def filter_trajectory(self, trajectory, motion_plan_request=None):
        '''
        Filters a joint trajectory and assigns times using the joint trajectory filter service.

        **Args:**

            **trajectory (trajectory_msgs.msg.JointTrajectory):** The trajectory to be filtered.  All times must be 0.

            *motion_plan_request (arm_navigation_msgs.msg.MotionPlanRequest):* If passed in the trajectory 
            filter will respect the starting state, goal constriants, and path constraints.  It will also append the 
            starting state from the motion plan request to the front of the trajectory.

        **Returns:**
            A trajectory_msgs.msg.JointTrajectory that has been filtered and had times assigned.

        **Raises:**

            **exceptions.ArmNavError:** if the trajectory cannot be filtered.  This is almost always because the 
            trajectory did not actually reach the goal state or had a collision.  Note that OMPL returns bad plans 
            with reasonable frequency so if trajectory filtering fails, you want to re-plan.
        '''
        if len(trajectory.points) < SHORTEST_FILTERABLE_TRAJECTORY:
            rospy.logwarn('Not filtering trajectory of length %d.  Too small.',
                          len(trajectory.points))
            trajectory = tt.convert_path_to_trajectory(trajectory)
            if motion_plan_request:
                trajectory = tt.add_state_to_front_of_joint_trajectory\
                    (self.arm_joint_state(robot_state=motion_plan_request.start_state), trajectory)
            return trajectory
        req = FilterJointTrajectoryWithConstraintsRequest()
        req.trajectory = trajectory
        #these have to be in the world frame... go figure
        if motion_plan_request:
            req.path_constraints =\
                self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.path_constraints)
            req.goal_constraints =\
                self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.goal_constraints)
            req.start_state = motion_plan_request.start_state
            req.group_name = motion_plan_request.group_name
        else:
            req.start_state = self._psi.get_robot_state()
            req.group_name = self.arm_name
        req.allowed_time = rospy.Duration(1.5)
        ec = ArmNavigationErrorCodes()
        try:
            traj_resp = self._filter_trajectory_with_constraints_service(req)
            ec = traj_resp.error_code
        except rospy.ServiceException:
            #this almost certainly means the trajectory doesn't reach the goal
            ec.val = ec.GOAL_CONSTRAINTS_VIOLATED
        if ec.val != ec.SUCCESS:
            raise ArmNavError('Trajectory filter failed probably because OMPL returned a bad plan.', 
                              error_code=ec, trajectory=trajectory)
        traj = traj_resp.trajectory
        if motion_plan_request:
            traj = tt.add_state_to_front_of_joint_trajectory\
                (self.arm_joint_state(robot_state=motion_plan_request.start_state), traj)
        return traj
Exemple #2
0
    def filter_trajectory(self, trajectory, motion_plan_request=None):
        '''
        Filters a joint trajectory and assigns times using the joint trajectory filter service.

        **Args:**

            **trajectory (trajectory_msgs.msg.JointTrajectory):** The trajectory to be filtered.  All times must be 0.

            *motion_plan_request (arm_navigation_msgs.msg.MotionPlanRequest):* If passed in the trajectory 
            filter will respect the starting state, goal constriants, and path constraints.  It will also append the 
            starting state from the motion plan request to the front of the trajectory.

