)"
)
parser.add_argument("-dd",
"--disable_damping_in_force_control",
action='store_true',
default=False,
help="Disable damping in force control")
parser.add_argument(
"-dr",
"--disable_reference_resetting",
action='store_true',
default=False,
help=
"The reference signal is reset to actual position to avoid jerks/jumps when interaction parameters are changed. This option allows the user to disable this feature."
)
parser.add_argument(
"-rc",
"--rotations_for_constrained_zeroG",
action='store_true',
default=False,
help=
"Allow arbitrary rotational displacements from the current orientation for constrained zero-G (use only for a stationary reference orientation)"
)
parser.add_argument(
"--timeout",
type=float,
default=None,
help=
"Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout."
)
args = parser.parse_args(input_arg[1:])
try:
#rospy.init_node('go_to_joint_angles_in_contact_py')
limb = Limb()
traj = MotionTrajectory(limb=limb)
wpt_opts = MotionWaypointOptions(
max_joint_speed_ratio=args.speed_ratio,
max_joint_accel=args.accel_ratio)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles=joint_angles)
traj.append_waypoint(waypoint.to_msg())
if len(args.joint_angles) != len(joint_angles):
rospy.logerr('The number of joint_angles must be %d',
len(joint_angles))
return None
waypoint.set_joint_angles(joint_angles=args.joint_angles)
traj.append_waypoint(waypoint.to_msg())
# set the interaction control options in the current configuration
interaction_options = InteractionOptions()
trajectory_options = TrajectoryOptions()
trajectory_options.interaction_control = True
trajectory_options.interpolation_type = args.trajType
interaction_options.set_interaction_control_active(
int2bool(args.interaction_active))
interaction_options.set_K_impedance(args.K_impedance)
interaction_options.set_max_impedance(int2bool(args.max_impedance))
interaction_options.set_interaction_control_mode(
args.interaction_control_mode)
interaction_options.set_in_endpoint_frame(
int2bool(args.in_endpoint_frame))
interaction_options.set_force_command(args.force_command)
interaction_options.set_K_nullspace(args.K_nullspace)
interaction_options.set_endpoint_name(args.endpoint_name)
if len(args.interaction_frame) < 7:
rospy.logerr('The number of elements must be 7!')
elif len(args.interaction_frame) == 7:
quat_sum_square = args.interaction_frame[
3] * args.interaction_frame[3] + args.interaction_frame[
4] * args.interaction_frame[4]
+args.interaction_frame[5] * args.interaction_frame[
5] + args.interaction_frame[6] * args.interaction_frame[6]
if quat_sum_square < 1.0 + 1e-7 and quat_sum_square > 1.0 - 1e-7:
interaction_frame = Pose()
interaction_frame.position.x = args.interaction_frame[0]
interaction_frame.position.y = args.interaction_frame[1]
interaction_frame.position.z = args.interaction_frame[2]
interaction_frame.orientation.w = args.interaction_frame[3]
interaction_frame.orientation.x = args.interaction_frame[4]
interaction_frame.orientation.y = args.interaction_frame[5]
interaction_frame.orientation.z = args.interaction_frame[6]
interaction_options.set_interaction_frame(interaction_frame)
else:
rospy.logerr(
'Invalid input to quaternion! The quaternion must be a unit quaternion!'
)
else:
rospy.logerr('Invalid input to interaction_frame!')
interaction_options.set_disable_damping_in_force_control(
args.disable_damping_in_force_control)
interaction_options.set_disable_reference_resetting(
args.disable_reference_resetting)
interaction_options.set_rotations_for_constrained_zeroG(
args.rotations_for_constrained_zeroG)
trajectory_options.interaction_params = interaction_options.to_msg()
traj.set_trajectory_options(trajectory_options)
result = traj.send_trajectory(timeout=args.timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send!')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory with interaction options set!'
)
return True
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
# print the resultant interaction options
rospy.loginfo('Interaction Options:\n%s', interaction_options.to_msg())
except rospy.ROSInterruptException:
rospy.logerr('Keyboard interrupt detected from the user. %s',
'Exiting before trajectory completion.')
def main():
"""
Move the robot arm to the specified configuration.
