def __init__(self):
self.received_state = False
if (not rospy.has_param("joints")):
rospy.logerr("No arm joints given.")
exit(0)
else:
self.joint_names = sorted(rospy.get_param("joints"))
rospy.loginfo("arm joints: %s", self.joint_names)
# read joint limits
self.joint_limits = []
for joint in self.joint_names:
if ((not rospy.has_param("limits/" + joint + "/min"))
or (not rospy.has_param("limits/" + joint + "/min"))):
rospy.logerr("No arm joint limits given.")
exit(0)
else:
limit = arm_navigation_msgs.msg.JointLimits()
limit.joint_name = joint
limit.min_position = rospy.get_param("limits/" + joint +
"/min")
limit.max_position = rospy.get_param("limits/" + joint +
"/max")
self.joint_limits.append(limit)
self.current_joint_configuration = [
0 for i in range(len(self.joint_names))
]
self.unit = "rad"
# subscriptions
rospy.Subscriber("joint_states", sensor_msgs.msg.JointState,
self.joint_states_callback)
# publications
self.pub_joint_positions = rospy.Publisher(
"position_command", brics_actuator.msg.JointPositions)
# action server
self.as_move_joint_direct = actionlib.SimpleActionServer(
"MoveToJointConfigurationDirect",
raw_arm_navigation.msg.MoveToJointConfigurationAction,
execute_cb=self.execute_cb_move_joint_config_direct)
self.as_move_cart_direct = actionlib.SimpleActionServer(
"MoveToCartesianPoseDirect",
raw_arm_navigation.msg.MoveToCartesianPoseAction,
execute_cb=self.execute_cb_move_cartesian_direct)
self.as_move_cart_rpy_sampled_direct = actionlib.SimpleActionServer(
"MoveToCartesianRPYSampledDirect",
raw_arm_navigation.msg.MoveToCartesianPoseAction,
execute_cb=self.execute_cb_move_cartesian_rpy_sampled_direct)
# additional classes
self.iks = SimpleIkSolver()
def __init__(self):
self.received_state = False
if (not rospy.has_param("joints")):
rospy.logerr("No arm joints given.")
exit(0)
else:
self.joint_names = sorted(rospy.get_param("joints"))
rospy.loginfo("arm joints: %s", self.joint_names)
# read joint limits
self.joint_limits = []
for joint in self.joint_names:
if ((not rospy.has_param("limits/" + joint + "/min")) or (not rospy.has_param("limits/" + joint + "/min"))):
rospy.logerr("No arm joint limits given.")
exit(0)
else:
limit = arm_navigation_msgs.msg.JointLimits()
limit.joint_name = joint
limit.min_position = rospy.get_param("limits/" + joint + "/min")
limit.max_position = rospy.get_param("limits/" + joint + "/max")
self.joint_limits.append(limit)
self.current_joint_configuration = [0 for i in range(len(self.joint_names))]
self.unit = "rad"
# subscriptions
rospy.Subscriber("joint_states", sensor_msgs.msg.JointState, self.joint_states_callback)
# publications
self.pub_joint_positions = rospy.Publisher("position_command", brics_actuator.msg.JointPositions)
# action server
self.as_move_joint_direct = actionlib.SimpleActionServer("MoveToJointConfigurationDirect", raw_arm_navigation.msg.MoveToJointConfigurationAction, execute_cb = self.execute_cb_move_joint_config_direct)
self.as_move_cart_direct = actionlib.SimpleActionServer("MoveToCartesianPoseDirect", raw_arm_navigation.msg.MoveToCartesianPoseAction, execute_cb = self.execute_cb_move_cartesian_direct)
self.as_move_cart_rpy_sampled_direct = actionlib.SimpleActionServer("MoveToCartesianRPYSampledDirect", raw_arm_navigation.msg.MoveToCartesianPoseAction, execute_cb = self.execute_cb_move_cartesian_rpy_sampled_direct)
# additional classes
self.iks = SimpleIkSolver()
class ArmActionServer:
def __init__(self):
self.received_state = False
if (not rospy.has_param("joints")):
rospy.logerr("No arm joints given.")
exit(0)
else:
self.joint_names = sorted(rospy.get_param("joints"))
rospy.loginfo("arm joints: %s", self.joint_names)
# read joint limits
self.joint_limits = []
for joint in self.joint_names:
if ((not rospy.has_param("limits/" + joint + "/min")) or (not rospy.has_param("limits/" + joint + "/min"))):
rospy.logerr("No arm joint limits given.")