        **Returns:**
            A trajectory_msgs.msg.JointTrajectory that has been filtered and had times assigned.

        **Raises:**

            **exceptions.ArmNavError:** if the trajectory cannot be filtered.  This is almost always because the 
            trajectory did not actually reach the goal state or had a collision.  Note that OMPL returns bad plans 
            with reasonable frequency so if trajectory filtering fails, you want to re-plan.
        '''
        if len(trajectory.points) < SHORTEST_FILTERABLE_TRAJECTORY:
            rospy.logwarn('Not filtering trajectory of length %d.  Too small.',
                          len(trajectory.points))
            trajectory = tt.convert_path_to_trajectory(trajectory)
            if motion_plan_request:
                trajectory = tt.add_state_to_front_of_joint_trajectory\
                    (self.arm_joint_state(robot_state=motion_plan_request.start_state), trajectory)
            return trajectory
        req = FilterJointTrajectoryWithConstraintsRequest()
        req.trajectory = trajectory
        #these have to be in the world frame... go figure
        if motion_plan_request:
            req.path_constraints =\
                self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.path_constraints)
            req.goal_constraints =\
                self._psi.transform_constraints(self._psi.world_frame, motion_plan_request.goal_constraints)
        req.start_state = motion_plan_request.start_state
        req.group_name = motion_plan_request.group_name
        req.allowed_time = rospy.Duration(1.5)
        ec = ArmNavigationErrorCodes()
        try:
            traj_resp = self._filter_trajectory_with_constraints_service(req)
            ec = traj_resp.error_code
        except rospy.ServiceException:
            #this almost certainly means the trajectory doesn't reach the goal
            ec.val = ec.GOAL_CONSTRAINTS_VIOLATED
        if ec.val != ec.SUCCESS:
            raise ArmNavError(
                'Trajectory filter failed probably because OMPL returned a bad plan.',
                error_code=ec,
                trajectory=trajectory)
        traj = traj_resp.trajectory
        if motion_plan_request:
            traj = tt.add_state_to_front_of_joint_trajectory\
                (self.arm_joint_state(robot_state=motion_plan_request.start_state), traj)
        return traj
    def interpolated_ik_motion_planner_callback(self, req):

        #names and angles for the joints in their desired order
        joint_names = req.motion_plan_request.start_state.joint_state.name
        start_angles = req.motion_plan_request.start_state.joint_state.position

        #sanity-checking: joint_names and start_angles should be the same length, if any start_angles are specified
        if start_angles and len(joint_names) != len(start_angles):
            rospy.logerr(
                "start_state.joint_state.name needs to be the same length as start_state.joint_state.position!  Quitting"
            )
            return 0

        #reorder the start angles to the order needed by IK
        reordered_start_angles = []

        #get the current joint states for the robot
        #joint_states_msg = rospy.wait_for_message('joint_states', JointState, 10.0)
        #if not joint_states_msg:
        #    rospy.logerr("unable to get joint_states message")
        #    return 0

        #get the desired start angles for each IK arm joint in turn from start_state.joint_state.position
        #(use the current angle if not specified)
        for joint_name in self.ik_utils.joint_names:

            #desired start angle specified
            if joint_name in joint_names and start_angles:
                index = joint_names.index(joint_name)
                reordered_start_angles.append(start_angles[index])
            else:
                rospy.logerr("missing joint angle, can't deal")
                return 0

        #get additional desired joint angles (such as for the gripper) to pass through to IK
        additional_joint_angles = []
        additional_joint_names = []
        for (ind, joint_name) in enumerate(joint_names):
            if joint_name not in self.ik_utils.joint_names:
                #rospy.loginfo("found %s"%joint_name)
                additional_joint_angles.append(start_angles[ind])
                additional_joint_names.append(joint_name)
        IK_robot_state = None
        if additional_joint_angles:
            #rospy.loginfo("adding additional start angles for:"+str(additional_joint_names))
            #rospy.loginfo("additional joint angles:"+str(additional_joint_angles))
            IK_robot_state = RobotState()
            IK_robot_state.joint_state.name = additional_joint_names
            IK_robot_state.joint_state.position = additional_joint_angles

        start_pose_stamped = self.ik_utils.run_fk(reordered_start_angles,
                                                  self.ik_utils.link_name)

        #the desired goal position
        goal_pos = req.motion_plan_request.goal_constraints.position_constraints[
            0].position

        #the frame that goal position is in
        goal_pos_frame = req.motion_plan_request.goal_constraints.position_constraints[
            0].header.frame_id

        #convert the position to base_link frame
        goal_ps = self.add_header(PointStamped(), goal_pos_frame)
        goal_ps.point = goal_pos
        goal_pos_list = self.ik_utils.point_stamped_to_list(
            goal_ps, 'base_link')

        #the desired goal orientation
        goal_quat = req.motion_plan_request.goal_constraints.orientation_constraints[
            0].orientation