Call using:
$ rosrun intera_examples go_to_joint_angles.py [arguments: see below]
-q 0.0 0.0 0.0 0.0 0.0 0.0 0.0
--> Go to joint pose: 0.0 0.0 0.0 0.0 0.0 0.0 0.0 using default settings
-q 0.1 -0.2 0.15 -0.05 -0.08 0.14 -0.04 -s 0.1
--> Go to pose [...] with a speed ratio of 0.1
-q -0.2 0.1 0.1 0.2 -0.3 0.2 0.4 -s 0.9 -a 0.1
--> Go to pose [...] with a speed ratio of 0.9 and an accel ratio of 0.1
"""
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument(
"-q",
"--joint_angles",
type=float,
nargs='+',
default=[0.0, -0.9, 0.0, 1.8, 0.0, -0.9, 0.0],
help="A list of joint angles, one for each of the 7 joints, J0...J6")
parser.add_argument(
"-s",
"--speed_ratio",
type=float,
default=0.5,
help="A value between 0.001 (slow) and 1.0 (maximum joint velocity)")
parser.add_argument(
"-a",
"--accel_ratio",
type=float,
default=0.5,
help="A value between 0.001 (slow) and 1.0 (maximum joint accel)")
parser.add_argument(
"--timeout",
type=float,
default=None,
help=
"Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout."
)
args = parser.parse_args(rospy.myargv()[1:])
try:
rospy.init_node('go_to_joint_angles_py')
limb = Limb()
traj = MotionTrajectory(limb=limb)
wpt_opts = MotionWaypointOptions(
max_joint_speed_ratio=args.speed_ratio,
max_joint_accel=args.accel_ratio)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles=joint_angles)
traj.append_waypoint(waypoint.to_msg())
if len(args.joint_angles) != len(joint_angles):
rospy.logerr('The number of joint_angles must be %d',
len(joint_angles))
return None
waypoint.set_joint_angles(joint_angles=args.joint_angles)
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=args.timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def main():
"""
Move the robot arm to the specified configuration.
Call using:
$ rosrun intera_examples go_to_cartesian_pose.py [arguments: see below]
-p 0.4 -0.3 0.18 -o 0.0 1.0 0.0 0.0 -t right_hand
--> Go to position: x=0.4, y=-0.3, z=0.18 meters
--> with quaternion orientation (0, 1, 0, 0) and tip name right_hand
--> The current position or orientation will be used if only one is provided.
-q 0.0 -0.9 0.0 1.8 0.0 -0.9 0.0
--> Go to joint angles: 0.0 -0.9 0.0 1.8 0.0 -0.9 0.0 using default settings
--> If a Cartesian pose is not provided, Forward kinematics will be used
--> If a Cartesian pose is provided, the joint angles will be used to bias the nullspace
-R 0.01 0.02 0.03 0.1 0.2 0.3 -T
-> Jog arm with Relative Pose (in tip frame)
-> x=0.01, y=0.02, z=0.03 meters, roll=0.1, pitch=0.2, yaw=0.3 radians
-> The fixed position and orientation paramters will be ignored if provided
"""
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument("-p",
"--position",
type=float,
nargs='+',
help="Desired end position: X, Y, Z")
parser.add_argument("-o",
"--orientation",
type=float,
nargs='+',
help="Orientation as a quaternion (x, y, z, w)")
parser.add_argument(
"-R",
"--relative_pose",
type=float,
nargs='+',
help=
"Jog pose by a relative amount in the base frame: X, Y, Z, roll, pitch, yaw"
)
parser.add_argument(
"-T",
"--in_tip_frame",
action='store_true',
help="For relative jogs, job in tip frame (default is base frame)")
parser.add_argument(
"-q",
"--joint_angles",
type=float,
nargs='+',
default=[],
help="A list of joint angles, one for each of the 7 joints, J0...J6")
parser.add_argument("-t",
"--tip_name",
default='right_hand',
help="The tip name used by the Cartesian pose")
parser.add_argument("--linear_speed",
type=float,
default=0.6,
help="The max linear speed of the endpoint (m/s)")
parser.add_argument(
"--linear_accel",
type=float,
default=0.6,
help="The max linear acceleration of the endpoint (m/s/s)")
parser.add_argument(
"--rotational_speed",
type=float,
default=1.57,
help="The max rotational speed of the endpoint (rad/s)")
parser.add_argument(
"--rotational_accel",
type=float,
default=1.57,
help="The max rotational acceleration of the endpoint (rad/s/s)")
parser.add_argument(
"--timeout",
type=float,
default=None,
help=
"Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout."
