def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('get_joint_states', anonymous=True)
# Initialize the MoveIt! commander for the right arm
right_arm = MoveGroupCommander('tx90_arm')
# Get the end-effector link
end_effector_link = right_arm.get_end_effector_link()
# Joints are stored in the order they appear in the kinematic chain
joint_names = right_arm.get_active_joints()
# Display the joint names
rospy.loginfo("Joint names:\n" + str(joint_names))
# Get the current joint angles
joint_values = right_arm.get_current_joint_values()
# Display the joint values
rospy.loginfo("Joint values:\n" + str(joint_values) + "\n")
# # Get the end-effector pose
ee_pose = right_arm.get_current_pose(end_effector_link)
# Display the end-effector pose
rospy.loginfo("End effector pose:\n" + str(ee_pose))
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('get_joint_states', anonymous=True)
# Initialize the MoveIt! commander for the right arm
arm = MoveGroupCommander('right_arm')
# Get the end-effector link
end_effector_link = arm.get_end_effector_link()
rospy.loginfo("End effector: %s" % end_effector_link)
planning_frame = arm.get_planning_frame()
# Joints are stored in the order they appear in the kinematic chain
joint_names = arm.get_active_joints()
joint_names = [
'right_arm_shoulder_rotate_joint', 'right_arm_shoulder_lift_joint',
'right_arm_elbow_rotate_joint', 'right_arm_elbow_bend_joint',
'right_arm_wrist_bend_joint', 'right_arm_wrist_rotate_joint'
]
# Display the joint names
#rospy.loginfo("Joint names:\n" + str(joint_names) + "\n")
# Get the current joint angles
joint_values = arm.get_current_joint_values()
# Display the joint values
rospy.loginfo("Joint values:\n" + str(joint_values) + "\n")
# Get the end-effector pose
ee_pose = arm.get_current_pose(end_effector_link)
orientation = ee_pose.pose.orientation
ox = orientation.x
oy = orientation.y
oz = orientation.z
ow = orientation.w
euler_pose = euler_from_quaternion([ow, ox, oy, oz])
#euler_pose = euler_from_quaternion([0.0, 0.0, 0.0, 1.0])
# Display the end-effector pose
rospy.loginfo("End effector pose:\n" + str(ee_pose))
rospy.loginfo("RPY?:\n" + str(euler_pose))
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
class CalibrationMovements:
def __init__(self,
move_group_name,
max_velocity_scaling,
max_acceleration_scaling,
angle_delta,
translation_delta,
move_group_namespace='/'):
# self.client = HandeyeClient() # TODO: move around marker when eye_on_hand, automatically take samples via trigger topic
if not move_group_namespace.endswith('/'):
move_group_namespace = move_group_namespace + '/'
if move_group_namespace != '/':
self.mgc = MoveGroupCommander(
move_group_name,
robot_description=move_group_namespace + 'robot_description',
ns=move_group_namespace)
else:
self.mgc = MoveGroupCommander(move_group_name)
self.mgc.set_planner_id("RRTConnectkConfigDefault"
) # TODO: this is only needed for the UR5
self.mgc.set_max_velocity_scaling_factor(max_velocity_scaling)
self.mgc.set_max_acceleration_scaling_factor(max_acceleration_scaling)
self.start_pose = self.mgc.get_current_pose()
self.joint_limits = [math.radians(90)] * 5 + [math.radians(180)] + [
math.radians(350)
] # TODO: make param
self.target_poses = []
self.current_pose_index = None
self.current_plan = None
self.fallback_joint_limits = [math.radians(90)] * 4 + [
math.radians(90)
] + [math.radians(180)] + [math.radians(350)]
if len(self.mgc.get_active_joints()) == 6:
self.fallback_joint_limits = self.fallback_joint_limits[1:]
self.angle_delta = angle_delta
self.translation_delta = translation_delta
def set_and_check_starting_position(self):
# sets the starting position to the current robot cartesian EE position and checks movement in all directions
# TODO: make repeatable
# - save the home position and each target position as joint position
# - plan to each target position and back, save plan if not crazy
# - return true if can plan to each target position without going crazy
self.start_pose = self.mgc.get_current_pose()
self.target_poses = self._compute_poses_around_state(
self.start_pose, self.angle_delta, self.translation_delta)
self.current_pose_index = -1
ret = self._check_target_poses(self.joint_limits)
if ret:
rospy.loginfo("Set current pose as home")
return True
else:
rospy.logerr("Can't calibrate from this position!")