        #the frame that goal orientation is in
        goal_quat_frame = req.motion_plan_request.goal_constraints.orientation_constraints[
            0].header.frame_id

        #convert the quaternion to base_link frame
        goal_qs = self.add_header(QuaternionStamped(), goal_quat_frame)
        goal_qs.quaternion = goal_quat
        goal_quat_list = self.ik_utils.quaternion_stamped_to_list(
            goal_qs, 'base_link')

        #assemble the goal pose into a PoseStamped
        goal_pose_stamped = self.add_header(PoseStamped(), 'base_link')
        goal_pose_stamped.pose = Pose(Point(*goal_pos_list),
                                      Quaternion(*goal_quat_list))

        #get the ordered collision operations, if there are any
        ordered_collision_operations = None  #req.motion_plan_request.ordered_collision_operations
        #if ordered_collision_operations.collision_operations == []:
        #    ordered_collision_operations = None

        #get the link paddings, if there are any
        link_padding = None  #req.motion_plan_request.link_padding
        #if link_padding == []:
        #    link_padding = None

        #RUN!  Check the Cartesian path for consistent, non-colliding IK solutions
        (trajectory, error_codes) = self.ik_utils.check_cartesian_path(start_pose_stamped, \
                 goal_pose_stamped, reordered_start_angles, self.pos_spacing, self.rot_spacing, \
                 self.consistent_angle, self.collision_aware, self.collision_check_resolution, \
                 self.steps_before_abort, self.num_steps, ordered_collision_operations, \
                 self.start_from_end, IK_robot_state, link_padding)

        #find appropriate velocities and times for the valid part of the resulting joint path (invalid parts set to 0)
        #if we're searching from the end, keep the end; if we're searching from the start, keep the start
        start_ind = 0
        stop_ind = len(error_codes)
        if self.start_from_end:
            for ind in range(len(error_codes) - 1, 0, -1):
                if error_codes[ind]:
                    start_ind = ind + 1
                    break
        else:
            for ind in range(len(error_codes)):
                if error_codes[ind]:
                    stop_ind = ind
                    break
        (times, vels) = self.ik_utils.trajectory_times_and_vels(
            trajectory[start_ind:stop_ind], self.max_joint_vels,
            self.max_joint_accs)
        times = [0] * start_ind + times + [0] * (len(error_codes) - stop_ind)
        vels = [[0] * 7] * start_ind + vels + [[0] * 7] * (len(error_codes) -
                                                           stop_ind)

        rospy.logdebug("trajectory:")
        for ind in range(len(trajectory)):
            rospy.logdebug("error code " + str(error_codes[ind]) + " pos : " +
                           self.pplist(trajectory[ind]))
        rospy.logdebug("")
        for ind in range(len(trajectory)):
            rospy.logdebug("time: " + "%5.3f  " % times[ind] + "vels: " +
                           self.pplist(vels[ind]))

        #the response
        res = GetMotionPlanResponse()

        #the arm joint names in the normal order, as spit out by IKQuery
        res.trajectory.joint_trajectory.joint_names = self.ik_utils.joint_names[:]

        #a list of 7-lists of joint angles, velocities, and times for a trajectory that gets you from start to goal
        #(all 0s if there was no IK solution for a point on the path)
        res.trajectory.joint_trajectory.points = []
        for i in range(len(trajectory)):
            joint_trajectory_point = JointTrajectoryPoint()
            joint_trajectory_point.positions = trajectory[i]
            joint_trajectory_point.velocities = vels[i]
            joint_trajectory_point.time_from_start = rospy.Duration(times[i])
            res.trajectory.joint_trajectory.points.append(
                joint_trajectory_point)