)
args = parser.parse_args(rospy.myargv()[1:])
try:
rospy.init_node('go_to_cartesian_pose_py')
limb = Limb()
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.CARTESIAN
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
wpt_opts = MotionWaypointOptions(
max_linear_speed=args.linear_speed,
max_linear_accel=args.linear_accel,
max_rotational_speed=args.rotational_speed,
max_rotational_accel=args.rotational_accel,
max_joint_speed_ratio=1.0)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
joint_names = limb.joint_names()
if args.joint_angles and len(args.joint_angles) != len(joint_names):
rospy.logerr('len(joint_angles) does not match len(joint_names!)')
return None
if (args.position is None and args.orientation is None
and args.relative_pose is None):
if args.joint_angles:
# does Forward Kinematics
waypoint.set_joint_angles(args.joint_angles, args.tip_name,
joint_names)
else:
rospy.loginfo(
"No Cartesian pose or joint angles given. Using default")
waypoint.set_joint_angles(joint_angles=None,
active_endpoint=args.tip_name)
else:
endpoint_state = limb.tip_state(args.tip_name)
if endpoint_state is None:
rospy.logerr('Endpoint state not found with tip name %s',
args.tip_name)
return None
pose = endpoint_state.pose
if args.relative_pose is not None:
if len(args.relative_pose) != 6:
rospy.logerr(
'Relative pose needs to have 6 elements (x,y,z,roll,pitch,yaw)'
)
return None
# create kdl frame from relative pose
rot = PyKDL.Rotation.RPY(args.relative_pose[3],
args.relative_pose[4],
args.relative_pose[5])
trans = PyKDL.Vector(args.relative_pose[0],
args.relative_pose[1],
args.relative_pose[2])
f2 = PyKDL.Frame(rot, trans)
# and convert the result back to a pose message
if args.in_tip_frame:
# end effector frame
pose = posemath.toMsg(posemath.fromMsg(pose) * f2)
else:
# base frame
pose = posemath.toMsg(f2 * posemath.fromMsg(pose))
else:
if args.position is not None and len(args.position) == 3:
pose.position.x = args.position[0]
pose.position.y = args.position[1]
pose.position.z = args.position[2]
if args.orientation is not None and len(args.orientation) == 4:
pose.orientation.x = args.orientation[0]
pose.orientation.y = args.orientation[1]
pose.orientation.z = args.orientation[2]
pose.orientation.w = args.orientation[3]
poseStamped = PoseStamped()
poseStamped.pose = pose
if not args.joint_angles:
# using current joint angles for nullspace bais if not provided
joint_angles = limb.joint_ordered_angles()
waypoint.set_cartesian_pose(poseStamped, args.tip_name,
joint_angles)
else:
waypoint.set_cartesian_pose(poseStamped, args.tip_name,
args.joint_angles)
rospy.loginfo('Sending waypoint: \n%s', waypoint.to_string())
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=args.timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def move2cartesian(position=None, orientation=None, relative_pose=None, in_tip_frame=False, joint_angles=[],
tip_name='right_hand', linear_speed=0.6, linear_accel=0.6, rotational_speed=1.57,
rotational_accel=1.57, timeout=None, neutral=False):
"""
Move the robot arm to the specified configuration.
Call using:
$ rosrun intera_examples go_to_cartesian_pose.py [arguments: see below]
-p 0.4 -0.3 0.18 -o 0.0 1.0 0.0 0.0 -t right_hand
--> Go to position: x=0.4, y=-0.3, z=0.18 meters
--> with quaternion orientation (0, 1, 0, 0) and tip name right_hand
--> The current position or orientation will be used if only one is provided.