exit(0)
else:
limit = arm_navigation_msgs.msg.JointLimits()
limit.joint_name = joint
limit.min_position = rospy.get_param("limits/" + joint + "/min")
limit.max_position = rospy.get_param("limits/" + joint + "/max")
self.joint_limits.append(limit)
self.current_joint_configuration = [0 for i in range(len(self.joint_names))]
self.unit = "rad"
# subscriptions
rospy.Subscriber("joint_states", sensor_msgs.msg.JointState, self.joint_states_callback)
# publications
self.pub_joint_positions = rospy.Publisher("position_command", brics_actuator.msg.JointPositions)
# action server
self.as_move_joint_direct = actionlib.SimpleActionServer("MoveToJointConfigurationDirect", raw_arm_navigation.msg.MoveToJointConfigurationAction, execute_cb = self.execute_cb_move_joint_config_direct)
self.as_move_cart_direct = actionlib.SimpleActionServer("MoveToCartesianPoseDirect", raw_arm_navigation.msg.MoveToCartesianPoseAction, execute_cb = self.execute_cb_move_cartesian_direct)
self.as_move_cart_rpy_sampled_direct = actionlib.SimpleActionServer("MoveToCartesianRPYSampledDirect", raw_arm_navigation.msg.MoveToCartesianPoseAction, execute_cb = self.execute_cb_move_cartesian_rpy_sampled_direct)
# additional classes
self.iks = SimpleIkSolver()
def joint_states_callback(self, msg):
for k in range(len(self.joint_names)):
for i in range(len(msg.name)):
if (msg.name[i] == self.joint_names[k]):
#rospy.loginfo("%s: %f", msg.name[i], msg.position[i])
self.current_joint_configuration[k] = msg.position[i]
#print 'joint states received'
self.received_state = True
def is_joint_configuration_not_in_limits(self, goal_configuration):
for goal_joint in goal_configuration.positions:
for joint_limit in self.joint_limits:
if ((goal_joint.joint_uri == joint_limit.joint_name) and ((goal_joint.value < joint_limit.min_position) or (goal_joint.value > joint_limit.max_position))):
rospy.logerr("goal configuration has <<%s>> in joint limit: %lf (limit min: %lf, max: %lf)", goal_joint.joint_uri, goal_joint.value, joint_limit.min_position, joint_limit.max_position)
return False
return True
def is_goal_reached(self, goal_pose):
for i in range(len(self.joint_names)):
#rospy.loginfo("joint: %d -> curr_val: %f --- goal_val: %f", i, goal_pose.positions[i].value, self.current_joint_configuration[i])
if (abs(goal_pose.positions[i].value - self.current_joint_configuration[i]) > 0.05):
#ToDo: threshold via parameter
#self.time_now = rospy.get_rostime()#my line
#if(int(self.time_now.secs-self.time_start.secs) > 1):
#break
return False
return True
#################################################
##### WITHOUT PLANNING
#################################################
def execute_cb_move_joint_config_direct(self, action_msgs):
rospy.loginfo("move arm to joint configuration DIRECT")
self.time_start = rospy.get_rostime()#my line
if not self.is_joint_configuration_not_in_limits(action_msgs.goal):
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_joint_direct.set_aborted(result)
return
self.pub_joint_positions.publish(action_msgs.goal)
self.duration = 6 # should be replaced with a calculated value if possible
while (not rospy.is_shutdown()):
if (self.is_goal_reached(action_msgs.goal) or int(rospy.get_rostime().secs - self.time_start.secs) > self.duration):
break
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_joint_direct.set_succeeded(result)
return
def execute_cb_move_cartesian_direct(self, action_msgs):
rospy.loginfo("move arm to cartesian pose DIRECT")
joint_config = self.iks.call_constraint_aware_ik_solver(action_msgs.goal)
result = raw_arm_navigation.msg.MoveToCartesianPoseResult()
if (joint_config):
rospy.loginfo("IK solution found")
jp = brics_actuator.msg.JointPositions()
for i in range(len(self.joint_names)):
jv = brics_actuator.msg.JointValue()
jv.joint_uri = self.iks.joint_names[i]
jv.value = joint_config[i]
jv.unit = self.unit
jp.positions.append(jv)
if not self.is_joint_configuration_not_in_limits(jp):
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_cart_direct.set_aborted(result)
return
self.pub_joint_positions.publish(jp)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(jp)):
break
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_cart_direct.set_succeeded(result)
return
else:
rospy.logerr("NO IK solution found")