self.start_pose = None
self.target_poses = None
return False
def select_target_pose(self, i):
number_of_target_poses = len(self.target_poses)
if 0 <= i < number_of_target_poses:
rospy.loginfo("Selected pose {} for next movement".format(i))
self.current_pose_index = i
return True
else:
rospy.logerr(
"Index {} is out of bounds: there are {} target poses".format(
i, number_of_target_poses))
return False
def plan_to_start_pose(self):
# TODO: use joint position http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-joint-goal
rospy.loginfo("Planning to home pose")
return self._plan_to_pose(self.start_pose)
def plan_to_current_target_pose(self):
# TODO: use joint position http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html#planning-to-a-joint-goal
i = self.current_pose_index
rospy.loginfo("Planning to target pose {}".format(i))
return self._plan_to_pose(self.target_poses[i])
def execute_plan(self):
if self.plan is None:
rospy.logerr("No plan found!")
return False
if CalibrationMovements._is_crazy_plan(self.plan,
self.fallback_joint_limits):
rospy.logerr("Crazy plan found, not executing!")
return False
self.mgc.execute(self.plan)
return True
def _plan_to_pose(self, pose):
self.mgc.set_start_state_to_current_state()
self.mgc.set_pose_target(pose)
ret = self.mgc.plan()
if type(ret) is tuple:
# noetic
success, plan, planning_time, error_code = ret
else:
# melodic
plan = ret
if CalibrationMovements._is_crazy_plan(plan,
self.fallback_joint_limits):
rospy.logwarn("Planning failed")
self.plan = None
return False
else:
rospy.loginfo("Planning successful")
self.plan = plan
return True
def _check_target_poses(self, joint_limits):
if len(self.fallback_joint_limits) == 6:
joint_limits = joint_limits[1:]
for fp in self.target_poses:
self.mgc.set_pose_target(fp)
ret = self.mgc.plan()
if type(ret) is tuple:
# noetic
success, plan, planning_time, error_code = ret
else:
# melodic
plan = ret
if len(plan.joint_trajectory.points
) == 0 or CalibrationMovements._is_crazy_plan(
plan, joint_limits):
return False
return True
@staticmethod
def _compute_poses_around_state(start_pose, angle_delta,
translation_delta):
basis = np.eye(3)
pos_deltas = [
quaternion_from_euler(*rot_axis * angle_delta)
for rot_axis in basis
]
neg_deltas = [
quaternion_from_euler(*rot_axis * (-angle_delta))
for rot_axis in basis
]
quaternion_deltas = list(
chain.from_iterable(zip(pos_deltas, neg_deltas))) # interleave
final_rots = []
for qd in quaternion_deltas:
final_rots.append(list(qd))
# TODO: accept a list of delta values
pos_deltas = [
quaternion_from_euler(*rot_axis * angle_delta / 2)
for rot_axis in basis
]
neg_deltas = [
quaternion_from_euler(*rot_axis * (-angle_delta / 2))
for rot_axis in basis
]
quaternion_deltas = list(
chain.from_iterable(zip(pos_deltas, neg_deltas))) # interleave
for qd in quaternion_deltas:
final_rots.append(list(qd))
final_poses = []
for rot in final_rots:
fp = deepcopy(start_pose)
ori = fp.pose.orientation
combined_rot = quaternion_multiply([ori.x, ori.y, ori.z, ori.w],
rot)
fp.pose.orientation = Quaternion(*combined_rot)
final_poses.append(fp)
fp = deepcopy(start_pose)
fp.pose.position.x += translation_delta / 2
final_poses.append(fp)
fp = deepcopy(start_pose)
fp.pose.position.x -= translation_delta / 2
final_poses.append(fp)
fp = deepcopy(start_pose)
fp.pose.position.y += translation_delta
final_poses.append(fp)
fp = deepcopy(start_pose)
fp.pose.position.y -= translation_delta
final_poses.append(fp)
fp = deepcopy(start_pose)
fp.pose.position.z += translation_delta / 3
final_poses.append(fp)
return final_poses
@staticmethod
def _rot_per_joint(plan, degrees=False):