        #a list of ArmNavigationErrorCodes messages, one for each trajectory point, with values as follows:
        #ArmNavigationErrorCodes.SUCCESS (1): no problem
        #ArmNavigationErrorCodes.COLLISION_CONSTRAINTS_VIOLATED (-23): no non-colliding IK solution (colliding solution provided)
        #ArmNavigationErrorCodes.PATH_CONSTRAINTS_VIOLATED (-20): inconsistency in path between this point and the next point
        #ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED (-21): out of reach (no colliding solution)
        #ArmNavigationErrorCodes.PLANNING_FAILED (0): aborted before getting to this point
        error_code_dict = {0:ArmNavigationErrorCodes.SUCCESS, 1:ArmNavigationErrorCodes.COLLISION_CONSTRAINTS_VIOLATED, \
                           2:ArmNavigationErrorCodes.PATH_CONSTRAINTS_VIOLATED, 3:ArmNavigationErrorCodes.JOINT_LIMITS_VIOLATED, \
                           4:ArmNavigationErrorCodes.PLANNING_FAILED}

        trajectory_error_codes = [
            ArmNavigationErrorCodes(val=error_code_dict[error_code])
            for error_code in error_codes
        ]
        res.trajectory_error_codes = trajectory_error_codes
        res.error_code.val = ArmNavigationErrorCodes.SUCCESS if max(
            error_codes) == 0 else ArmNavigationErrorCodes.PLANNING_FAILED
        #         rospy.loginfo("trajectory:")
        #         for ind in range(len(trajectory)):
        #             rospy.loginfo("error code "+ str(error_codes[ind]) + " pos : " + self.pplist(trajectory[ind]))
        #         rospy.loginfo("")
        #         for ind in range(len(trajectory)):
        #             rospy.loginfo("time: " + "%5.3f  "%times[ind] + "vels: " + self.pplist(vels[ind]))

        return res
Exemple #4
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    def plan_interpolated_ik(self,
                             pose_stamped,
                             starting_pose=None,
                             ordered_collisions=None,
                             bounds=None,
                             starting_state=None,
                             min_acceptable_distance=None,
                             collision_aware=True,
                             reverse=False,
                             resolution=0.005,
                             nsteps=0,
                             consistent_angle=np.pi / 6.0,
                             steps_before_abort=0,
                             collision_check_resolution=2,
                             max_joint_vels=None,
                             max_joint_accs=None):
        '''
        Plans a path that follows a straight line in Cartesian space.  
        
        This function is useful for tasks like grasping where it is necessary to ensure that the gripper moves in a
        straight line relative to the world.  The trajectory returned from this function is safe to execute.  
        This function may alter the planning scene during planning, but returns it to its initial state when 
        finished.

        There are a lot of possible arguments to this function but in general the defaults work well.

        **Args:**

            **pose_stamped (geomety_msgs.msg.PoseStamped):** The ending pose for the hand frame defined in hand (see
            hand_description.py)

            *starting_pose (geometry_msgs.msg.PoseStamped):* The starting pose of the hand frame.  If None, this will
            use the current pose of the hand frame in the starting state

            *ordered_collisions (arm_navigation_msgs.msg.OrderedCollisionOperations):* Any additional collision
            operations besides those in the planning scene interface you want to use during planning.

            *bounds ([double]):* Acceptable errors for the goal position as (x, y, z, roll, pitch, yaw).  If nothing
            is passed in, uses the defaults defined in conversions.py

            *starting_state (arm_navigation_msgs.msg.RobotState):* The state of the robot at the start of the plan if
            reverse is False and at the end of the plan if reverse is True.  If you pass in a starting_pose that 
            does not match the starting state, the planner will use the starting_pose not the stating_state.  If you
            pass in a starting state and no starting pose, the planner will use the hand frame pose in the starting 
            state.  If you pass in no starting state, but you do pass in a starting_pose, the planner will solve for 
            a collision free IK solution for the starting state.  If you pass in no starting state or starting pose,
            the planner will use the current robot state in the planning scene interface.  If reverse is False, the 
            starting state will be appended to the front of the trajectory.

            *min_acceptable_distance (double):* If the planner finds a path of at least this distance (in meters), 
            it is a success.  This must be greater than zero; to disable, set to None.  

            *collision_aware (boolean):* Set to False if you want no collision checking to be done

            *reverse (boolean):* Set to True if you want the planner to start planning at pose_stamped and try to
            plan towards starting_pose.  The trajectory returned will still end at pose_stamped.

            *resolution (double):* The resolution in centimeters between points on the trajectory in Carteisan space.
            Will only be used if nsteps=0.