-q 0.0 -0.9 0.0 1.8 0.0 -0.9 0.0
--> Go to joint angles: 0.0 -0.9 0.0 1.8 0.0 -0.9 0.0 using default settings
--> If a Cartesian pose is not provided, Forward kinematics will be used
--> If a Cartesian pose is provided, the joint angles will be used to bias the nullspace
-R 0.01 0.02 0.03 0.1 0.2 0.3 -T
-> Jog arm with Relative Pose (in tip frame)
-> x=0.01, y=0.02, z=0.03 meters, roll=0.1, pitch=0.2, yaw=0.3 radians
-> The fixed position and orientation paramters will be ignored if provided
"""
try:
#rospy.init_node('go_to_cartesian_pose_py')
limb = Limb()
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.CARTESIAN
traj = MotionTrajectory(trajectory_options = traj_options, limb = limb)
wpt_opts = MotionWaypointOptions(max_linear_speed=linear_speed,
max_linear_accel=linear_accel,
max_rotational_speed=rotational_speed,
max_rotational_accel=rotational_accel,
max_joint_speed_ratio=1.0)
waypoint = MotionWaypoint(options = wpt_opts.to_msg(), limb = limb)
joint_names = limb.joint_names()
if joint_angles and len(joint_angles) != len(joint_names):
rospy.logerr('len(joint_angles) does not match len(joint_names!)')
return None
if neutral == True:
limb.move_to_neutral()
else:
if (position is None and orientation is None and relative_pose is None):
if joint_angles:
# does Forward Kinematics
waypoint.set_joint_angles(joint_angles, tip_name, joint_names)
else:
rospy.loginfo("No Cartesian pose or joint angles given. Using default")
waypoint.set_joint_angles(joint_angles=None, active_endpoint=tip_name)
else:
endpoint_state = limb.tip_state(tip_name)
if endpoint_state is None:
rospy.logerr('Endpoint state not found with tip name %s', tip_name)
return None
pose = endpoint_state.pose
if relative_pose is not None:
if len(relative_pose) != 6:
rospy.logerr('Relative pose needs to have 6 elements (x,y,z,roll,pitch,yaw)')
return None
# create kdl frame from relative pose
rot = PyKDL.Rotation.RPY(relative_pose[3],
relative_pose[4],
relative_pose[5])
trans = PyKDL.Vector(relative_pose[0],
relative_pose[1],
relative_pose[2])
f2 = PyKDL.Frame(rot, trans)
# and convert the result back to a pose message
if in_tip_frame:
# end effector frame
pose = posemath.toMsg(posemath.fromMsg(pose) * f2)
else:
# base frame
pose = posemath.toMsg(f2 * posemath.fromMsg(pose))
else:
if position is not None and len(position) == 3:
pose.position.x = position[0]
pose.position.y = position[1]
pose.position.z = position[2]
if orientation is not None and len(orientation) == 4:
pose.orientation.x = orientation[0]
pose.orientation.y = orientation[1]
pose.orientation.z = orientation[2]
pose.orientation.w = orientation[3]
poseStamped = PoseStamped()
poseStamped.pose = pose
if not joint_angles:
# using current joint angles for nullspace bais if not provided
joint_angles = limb.joint_ordered_angles()
waypoint.set_cartesian_pose(poseStamped, tip_name, joint_angles)
else:
waypoint.set_cartesian_pose(poseStamped, tip_name, joint_angles)
rospy.loginfo('Sending waypoint: \n%s', waypoint.to_string())
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send')
return
if result.result:
rospy.loginfo('Motion controller successfully finished the trajectory!')
else:
rospy.logerr('Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr('Keyboard interrupt detected from the user. Exiting before trajectory completion.')