np_traj = np.array([p.positions for p in plan.joint_trajectory.points])
if len(np_traj) == 0:
raise ValueError
np_traj_max_per_joint = np_traj.max(axis=0)
np_traj_min_per_joint = np_traj.min(axis=0)
ret = abs(np_traj_max_per_joint - np_traj_min_per_joint)
if degrees:
ret = [math.degrees(j) for j in ret]
return ret
@staticmethod
def _is_crazy_plan(plan, max_rotation_per_joint):
abs_rot_per_joint = CalibrationMovements._rot_per_joint(plan)
if (abs_rot_per_joint > max_rotation_per_joint).any():
return True
else:
return False
class CalibrationMovements:
def __init__(self,
move_group_name,
max_velocity_scaling=0.5,
max_acceleration_scaling=0.5):
#self.client = HandeyeClient() # TODO: move around marker when eye_on_hand, automatically take samples via trigger topic
self.mgc = MoveGroupCommander(move_group_name)
self.mgc.set_planner_id("RRTConnectkConfigDefault")
self.mgc.set_max_velocity_scaling_factor(max_velocity_scaling)
self.mgc.set_max_acceleration_scaling_factor(max_acceleration_scaling)
self.start_pose = self.mgc.get_current_pose()
self.poses = []
self.current_pose_index = -1
self.fallback_joint_limits = [math.radians(90)] * 4 + [
math.radians(90)
] + [math.radians(180)] + [math.radians(350)]
if len(self.mgc.get_active_joints()) == 6:
self.fallback_joint_limits = self.fallback_joint_limits[1:]
def compute_poses_around_current_state(self, angle_delta,
translation_delta):
self.start_pose = self.mgc.get_current_pose()
basis = np.eye(3)
pos_deltas = [
quaternion_from_euler(*rot_axis * angle_delta)
for rot_axis in basis
]
neg_deltas = [
quaternion_from_euler(*rot_axis * (-angle_delta))
for rot_axis in basis
]
quaternion_deltas = list(
chain.from_iterable(izip(pos_deltas, neg_deltas))) # interleave
final_rots = []
for qd in quaternion_deltas:
final_rots.append(list(qd))
# TODO: clean up
pos_deltas = [
quaternion_from_euler(*rot_axis * angle_delta / 2)
for rot_axis in basis
]
neg_deltas = [
quaternion_from_euler(*rot_axis * (-angle_delta / 2))
for rot_axis in basis
]
quaternion_deltas = list(
chain.from_iterable(izip(pos_deltas, neg_deltas))) # interleave
for qd in quaternion_deltas:
final_rots.append(list(qd))
final_poses = []
for rot in final_rots:
fp = deepcopy(self.start_pose)
ori = fp.pose.orientation
combined_rot = quaternion_multiply([ori.x, ori.y, ori.z, ori.w],
rot)
fp.pose.orientation = Quaternion(*combined_rot)
final_poses.append(fp)
fp = deepcopy(self.start_pose)
fp.pose.position.x += translation_delta / 2
final_poses.append(fp)
fp = deepcopy(self.start_pose)
fp.pose.position.x -= translation_delta / 2
final_poses.append(fp)
fp = deepcopy(self.start_pose)
fp.pose.position.y += translation_delta
final_poses.append(fp)
fp = deepcopy(self.start_pose)
fp.pose.position.y -= translation_delta
final_poses.append(fp)
fp = deepcopy(self.start_pose)
fp.pose.position.z += translation_delta / 3
final_poses.append(fp)
self.poses = final_poses
self.current_pose_index = -1
def check_poses(self, joint_limits):
if len(self.fallback_joint_limits) == 6:
joint_limits = joint_limits[1:]
for fp in self.poses:
self.mgc.set_pose_target(fp)
plan = self.mgc.plan()
if len(plan.joint_trajectory.points
) == 0 or CalibrationMovements.is_crazy_plan(
plan, joint_limits):
return False
return True
def plan_to_start_pose(self):
return self.plan_to_pose(self.start_pose)
def plan_to_pose(self, pose):
self.mgc.set_start_state_to_current_state()
self.mgc.set_pose_target(pose)
plan = self.mgc.plan()
return plan
def execute_plan(self, plan):
if CalibrationMovements.is_crazy_plan(plan,
self.fallback_joint_limits):
raise RuntimeError("got crazy plan!")