            *nsteps (int):* The number of steps you want on the trajectory.  If nsteps is set, resolution will be
            ignored.
            
            *consistent_angle (double):* If any joint angle between two points on this trajectory changes by more 
            than this amount, the planning will fail.
            
            *steps_before_abort (int):* The number of invalid steps (no IK solution etc) allowed before the planning
            fails.
            
            *collision_check_resolution (int):* Collisions will be checked every collision_check_resolution steps
            
            *max_joint_vels ([double]):* Maximum allowed joint velocities.  If not passed in, will be set to 0.1 for
            all joints.
            
            *max_joint_accs ([double]):* Maximum allowed joint accelerations.  If not passed in, only velocity
            constraints will be used.

        **Returns:**
            A trajectory_msgs.msg.JointTrajectory that is safe to execute in which the hand frame moves in a straight
            line in Cartesian space.
           
        **Raises:**
        
            **exceptions.ArmNavError:** if no plan can be found.

            **rospy.ServiceException:** if there is a problem with the call to the planning or parameter service
        '''
        #prior_state = self._psi.get_robot_state()
        self._psi.add_ordered_collisions(ordered_collisions)
        #if starting_state:
        #starting_state = self.get_closest_state_in_limits(robot_state=starting_state)
        #self._psi.set_robot_state(starting_state)
        if not starting_pose:
            starting_pose = self.get_hand_frame_pose(
                robot_state=starting_state,
                frame_id=pose_stamped.header.frame_id)
        else:
            starting_pose = self._psi.transform_pose_stamped(
                pose_stamped.header.frame_id, starting_pose)
        if starting_state:
            #check that it matches
            if not reverse:
                chk_pose = starting_pose
            else:
                chk_pose = pose_stamped
            starting_fk = self.get_hand_frame_pose(
                robot_state=starting_state, frame_id=chk_pose.header.frame_id)
            if not gt.near(starting_fk.pose, chk_pose.pose):
                rospy.logwarn(
                    'Input starting state does not match starting pose.  ' +
                    'Solving for an IK solution instead')
                rospy.logdebug('Starting FK is\n' + str(starting_fk) +
                               '\nCheck pose is\n' + str(chk_pose))
                rospy.logdebug(
                    'Euclidean distance is: ' + str(
                        gt.euclidean_distance(starting_fk.pose.position,
                                              chk_pose.pose.position)) +
                    ', angular distance is: ' + str(
                        gt.quaternion_distance(starting_fk.pose.orientation,
                                               chk_pose.pose.orientation)))
                starting_state = None
        if not starting_state:
            if reverse:
                ik_sol = self.get_ik(pose_stamped,
                                     collision_aware=collision_aware)
            else:
                ik_sol = self.get_ik(starting_pose,
                                     collision_aware=collision_aware)
            if ik_sol.error_code.val != ik_sol.error_code.SUCCESS:
                rospy.logerr(
                    'Starting pose for interpolated IK had IK error ' +
                    str(ik_sol.error_code.val))
                raise ArmNavError(
                    'Starting pose for interpolated IK had no IK solution',
                    error_code=ik_sol.error_code)
            starting_state = ik_sol.solution
            #self._psi.set_robot_state(starting_state)
        rospy.logdebug('Planning interpolated IK from\n' + str(starting_pose) +
                       '\nto\n' + str(pose_stamped))
        init_state = RobotState()
        init_state.joint_state = starting_state.joint_state
        init_state.multi_dof_joint_state.frame_ids.append(
            starting_pose.header.frame_id)
        init_state.multi_dof_joint_state.child_frame_ids.append(
            self.hand.hand_frame)
        init_state.multi_dof_joint_state.poses.append(starting_pose.pose)
        goal = conv.pose_stamped_to_motion_plan_request(pose_stamped,
                                                        self.hand.hand_frame,
                                                        self.arm_name,
                                                        init_state,
                                                        bounds=bounds)
        dist = gt.euclidean_distance(pose_stamped.pose.position,
                                     starting_pose.pose.position)
        if nsteps == 0:
            if resolution == 0:
                rospy.logwarn(
                    'Resolution and steps were both zero in interpolated IK.  '
                    + 'Using default resolution of 0.005')
                resolution = 0.005
            nsteps = int(dist / resolution)
        res = dist / nsteps
        req = SetInterpolatedIKMotionPlanParamsRequest()
        req.num_steps = nsteps
        req.consistent_angle = consistent_angle
        req.collision_check_resolution = collision_check_resolution
        req.steps_before_abort = steps_before_abort
        req.collision_aware = collision_aware
        req.start_from_end = reverse
        if max_joint_vels:
            req.max_joint_vels = max_joint_vels
        if max_joint_accs:
            req.max_joint_accs = max_joint_accs
        self._interpolated_ik_parameter_service(req)
        rospy.loginfo(
            'Calling interpolated ik motion planning service.  Expecting ' +
            str(nsteps) + ' steps')
        rospy.logdebug('Sending goal\n' + str(goal))
        ik_resp = self._interpolated_ik_planning_service(goal)
        self._psi.remove_ordered_collisions(ordered_collisions)
        #self._psi.set_robot_state(prior_state)
        traj = ik_resp.trajectory.joint_trajectory
        first_index = 0
        rospy.logdebug('Trajectory error codes are ' +
                       str([e.val for e in ik_resp.trajectory_error_codes]))
        if reverse:
            for first_index in range(len(ik_resp.trajectory_error_codes)):
                e = ik_resp.trajectory_error_codes[first_index]
                if e.val == e.SUCCESS:
                    break
        last_index = 0
        e = ArmNavigationErrorCodes()
        e.val = e.SUCCESS
        for last_index in range(first_index,
                                len(ik_resp.trajectory_error_codes) + 1):
            if last_index == len(ik_resp.trajectory_error_codes):
                #the whole trajectory works
                break
            e = ik_resp.trajectory_error_codes[last_index]
            if e.val != e.SUCCESS:
                rospy.logerr('Interpolated IK failed with error ' +
                             str(e.val) + ' on step ' + str(last_index) +
                             ' after distance ' +
                             str((last_index + 1 - first_index) * res))
                last_index -= 1
                break
        rospy.logdebug('First index = ' + str(first_index) +
                       ', last index = ' + str(last_index))
        distance = (last_index - first_index) * res
        traj.points = traj.points[first_index:max(0, last_index)]
        rospy.loginfo('Interpolated IK returned trajectory with ' +
                      str(len(traj.points)) + ' points')
        if e.val != e.SUCCESS and (not min_acceptable_distance
                                   or distance < min_acceptable_distance):
            raise ArmNavError(
                'Interpolated IK failed after ' +
                str(last_index - first_index) + ' steps.',
                error_code=e,
                trajectory_error_codes=ik_resp.trajectory_error_codes,
                trajectory=traj)
        if not reverse or not traj.points:
            return tt.add_state_to_front_of_joint_trajectory(
                self.arm_joint_state(robot_state=starting_state), traj)
        return traj
    def plan_interpolated_ik(self, pose_stamped, starting_pose=None, ordered_collisions=None, bounds = None, 
                             starting_state=None, min_acceptable_distance=None, collision_aware=True,
                             reverse=False, resolution=0.005, nsteps=0, consistent_angle=np.pi/6.0, 
                             steps_before_abort=0, collision_check_resolution=2, max_joint_vels=None, 
                             max_joint_accs=None):
        '''
        Plans a path that follows a straight line in Cartesian space.  
        
        This function is useful for tasks like grasping where it is necessary to ensure that the gripper moves in a
        straight line relative to the world.  The trajectory returned from this function is safe to execute.  
        This function may alter the planning scene during planning, but returns it to its initial state when 
        finished.

        There are a lot of possible arguments to this function but in general the defaults work well.

        **Args:**

            **pose_stamped (geomety_msgs.msg.PoseStamped):** The ending pose for the hand frame defined in hand (see
            hand_description.py)

            *starting_pose (geometry_msgs.msg.PoseStamped):* The starting pose of the hand frame.  If None, this will
            use the current pose of the hand frame in the starting state

            *ordered_collisions (arm_navigation_msgs.msg.OrderedCollisionOperations):* Any additional collision
            operations besides those in the planning scene interface you want to use during planning.