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.NO_IK_SOLUTION
self.as_move_cart_direct.set_aborted(result)
return
return
def execute_cb_move_cartesian_rpy_sampled_direct(self, action_msgs):
rospy.loginfo("move to cartesian pose sampling for valid rpy DIRECT")
pose = raw_arm_navigation.msg.MoveToCartesianPoseGoal()
pose.goal.header.frame_id = action_msgs.goal.header.frame_id
pose.goal.pose.position.x = action_msgs.goal.pose.position.x
pose.goal.pose.position.y = action_msgs.goal.pose.position.y
pose.goal.pose.position.z = action_msgs.goal.pose.position.z
joints_not_in_limits = False
for i in range(100):
rand_value = random.randint(int(math.pi/2*100), int(math.pi*100))/100.0
(qx, qy, qz, qw) = tf.transformations.quaternion_from_euler(0, rand_value, 0)
pose.goal.header.stamp = rospy.Time.now()
pose.goal.pose.orientation.x = qx
pose.goal.pose.orientation.y = qy
pose.goal.pose.orientation.z = qz
pose.goal.pose.orientation.w = qw
joint_config = self.iks.call_constraint_aware_ik_solver(pose.goal)
if (joint_config):
rospy.loginfo("IK solution found")
jp = brics_actuator.msg.JointPositions()
for i in range(len(self.joint_names)):
jv = brics_actuator.msg.JointValue()
jv.joint_uri = self.iks.joint_names[i]
jv.value = joint_config[i]
jv.unit = self.unit
jp.positions.append(jv)
joints_not_in_limits = self.is_joint_configuration_not_in_limits(jp)
if joints_not_in_limits:
break
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
if(joint_config and joints_not_in_limits):
self.pub_joint_positions.publish(jp)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(jp)):
break
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_cart_rpy_sampled_direct.set_succeeded(result)
return
else:
rospy.logerr("NO IK solution found")
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.NO_IK_SOLUTION
self.as_move_cart_rpy_sampled_direct.set_aborted(result)
return
return
class ArmActionServer:
def __init__(self):
self.received_state = False
if (not rospy.has_param("joints")):
rospy.logerr("No arm joints given.")
exit(0)
else:
self.joint_names = sorted(rospy.get_param("joints"))
rospy.loginfo("arm joints: %s", self.joint_names)
# read joint limits
self.joint_limits = []
for joint in self.joint_names:
if ((not rospy.has_param("limits/" + joint + "/min")) or (not rospy.has_param("limits/" + joint + "/min"))):
rospy.logerr("No arm joint limits given.")
exit(0)
else:
limit = arm_navigation_msgs.msg.JointLimits()
limit.joint_name = joint
limit.min_position = rospy.get_param("limits/" + joint + "/min")
limit.max_position = rospy.get_param("limits/" + joint + "/max")
self.joint_limits.append(limit)
self.current_joint_configuration = [0 for i in range(len(self.joint_names))]
self.unit = "rad"
# subscriptions
rospy.Subscriber("joint_states", sensor_msgs.msg.JointState, self.joint_states_callback)
# publications
self.pub_joint_positions = rospy.Publisher("position_command", brics_actuator.msg.JointPositions)
# action server
self.as_move_cart_direct = actionlib.SimpleActionServer("MoveToCartesianPoseDirect", raw_arm_navigation.msg.MoveToCartesianPoseAction, execute_cb = self.execute_cb_move_cartesian_direct)
self.as_move_joint_direct = actionlib.SimpleActionServer("MoveToJointConfigurationDirect", raw_arm_navigation.msg.MoveToJointConfigurationAction, execute_cb = self.execute_cb_move_joint_config_direct)
# additional classes
self.iks = SimpleIkSolver()
def joint_states_callback(self, msg):
for k in range(len(self.joint_names)):
for i in range(len(msg.name)):
if (msg.name[i] == self.joint_names[k]):
#rospy.loginfo("%s: %f", msg.name[i], msg.position[i])
self.current_joint_configuration[k] = msg.position[i]
#print 'joint states received'
self.received_state = True
def is_joint_configuration_not_in_limits(self, goal_configuration):
for goal_joint in goal_configuration.positions:
for joint_limit in self.joint_limits:
if ((goal_joint.joint_uri == joint_limit.joint_name) and ((goal_joint.value < joint_limit.min_position) or (goal_joint.value > joint_limit.max_position))):
rospy.logerr("goal configuration has <<%s>> in joint limit: %lf", goal_joint.joint_uri, goal_joint.value)
return False
return True
def execute_cb_move_joint_config_direct(self, action_msgs):
rospy.loginfo("move arm to joint configuration")