class Breath(object):
def __init__(self):
self.robot_state = 0 # normal
self.breath_state =0 # false
rospy.Subscriber("cs_sawyer/head_light", UInt8, self.callback_update_breath1)
rospy.Subscriber("cs_sawyer/breath", Bool, self.callback_update_breath2)
self.rospack = rospkg.RosPack()
# Set the trajectory options
self.limb = Limb()
traj_opts = TrajectoryOptions()
traj_opts.interpolation_type = 'JOINT'
self.traj = MotionTrajectory(trajectory_options = traj_opts, limb = self.limb)
# Set the waypoint options
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=0.05, joint_tolerances=0.7)
#max_joint_accel=0.1)
waypoint = MotionWaypoint(options = wpt_opts.to_msg(), limb = self.limb)
# Append a waypoint at the current pose
waypoint.set_joint_angles(self.limb.joint_ordered_angles())
#self.traj.append_waypoint(waypoint.to_msg())
#self.limb.set_joint_position_speed(0.3)
with open(join(self.rospack.get_path("cs_sawyer"), "config/poses.json")) as f:
self.poses = json.load(f)
joint_angles= [self.poses["pause"][j] for j in [ 'right_j0', 'right_j1', 'right_j2', 'right_j3', 'right_j4', 'right_j5', 'right_j6']]
j1= joint_angles[1]
j2= joint_angles[2]
x=0
while x < 16*pi:
new_j1 = 0.07*sin(x)+j1
new_j2=0.09*sin(0.5*x)+j2
joint_angles[1]=new_j1
joint_angles[2]=new_j2
x=x+pi/40
waypoint.set_joint_angles(joint_angles = joint_angles)
self.traj.append_waypoint(waypoint.to_msg())
def callback_update_breath1(self,msg):
self.robot_state = msg.data
if self.robot_state != 0:
self.traj.stop_trajectory()
def callback_update_breath2(self,msg):
self.breath_state = msg.data
if not self.breath_state:
self.traj.stop_trajectory()
def run(self):
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if self.breath_state and self.robot_state == 0:
self.traj.send_trajectory(timeout=None)
rate.sleep()
pose_goal = Pose()
pose_goal.orientation.w = OR_W
pose_goal.orientation.x = OR_X
pose_goal.orientation.y = OR_Y
pose_goal.orientation.z = OR_Z
pose_goal.position.x = BASE_X
pose_goal.position.y = BASE_Y
pose_goal.position.z = BASE_Z
poseStamped = PoseStamped()
poseStamped.pose = pose_goal
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
joint_angles = limb.joint_ordered_angles()
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
waypoint.set_cartesian_pose(poseStamped, 'right_hand', joint_angles)
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=5.0)
rate = rospy.Rate(30.0) # SUGGEST - Try 10 or more
while not rospy.is_shutdown():
try:
(trans, rot) = listener.lookupTransform('kinect/user_1/torso',
'kinect/user_1/right_hand',
rospy.Time(0))
except (tf.LookupException, tf.ConnectivityException,
tf.ExtrapolationException) as e:
def run(self):
rate = rospy.Rate(100)
limb = Limb()
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.CARTESIAN
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=0.5,
max_joint_accel=0.5,
corner_distance=0.05)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
self.pose.header = Header(stamp=rospy.Time.now(), frame_id='base')
self.pose.pose.position.x = 0.0
self.pose.pose.position.y = -0.6
self.pose.pose.position.z = 0.5
self.pose.pose.orientation.x = 0.5
self.pose.pose.orientation.y = -0.5
self.pose.pose.orientation.z = 0.5
self.pose.pose.orientation.w = 0.5
joint_angles = limb.joint_ordered_angles()
waypoint.set_cartesian_pose(self.pose, "right_hand", joint_angles)
self.waypoints.append(waypoint)
rospy.loginfo("Sending inital waypoint: %s",
self.waypoints[0].to_string())
traj.append_waypoint(self.waypoints[0].to_msg())
result = traj.send_trajectory()
if result is None:
rospy.logerr('Trajectory FAILED to send')
elif result.result:
rospy.loginfo(
'Motion controller successfully finished the trajectory!')