            *bounds ([double]):* Acceptable errors for the goal position as (x, y, z, roll, pitch, yaw).  If nothing
            is passed in, uses the defaults defined in conversions.py

            *starting_state (arm_navigation_msgs.msg.RobotState):* The state of the robot at the start of the plan if
            reverse is False and at the end of the plan if reverse is True.  If you pass in a starting_pose that 
            does not match the starting state, the planner will use the starting_pose not the stating_state.  If you
            pass in a starting state and no starting pose, the planner will use the hand frame pose in the starting 
            state.  If you pass in no starting state, but you do pass in a starting_pose, the planner will solve for 
            a collision free IK solution for the starting state.  If you pass in no starting state or starting pose,
            the planner will use the current robot state in the planning scene interface.  If reverse is False, the 
            starting state will be appended to the front of the trajectory.

            *min_acceptable_distance (double):* If the planner finds a path of at least this distance (in meters), 
            it is a success.  This must be greater than zero; to disable, set to None.  

            *collision_aware (boolean):* Set to False if you want no collision checking to be done

            *reverse (boolean):* Set to True if you want the planner to start planning at pose_stamped and try to
            plan towards starting_pose.  The trajectory returned will still end at pose_stamped.

            *resolution (double):* The resolution in centimeters between points on the trajectory in Carteisan space.
            Will only be used if nsteps=0.

            *nsteps (int):* The number of steps you want on the trajectory.  If nsteps is set, resolution will be
            ignored.
            
            *consistent_angle (double):* If any joint angle between two points on this trajectory changes by more 
            than this amount, the planning will fail.
            
            *steps_before_abort (int):* The number of invalid steps (no IK solution etc) allowed before the planning
            fails.
            
            *collision_check_resolution (int):* Collisions will be checked every collision_check_resolution steps
            
            *max_joint_vels ([double]):* Maximum allowed joint velocities.  If not passed in, will be set to 0.1 for
            all joints.
            
            *max_joint_accs ([double]):* Maximum allowed joint accelerations.  If not passed in, only velocity
            constraints will be used.

        **Returns:**
            A trajectory_msgs.msg.JointTrajectory that is safe to execute in which the hand frame moves in a straight
            line in Cartesian space.
           