if not self.is_joint_configuration_not_in_limits(action_msgs.goal):
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_joint_direct.set_aborted(result)
return
self.pub_joint_positions.publish(action_msgs.goal)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(action_msgs.goal)):
break
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_joint_direct.set_succeeded(result)
def execute_cb_move_cartesian_direct(self, action_msgs):
rospy.loginfo("move arm to cartesian pose")
joint_config = self.iks.call_constraint_aware_ik_solver(action_msgs.goal)
result = raw_arm_navigation.msg.MoveToCartesianPoseResult()
if (joint_config):
rospy.loginfo("IK solution found")
jp = brics_actuator.msg.JointPositions()
for i in range(5):
jv = brics_actuator.msg.JointValue()
jv.joint_uri = self.iks.joint_names[i]
jv.value = joint_config[i]
jv.unit = self.unit
jp.positions.append(jv)
if not self.is_joint_configuration_not_in_limits(jp):
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_cart_direct.set_aborted(result)
return
self.pub_joint_positions.publish(jp)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(jp)):
break
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_cart_direct.set_succeeded(result)
else:
rospy.logerr("NO IK solution found")
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.NO_IK_SOLUTION
self.as_move_cart_direct.set_aborted(result)
def is_goal_reached(self, goal_pose):
for i in range(len(self.joint_names)):
#rospy.loginfo("joint: %d -> curr_val: %f --- goal_val: %f", i, goal_pose.positions[i].value, self.current_joint_configuration[i])
if (abs(goal_pose.positions[i].value - self.current_joint_configuration[i]) > 0.05): #ToDo: threshold via parameter
return False
rospy.loginfo("arm goal pose reached")
return True
class ArmActionServer:
def __init__(self):
self.received_state = False
if (not rospy.has_param("joints")):
rospy.logerr("No arm joints given.")
exit(0)
else:
self.joint_names = sorted(rospy.get_param("joints"))
rospy.loginfo("arm joints: %s", self.joint_names)
# read joint limits
self.joint_limits = []
for joint in self.joint_names:
if ((not rospy.has_param("limits/" + joint + "/min"))
or (not rospy.has_param("limits/" + joint + "/min"))):
rospy.logerr("No arm joint limits given.")
exit(0)
else:
limit = arm_navigation_msgs.msg.JointLimits()
limit.joint_name = joint
limit.min_position = rospy.get_param("limits/" + joint +
"/min")
limit.max_position = rospy.get_param("limits/" + joint +
"/max")
self.joint_limits.append(limit)
self.current_joint_configuration = [
0 for i in range(len(self.joint_names))
]
self.unit = "rad"
# subscriptions
rospy.Subscriber("joint_states", sensor_msgs.msg.JointState,
self.joint_states_callback)
# publications
self.pub_joint_positions = rospy.Publisher(
"position_command", brics_actuator.msg.JointPositions)
# action server
self.as_move_joint_direct = actionlib.SimpleActionServer(
"MoveToJointConfigurationDirect",
raw_arm_navigation.msg.MoveToJointConfigurationAction,
execute_cb=self.execute_cb_move_joint_config_direct)
self.as_move_cart_direct = actionlib.SimpleActionServer(
"MoveToCartesianPoseDirect",
raw_arm_navigation.msg.MoveToCartesianPoseAction,
execute_cb=self.execute_cb_move_cartesian_direct)
self.as_move_cart_rpy_sampled_direct = actionlib.SimpleActionServer(
"MoveToCartesianRPYSampledDirect",
raw_arm_navigation.msg.MoveToCartesianPoseAction,
execute_cb=self.execute_cb_move_cartesian_rpy_sampled_direct)
# additional classes
self.iks = SimpleIkSolver()
def joint_states_callback(self, msg):
for k in range(len(self.joint_names)):
for i in range(len(msg.name)):
if (msg.name[i] == self.joint_names[k]):
#rospy.loginfo("%s: %f", msg.name[i], msg.position[i])
self.current_joint_configuration[k] = msg.position[i]
#print 'joint states received'
self.received_state = True
def is_joint_configuration_not_in_limits(self, goal_configuration):
for goal_joint in goal_configuration.positions:
for joint_limit in self.joint_limits:
if ((goal_joint.joint_uri == joint_limit.joint_name)
and ((goal_joint.value < joint_limit.min_position) or
(goal_joint.value > joint_limit.max_position))):
rospy.logerr(
"goal configuration has <<%s>> in joint limit: %lf (limit min: %lf, max: %lf)",
goal_joint.joint_uri, goal_joint.value,