else:
rospy.logerr(
'Motion controller failed to complete the trajectory with error %s',
result.errorId)
traj.clear_waypoints()
l = Lights()
l_name = 'head_green_light'
initial_state = l.get_light_state(l_name)
for i in range(0, 2):
state = not initial_state
l.set_light_state(l_name, state)
rospy.sleep(0.5)
state = not state
l.set_light_state(l_name, state)
rospy.sleep(0.5)
l.set_light_state(l_name, True)
for i in range(0, 19):
self.gen_rand_waypoint()
sendCommand = True
while not rospy.is_shutdown():
traj.clear_waypoints()
for i in range(0, 19):
self.waypoints.pop(i)
self.gen_rand_waypoint()
for point in self.waypoints:
traj.append_waypoint(point.to_msg())
print(len(self.waypoints))
result = traj.send_trajectory(wait_for_result=True)
self.firstShutdown = True
def clean_shutdown():
if self.firstShutdown:
print("STOPPING TRAJECTORY")
traj.stop_trajectory()
traj.clear_waypoints()
l = Lights()
l.set_light_state('head_green_light', False)
self.firstShutdown = False
rospy.on_shutdown(clean_shutdown)
rate.sleep()
return
def main():
# if len(sys.argv) < 4:
# print('{0} <BindIP><Server IP><Message>'.format(sys.argv[0]))
# sys.exit()
bindIP = '192.168.101.5' #sys.argv[1]
serverIP = '192.168.101.12' #sys.argv[2]
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # SOCK_STREAM은 TCP socket을 뜻함
sock.bind((bindIP, 0))
sock.connect((serverIP, 5425)) # 서버에 연결 요청
rospy.init_node('sawyer_client')
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
# parser.add_argument(
# "-q", "--joint_angles", type=float,
# nargs='+', default=[0.0, -0.9, 0.0, 1.8, 0.0, -0.9, 0.0],
# help="A list of joint angles, one for each of the 7 joints, J0...J6")
parser.add_argument(
"-s", "--speed_ratio", type=float, default=0.5,
help="A value between 0.001 (slow) and 1.0 (maximum joint velocity)")
parser.add_argument(
"-a", "--accel_ratio", type=float, default=0.5,
help="A value between 0.001 (slow) and 1.0 (maximum joint accel)")
parser.add_argument(
"--timeout", type=float, default=None,
help="Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout.")
args = parser.parse_args(rospy.myargv()[1:])
goal_joint_angles = [0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
while True:
# 서버로 부터 수신
rbuff = sock.recv(1024) # 메시지 수신
received = str(rbuff)
# print('수신:{0}'.format(received))
if received.count >= 5:
center_str = received.split('SM')[1].split('SE')[0]
print(center_str)
if center_str == 'Q':
break
elif center_str == 'A':
goal_joint_angles = [0.0, -0.9, 0.0, 1.8, 0.0, -0.9, 0.0]
elif center_str == 'B':
goal_joint_angles = [0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
limb = Limb()
traj = MotionTrajectory(limb = limb)
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=args.speed_ratio,
max_joint_accel=args.accel_ratio)
waypoint = MotionWaypoint(options = wpt_opts.to_msg(), limb = limb)
joint_angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles = joint_angles)
traj.append_waypoint(waypoint.to_msg())
waypoint.set_joint_angles(joint_angles = goal_joint_angles)
traj.append_waypoint(waypoint.to_msg())
result = traj.send_trajectory(timeout=args.timeout)
sock.close()
def main():
"""
Send a random-walk trajectory, starting from the current pose of the robot.
Can be used to send both joint and cartesian trajectories.
WARNING: Make sure the surrounding area around the robot is collision free
prior to sending random trajectories.
Call using:
$ rosrun intera_examples send_random_trajectory.py [arguments: see below]
-n 5 -t JOINT -s 0.5
--> Send a trandom joint trajectory with 5 waypoints, using a speed ratio
of 0.5 for all waypoints. Use default random walk settings.
-d 0.1 -b 0.2
--> Send a random trajectory with default trajectory settings. Use a
maximum step distance of 0.1*(upper joint limit - lower joint limit)
and avoid the upper and lower joint limits by a boundary of
0.2*(upper joint limit - lower joint limit).