self.mgc.execute(plan)
@staticmethod
def rot_per_joint(plan, degrees=False):
np_traj = np.array([p.positions for p in plan.joint_trajectory.points])
if len(np_traj) == 0:
raise ValueError
np_traj_max_per_joint = np_traj.max(axis=0)
np_traj_min_per_joint = np_traj.min(axis=0)
ret = abs(np_traj_max_per_joint - np_traj_min_per_joint)
if degrees:
ret = [math.degrees(j) for j in ret]
return ret
@staticmethod
def is_crazy_plan(plan, max_rotation_per_joint):
abs_rot_per_joint = CalibrationMovements.rot_per_joint(plan)
if (abs_rot_per_joint > max_rotation_per_joint).any():
return True
else:
return False
raw_input("please input")
# [00000000]
print right_arm.get_joint_value_target()
print both_arms.get_joint_value_target()
# no this functions
# print right_arm.get_named_targets()
print right_arm.get_remembered_joint_values()
print both_arms.get_remembered_joint_values()
print right_arm.get_path_constraints()
print both_arms.get_path_constraints()
print right_arm.get_active_joints()
print both_arms.get_active_joints()
print right_arm.get_current_joint_values()
print right_arm.get_current_pose()
print right_arm.get_current_rpy()
print both_arms.get_current_joint_values()
print both_arms.get_current_pose()
print both_arms.get_current_rpy()
right_arm.clear_pose_targets()
left_current_pose = both_arms.get_current_pose(end_effector_link='left_gripper').pose
right_current_pose = both_arms.get_current_pose(end_effector_link='right_gripper').pose
print left_current_pose
class TestMoveit(unittest.TestCase):
_MOVEGROUP_MAIN = 'manipulator'
_KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'
@classmethod
def setUpClass(self):
rospy.init_node('test_moveit_vs060')
self.robot = RobotCommander()
self._mvgroup = MoveGroupCommander(self._MOVEGROUP_MAIN)
# Temporary workaround of planner's issue similar to https://github.com/tork-a/rtmros_nextage/issues/170
self._mvgroup.set_planner_id(self._KINEMATICSOLVER_SAFE)
self._movegroups = sorted(['manipulator', 'manipulator_flange'])
self._joints_movegroup_main = sorted(
['j1', 'j2', 'j3', 'j4', 'j5', 'flange'])
@classmethod
def tearDownClass(self):
True # TODO impl something meaningful
def _set_sample_pose(self):
'''
@return: Pose() with some values populated in.
'''
pose_target = Pose()
pose_target.orientation.x = 0.00
pose_target.orientation.y = 0.00
pose_target.orientation.z = -0.20
pose_target.orientation.w = 0.98
pose_target.position.x = 0.18
pose_target.position.y = 0.18
pose_target.position.z = 0.94
return pose_target
def _plan(self):
'''
Run `clear_pose_targets` at the beginning.
@rtype: RobotTrajectory http://docs.ros.org/api/moveit_msgs/html/msg/RobotTrajectory.html
'''
self._mvgroup.clear_pose_targets()
pose_target = self._set_sample_pose()
self._mvgroup.set_pose_target(pose_target)
plan = self._mvgroup.plan()
rospy.loginfo(' plan: '.format(plan))
return plan
def test_list_movegroups(self):
'''Check if the defined move groups are loaded.'''
self.assertEqual(self._movegroups,
sorted(self.robot.get_group_names()))
def test_list_activejoints(self):
'''Check if the defined joints in a move group are loaded.'''
self.assertEqual(self._joints_movegroup_main,
sorted(self._mvgroup.get_active_joints()))
def test_plan(self):
'''Evaluate plan (RobotTrajectory)'''
plan = self._plan()
# TODO Better way to check the plan is valid.
# Currently the following checks if the number of waypoints is not zero,
# which (hopefully) indicates that a path is computed.
self.assertNotEqual(0, plan.joint_trajectory.points)
def test_planandexecute(self):
'''
Evaluate Plan and Execute works.
Currently no value checking is done (, which is better to be implemented)
'''
self._plan()
# TODO Better way to check the plan is valid.
# The following checks if plan execution was successful or not.
self.assertTrue(self._mvgroup.go())
def test_set_pose_target(self):
'''
Check for simple planning, originally testd in moved from denso_vs060_moveit_demo_test.py
'''
self._plan()
p = [0.1, -0.35, 0.4]
pose = PoseStamped(
header=rospy.Header(stamp=rospy.Time.now(), frame_id='/BASE'),
pose=Pose(position=Point(*p),
orientation=Quaternion(
*quaternion_from_euler(1.57, 0, 1.57, 'sxyz'))))
self._mvgroup.set_pose_target(pose)
self.assertTrue(self._mvgroup.go() or self._mvgroup.go())
def test_planning_scene(self):
'''
Check if publish_simple_scene.py is working
'''
rospy.wait_for_service('/get_planning_scene', timeout=20)
get_planning_scene = rospy.ServiceProxy("/get_planning_scene",
GetPlanningScene)
collision_objects = []
# wait for 10 sec
time_start = rospy.Time.now()
while not collision_objects and (rospy.Time.now() -
time_start).to_sec() < 10.0:
world = get_planning_scene(
PlanningSceneComponents(components=PlanningSceneComponents.