joint_limit.min_position, joint_limit.max_position)
return False
return True
def is_goal_reached(self, goal_pose):
for i in range(len(self.joint_names)):
#rospy.loginfo("joint: %d -> curr_val: %f --- goal_val: %f", i, goal_pose.positions[i].value, self.current_joint_configuration[i])
if (abs(goal_pose.positions[i].value -
self.current_joint_configuration[i]) > 0.05):
#ToDo: threshold via parameter
#self.time_now = rospy.get_rostime()#my line
#if(int(self.time_now.secs-self.time_start.secs) > 1):
#break
return False
return True
#################################################
##### WITHOUT PLANNING
#################################################
def execute_cb_move_joint_config_direct(self, action_msgs):
rospy.loginfo("move arm to joint configuration DIRECT")
self.time_start = rospy.get_rostime() #my line
if not self.is_joint_configuration_not_in_limits(action_msgs.goal):
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_joint_direct.set_aborted(result)
return
self.pub_joint_positions.publish(action_msgs.goal)
self.duration = 6 # should be replaced with a calculated value if possible
while (not rospy.is_shutdown()):
if (self.is_goal_reached(action_msgs.goal)
or int(rospy.get_rostime().secs - self.time_start.secs) >
self.duration):
break
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_joint_direct.set_succeeded(result)
return
def execute_cb_move_cartesian_direct(self, action_msgs):
rospy.loginfo("move arm to cartesian pose DIRECT")
joint_config = self.iks.call_constraint_aware_ik_solver(
action_msgs.goal)
result = raw_arm_navigation.msg.MoveToCartesianPoseResult()
if (joint_config):
rospy.loginfo("IK solution found")
jp = brics_actuator.msg.JointPositions()
for i in range(len(self.joint_names)):
jv = brics_actuator.msg.JointValue()
jv.joint_uri = self.iks.joint_names[i]
jv.value = joint_config[i]
jv.unit = self.unit
jp.positions.append(jv)
if not self.is_joint_configuration_not_in_limits(jp):
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED
self.as_move_cart_direct.set_aborted(result)
return
self.pub_joint_positions.publish(jp)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(jp)):
break
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_cart_direct.set_succeeded(result)
return
else:
rospy.logerr("NO IK solution found")
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.NO_IK_SOLUTION
self.as_move_cart_direct.set_aborted(result)
return
return
def execute_cb_move_cartesian_rpy_sampled_direct(self, action_msgs):
rospy.loginfo("move to cartesian pose sampling for valid rpy DIRECT")
pose = raw_arm_navigation.msg.MoveToCartesianPoseGoal()
pose.goal.header.frame_id = action_msgs.goal.header.frame_id
pose.goal.pose.position.x = action_msgs.goal.pose.position.x
pose.goal.pose.position.y = action_msgs.goal.pose.position.y
pose.goal.pose.position.z = action_msgs.goal.pose.position.z
joints_not_in_limits = False
for i in range(100):
rand_value = random.randint(int(math.pi / 2 * 100),
int(math.pi * 100)) / 100.0
(qx, qy, qz,
qw) = tf.transformations.quaternion_from_euler(0, rand_value, 0)
pose.goal.header.stamp = rospy.Time.now()
pose.goal.pose.orientation.x = qx
pose.goal.pose.orientation.y = qy
pose.goal.pose.orientation.z = qz
pose.goal.pose.orientation.w = qw
joint_config = self.iks.call_constraint_aware_ik_solver(pose.goal)
if (joint_config):
rospy.loginfo("IK solution found")
jp = brics_actuator.msg.JointPositions()
for i in range(len(self.joint_names)):
jv = brics_actuator.msg.JointValue()
jv.joint_uri = self.iks.joint_names[i]
jv.value = joint_config[i]
jv.unit = self.unit
jp.positions.append(jv)
joints_not_in_limits = self.is_joint_configuration_not_in_limits(
jp)
if joints_not_in_limits:
break
result = raw_arm_navigation.msg.MoveToJointConfigurationResult()
if (joint_config and joints_not_in_limits):
self.pub_joint_positions.publish(jp)
#wait to reach the goal position
while (not rospy.is_shutdown()):
if (self.is_goal_reached(jp)):
break
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.SUCCESS
self.as_move_cart_rpy_sampled_direct.set_succeeded(result)
return
else:
rospy.logerr("NO IK solution found")
result.result.val = arm_navigation_msgs.msg.ArmNavigationErrorCodes.NO_IK_SOLUTION
self.as_move_cart_rpy_sampled_direct.set_aborted(result)
return
return