-o ~/Desktop/fileName.bag
--> Save the trajectory message to a bag file
-p
--> Prints the trajectory to terminal before sending
"""
arg_fmt = argparse.RawDescriptionHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
parser.add_argument(
"-n", "--waypoint_count", type=int, default=5,
help="number of waypoints to include in the trajectory")
parser.add_argument(
"-d", "--stepDistance", type=float, default=0.05,
help="normalized random walk step distance")
parser.add_argument(
"-b", "--boundaryPadding", type=float, default=0.1,
help="normalized padding to apply to joint limits")
parser.add_argument(
"-t", "--trajType", type=str, default='JOINT',
choices=['JOINT', 'CARTESIAN'],
help="trajectory interpolation type")
parser.add_argument(
"-s", "--speed_ratio", type=float, default=0.5,
help="A value between 0.0 (slow) and 1.0 (fast)")
parser.add_argument(
"-a", "--accel_ratio", type=float, default=0.5,
help="A value between 0.0 (slow) and 1.0 (fast)")
parser.add_argument(
"-o", "--output_file",
help="Save the trajectory task to a bag file")
parser.add_argument(
"--output_file_type", default="yaml",
choices=["csv", "yaml"], help="Select the save file type")
parser.add_argument(
"-p", "--print_trajectory", action='store_true', default=False,
help="print the trajectory after loading")
parser.add_argument(
"--do_not_send", action='store_true', default=False,
help="generate the trajectory, but do not send to motion controller.")
parser.add_argument(
"--log_file_output",
help="Save motion controller log messages to this file name")
parser.add_argument(
"--timeout", type=float, default=None,
help="Max time in seconds to complete motion goal before returning. None is interpreted as an infinite timeout.")
args = parser.parse_args()
if args.waypoint_count < 1:
args.waypoint_count = 1
rospy.logwarn('Input out of bounds! Setting waypoint_count = 1')
try:
rospy.init_node('send_random_joint_trajectory_py')
if not args.do_not_send:
rospy.logwarn('Make sure the surrounding area around the robot is '
'collision free prior to sending random trajectories.')
k = input("Press 'Enter' when the robot is clear to continue...")
if k:
rospy.logerr("Please press only the 'Enter' key to begin execution. Exiting...")
sys.exit(1)
# Set the trajectory options
limb = Limb()
traj_opts = TrajectoryOptions()
traj_opts.interpolation_type = args.trajType
traj = MotionTrajectory(trajectory_options = traj_opts, limb = limb)
# Set the waypoint options
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=args.speed_ratio,
max_joint_accel=args.accel_ratio)
waypoint = MotionWaypoint(options = wpt_opts.to_msg(), limb = limb)
# Append a waypoint at the current pose
waypoint.set_joint_angles(limb.joint_ordered_angles())
traj.append_waypoint(waypoint.to_msg())
# Set up the random walk generator
walk = RandomWalk()
limits = JointLimits()
walk.set_lower_limits(limits.get_joint_lower_limits(limb.joint_names()))
walk.set_upper_limits(limits.get_joint_upper_limits(limb.joint_names()))
walk.set_last_point(waypoint.get_joint_angles())
walk.set_boundary_padding(args.boundaryPadding)
walk.set_maximum_distance(args.stepDistance)
for i in range(0, args.waypoint_count):
joint_angles = walk.get_next_point()
waypoint.set_joint_angles(joint_angles = joint_angles)
traj.append_waypoint(waypoint.to_msg())
if args.output_file is not None:
if args.output_file_type == "csv":
traj.to_csv_file(args.output_file)
elif args.output_file_type == "yaml":
traj.to_yaml_file(args.output_file)
else:
rospy.logwarn("Did not recognize output file type")
if args.print_trajectory:
rospy.loginfo('\n' + traj.to_string())
if args.log_file_output is not None:
traj.set_log_file_name(args.log_file_output)
if not args.do_not_send:
result = traj.send_trajectory(timeout=args.timeout)
if result is None:
rospy.logerr('Trajectory FAILED to send')
elif result.result:
rospy.loginfo('Motion controller successfully finished the trajectory!')