WORLD_OBJECT_NAMES)).scene.world
collision_objects = world.collision_objects
rospy.loginfo("collision_objects = " +
str(world.collision_objects))
rospy.sleep(1)
self.assertTrue(world.collision_objects != [], world)
class SrRobotCommander(object):
"""
Base class for hand and arm commanders.
"""
def __init__(self, name):
"""
Initialize MoveGroupCommander object.
@param name - name of the MoveIt group.
"""
self._name = name
self._move_group_commander = MoveGroupCommander(name)
self._robot_commander = RobotCommander()
self._robot_name = self._robot_commander._r.get_robot_name()
self.refresh_named_targets()
self._warehouse_name_get_srv = rospy.ServiceProxy("get_robot_state",
GetState)
self._planning_scene = PlanningSceneInterface()
self._joint_states_lock = threading.Lock()
self._joint_states_listener = \
rospy.Subscriber("joint_states", JointState,
self._joint_states_callback, queue_size=1)
self._joints_position = {}
self._joints_velocity = {}
self._joints_effort = {}
self._joints_state = None
self._clients = {}
self.__plan = None
self._controllers = {}
rospy.wait_for_service('compute_ik')
self._compute_ik = rospy.ServiceProxy('compute_ik', GetPositionIK)
self._forward_k = rospy.ServiceProxy('compute_fk', GetPositionFK)
controller_list_param = rospy.get_param("/move_group/controller_list")
# create dictionary with name of controllers and corresponding joints
self._controllers = {item["name"]: item["joints"] for item in controller_list_param}
self._set_up_action_client(self._controllers)
self.tf_buffer = tf2_ros.Buffer()
self.listener = tf2_ros.TransformListener(self.tf_buffer)
threading.Thread(None, rospy.spin)
def _is_trajectory_valid(self, trajectory, required_keys):
if type(trajectory) != list:
rospy.logerr("Trajectory is not a list of waypoints")
return False
no_error = True
for k in required_keys:
if "|" in k:
optional = k.split("|")
if len(set(optional).intersection(set(trajectory[0].keys()))) == 0:
rospy.logerr("Trajectory is missing both of {} keys".format(optional))
no_error = False
else:
if k not in list(trajectory[0].keys()):
rospy.logerr("Trajectory waypoint missing {}".format(k))
no_error = False
return no_error
def set_planner_id(self, planner_id):
"""
Sets the planner_id used for all future planning requests.
@param planner_id - The string for the planner id, set to None to clear.
"""
self._move_group_commander.set_planner_id(planner_id)
def set_num_planning_attempts(self, num_planning_attempts):
self._move_group_commander.set_num_planning_attempts(num_planning_attempts)
def set_planning_time(self, seconds):
"""
Specifies the amount of time to be used for motion planning.
Some planning algorithms might require more time than others to compute
a valid solution.
"""
self._move_group_commander.set_planning_time(seconds)
def get_end_effector_pose_from_named_state(self, name):
state = self._warehouse_name_get_srv(name, self._robot_name).state
return self.get_end_effector_pose_from_state(state)
def get_end_effector_pose_from_state(self, state):
header = Header()
fk_link_names = [self._move_group_commander.get_end_effector_link()]
header.frame_id = self._move_group_commander.get_pose_reference_frame()
response = self._forward_k(header, fk_link_names, state)
return response.pose_stamped[0]
def get_planning_frame(self):
"""
@return - returns the name of the frame wrt which the motion planning
is computed.
"""
return self._move_group_commander.get_planning_frame()
def set_pose_reference_frame(self, reference_frame):
"""
Set the reference frame to assume for poses of end-effectors.
@param reference_frame - name of the frame.
"""
self._move_group_commander.set_pose_reference_frame(reference_frame)
def get_group_name(self):
return self._name
def refresh_named_targets(self):
self._srdf_names = self.__get_srdf_names()
self._warehouse_names = self.__get_warehouse_names()
def set_max_velocity_scaling_factor(self, value):
"""
Set a scaling factor for optionally reducing the maximum joint velocity.