        **Raises:**
        
            **exceptions.ArmNavError:** if no plan can be found.

            **rospy.ServiceException:** if there is a problem with the call to the planning or parameter service
        '''
        #prior_state = self._psi.get_robot_state()
        self._psi.add_ordered_collisions(ordered_collisions)
        #if starting_state:
            #starting_state = self.get_closest_state_in_limits(robot_state=starting_state)
            #self._psi.set_robot_state(starting_state)
        if not starting_pose:
            starting_pose = self.get_hand_frame_pose(robot_state=starting_state, frame_id=pose_stamped.header.frame_id)
        else:
            starting_pose = self._psi.transform_pose_stamped(pose_stamped.header.frame_id, starting_pose)
        if starting_state:
            #check that it matches
            if not reverse:
                chk_pose = starting_pose
            else:
                chk_pose = pose_stamped
            starting_fk = self.get_hand_frame_pose(robot_state=starting_state, 
                                                   frame_id=chk_pose.header.frame_id)
            if not gt.near(starting_fk.pose, chk_pose.pose):
                rospy.logwarn('Input starting state does not match starting pose.  '+
                              'Solving for an IK solution instead')
                rospy.logdebug('Starting FK is\n'+str(starting_fk)+'\nCheck pose is\n'+str(chk_pose))
                rospy.logdebug('Euclidean distance is: '+
                               str(gt.euclidean_distance(starting_fk.pose.position, chk_pose.pose.position))+
                               ', angular distance is: '+
                               str(gt.quaternion_distance(starting_fk.pose.orientation, chk_pose.pose.orientation)))
                starting_state = None
        if not starting_state:
            if reverse:
                ik_sol = self.get_ik(pose_stamped, collision_aware=collision_aware)
            else:
                ik_sol = self.get_ik(starting_pose, collision_aware=collision_aware)
            if ik_sol.error_code.val != ik_sol.error_code.SUCCESS:
                rospy.logerr('Starting pose for interpolated IK had IK error '+str(ik_sol.error_code.val))
                raise ArmNavError('Starting pose for interpolated IK had no IK solution', 
                                  error_code = ik_sol.error_code)
            starting_state = ik_sol.solution
            #self._psi.set_robot_state(starting_state)
        rospy.logdebug('Planning interpolated IK from\n'+str(starting_pose)+'\nto\n'+str(pose_stamped))
        init_state = RobotState()
        init_state.joint_state = starting_state.joint_state
        init_state.multi_dof_joint_state.frame_ids.append(starting_pose.header.frame_id)
        init_state.multi_dof_joint_state.child_frame_ids.append(self.hand.hand_frame)
        init_state.multi_dof_joint_state.poses.append(starting_pose.pose)
        goal = conv.pose_stamped_to_motion_plan_request(pose_stamped, self.hand.hand_frame, self.arm_name,
                                                        init_state, bounds=bounds)
        dist = gt.euclidean_distance(pose_stamped.pose.position, starting_pose.pose.position)
        if nsteps == 0:
            if resolution == 0:
                rospy.logwarn('Resolution and steps were both zero in interpolated IK.  '+
                              'Using default resolution of 0.005')
                resolution = 0.005
            nsteps = int(dist/resolution)
        res = dist/nsteps
        req = SetInterpolatedIKMotionPlanParamsRequest()
        req.num_steps = nsteps
        req.consistent_angle = consistent_angle
        req.collision_check_resolution = collision_check_resolution
        req.steps_before_abort = steps_before_abort
        req.collision_aware = collision_aware
        req.start_from_end = reverse
        if max_joint_vels:
            req.max_joint_vels = max_joint_vels
        if max_joint_accs:
            req.max_joint_accs = max_joint_accs
        self._interpolated_ik_parameter_service(req)
        rospy.loginfo('Calling interpolated ik motion planning service.  Expecting '+str(nsteps)+' steps')
        rospy.logdebug('Sending goal\n'+str(goal))
        ik_resp = self._interpolated_ik_planning_service(goal)
        self._psi.remove_ordered_collisions(ordered_collisions)
        #self._psi.set_robot_state(prior_state)
        traj = ik_resp.trajectory.joint_trajectory
        first_index = 0
        rospy.logdebug('Trajectory error codes are '+str([e.val for e in ik_resp.trajectory_error_codes]))
        if reverse:
            for first_index in range(len(ik_resp.trajectory_error_codes)):
                e = ik_resp.trajectory_error_codes[first_index]
                if e.val == e.SUCCESS:
                    break
	last_index = 0
	e = ArmNavigationErrorCodes()
	e.val = e.SUCCESS
        for last_index in range(first_index,len(ik_resp.trajectory_error_codes)+1):
            if last_index == len(ik_resp.trajectory_error_codes):
                #the whole trajectory works
                break
            e = ik_resp.trajectory_error_codes[last_index]
            if e.val != e.SUCCESS:
                rospy.logerr('Interpolated IK failed with error '+str(e.val)+' on step ' +str(last_index)+
                             ' after distance '+ str((last_index+1-first_index)*res))
                last_index -= 1
                break
        rospy.logdebug('First index = '+str(first_index)+', last index = '+str(last_index))
        distance = (last_index-first_index)*res
        traj.points = traj.points[first_index:max(0,last_index)]
        rospy.loginfo('Interpolated IK returned trajectory with '+str(len(traj.points))+' points')
        if e.val != e.SUCCESS and (not min_acceptable_distance or distance < min_acceptable_distance):
            raise ArmNavError('Interpolated IK failed after '+str(last_index-first_index)+' steps.', error_code=e,
                              trajectory_error_codes = ik_resp.trajectory_error_codes, trajectory=traj)
        if not reverse or not traj.points:
            return tt.add_state_to_front_of_joint_trajectory(self.arm_joint_state(robot_state=starting_state), traj)
        return traj