else:
rospy.logerr('Motion controller failed to complete the trajectory with error %s',
result.errorId)
except rospy.ROSInterruptException:
rospy.logerr('Keyboard interrupt detected from the user. '
'Exiting before trajectory completion.')
def move(self, point_list = None, wait = True, MAX_SPD_RATIO=0.4, MAX_JOINT_ACCL=[7.0, 5.0, 8.0, 8.0, 8.0, 8.0, 8.0]): # one point in point_list = [x_coord, y_coord, z_coord, x_deg, y_deg, z_deg]
try:
limb = Limb() # point_list = [pointA, pointB, pointC, ...]
traj_options = TrajectoryOptions()
traj_options.interpolation_type = TrajectoryOptions.JOINT
traj = MotionTrajectory(trajectory_options=traj_options, limb=limb)
if self.STOP:
traj.stop_trajectory()
return True
wpt_opts = MotionWaypointOptions(max_joint_speed_ratio=MAX_SPD_RATIO, max_joint_accel=MAX_JOINT_ACCL)
waypoint = MotionWaypoint(options=wpt_opts.to_msg(), limb=limb)
angles = limb.joint_ordered_angles()
waypoint.set_joint_angles(joint_angles=angles)
traj.append_waypoint(waypoint.to_msg())
for point in point_list:
#q_base = quaternion_from_euler(0, math.pi/2, 0)
q_base = quaternion_from_euler(0, 0, 0)
#q_rot = quaternion_from_euler(math.radians(point[3]), math.radians(point[4]), math.radians(point[5])) # USE THIS IF ANGLES ARE IN DEGREES
q_rot = quaternion_from_euler(point[3], point[4], point[5]) # USE THIS IF ANGLES ARE IN RADIANS
q = quaternion_multiply(q_rot, q_base)
# DEFINE ORIGIN
origin = {
'x' : 0.65,
'y' : 0.0,
'z' : 0.4
}
# CREATE CARTESIAN POSE FOR IK REQUEST
newPose = PoseStamped()
newPose.header = Header(stamp=rospy.Time.now(), frame_id='base')
newPose.pose.position.x = point[0] + origin['x']
newPose.pose.position.y = point[1] + origin['y']
newPose.pose.position.z = point[2] + origin['z']
newPose.pose.orientation.x = q[0]
newPose.pose.orientation.y = q[1]
newPose.pose.orientation.z = q[2]
newPose.pose.orientation.w = q[3]
# REQUEST IK SERVICE FROM ROS
ns = "ExternalTools/right/PositionKinematicsNode/IKService"
iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
ikreq = SolvePositionIKRequest()
# SET THE NEW POSE AS THE IK REQUEST
ikreq.pose_stamp.append(newPose)
ikreq.tip_names.append('right_hand')
# ATTEMPT TO CALL THE SERVICE
try:
rospy.wait_for_service(ns, 5.0)
resp = iksvc(ikreq)
except:
print("IK SERVICE CALL FAILED")
return
# HANDLE RETURN
if (resp.result_type[0] > 0):
joint_angles = resp.joints[0].position
# APPEND JOINT ANGLES TO NEW WAYPOINT
waypoint.set_joint_angles(joint_angles=joint_angles)
traj.append_waypoint(waypoint.to_msg())
else:
print("INVALID POSE")
print(resp.result_type[0])
if(wait):
print(" \n --- Sending trajectory and waiting for finish --- \n")
result = traj.send_trajectory(wait_for_result=wait)
if result is None:
rospy.logerr('Trajectory FAILED to send')
success = False
elif result.result:
rospy.loginfo('Motion controller successfully finished the trajcetory')
success = True
else:
rospy.logerr('Motion controller failed to complete the trajectory. Error: %s', result.errorId)
success = False
else:
print("\n --- Sending trajector w/out waiting --- \n")
traj.send_trajectory(wait_for_result=wait)
success = True
return success
except rospy.ROSInterruptException:
print("User interrupt detected. Exiting before trajectory completes")