@param value - Allowed values are in (0,1].
"""
self._move_group_commander.set_max_velocity_scaling_factor(value)
def set_max_acceleration_scaling_factor(self, value):
"""
Set a scaling factor for optionally reducing the maximum joint accelaration.
@param value - Allowed values are in (0,1].
"""
self._move_group_commander.set_max_acceleration_scaling_factor(value)
def allow_looking(self, value):
"""
Enable/disable looking around for motion planning.
@param value - boolean.
"""
self._move_group_commander.allow_looking(value)
def allow_replanning(self, value):
"""
Enable/disable replanning in case new obstacles are detected
while executing a plan.
@param value - boolean.
"""
self._move_group_commander.allow_replanning(value)
def execute(self):
"""
Executes the last plan made.
@return - Success of execution.
"""
is_executed = False
if self.check_plan_is_valid():
is_executed = self._move_group_commander.execute(self.__plan)
self.__plan = None
else:
rospy.logwarn("No plans were made, not executing anything.")
if not is_executed:
rospy.logerr("Execution failed.")
else:
rospy.loginfo("Execution succeeded.")
return is_executed
def execute_plan(self, plan):
"""
Executes a given plan.
@param plan - RobotTrajectory msg that contains the trajectory
to the set goal state.
@return - Success of execution.
"""
is_executed = False
if self.check_given_plan_is_valid(plan):
is_executed = self._move_group_commander.execute(plan)
self.__plan = None
else:
rospy.logwarn("Plan is not valid, not executing anything.")
if not is_executed:
rospy.logerr("Execution failed.")
else:
rospy.loginfo("Execution succeeded.")
return is_executed
def move_to_joint_value_target(self, joint_states, wait=True,
angle_degrees=False):
"""
Set target of the robot's links and moves to it.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param wait - should method wait for movement end or not.
@param angle_degrees - are joint_states in degrees or not.
"""
joint_states_cpy = copy.deepcopy(joint_states)
if angle_degrees:
joint_states_cpy.update((joint, radians(i))
for joint, i in joint_states_cpy.items())
self._move_group_commander.set_start_state_to_current_state()
self._move_group_commander.set_joint_value_target(joint_states_cpy)
self._move_group_commander.go(wait=wait)
def set_start_state_to_current_state(self):
return self._move_group_commander.set_start_state_to_current_state()
def plan_to_joint_value_target(self, joint_states, angle_degrees=False, custom_start_state=None):
"""
Set target of the robot's links and plans.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param angle_degrees - are joint_states in degrees or not.
@param custom_start_state - specify a start state different than the current state
This is a blocking method.
@return - motion plan (RobotTrajectory msg) that contains the trajectory to the set goal state.
"""
joint_states_cpy = copy.deepcopy(joint_states)
if angle_degrees:
joint_states_cpy.update((joint, radians(i))
for joint, i in joint_states_cpy.items())
if custom_start_state is None:
self._move_group_commander.set_start_state_to_current_state()
else:
self._move_group_commander.set_start_state(custom_start_state)
self._move_group_commander.set_joint_value_target(joint_states_cpy)
self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX]
return self.__plan
def check_plan_is_valid(self):
"""
Checks if current plan contains a valid trajectory
"""
return (self.__plan is not None and len(self.__plan.joint_trajectory.points) > 0)
def check_given_plan_is_valid(self, plan):
"""
Checks if given plan contains a valid trajectory
"""
return (plan is not None and len(plan.joint_trajectory.points) > 0)
def evaluate_given_plan(self, plan):
"""
Returns given plan quality calculated by a weighted sum of angles traveled by each
of the joints, giving higher weights to the joints closer to the base of the robot,
thus penalizing them as smallmovements of these joints will result in bigger movements
of the end effector. Formula:
PQ = sum_(i=0)^(n-1){w_i * abs(x_i - x_(i0)}, where:
n - number of robot's joints,
w - weight specified for each joint,
x - joint's goal position,
x_0 - joint's initial position.
The lower the value, the better the plan.
"""
if plan is None:
return None
num_of_joints = len(plan.joint_trajectory.points[0].positions)
weights = numpy.array(sorted(range(1, num_of_joints + 1), reverse=True))
plan_array = numpy.empty(shape=(len(plan.joint_trajectory.points),
num_of_joints))
for i, point in enumerate(plan.joint_trajectory.points):
plan_array[i] = point.positions
deltas = abs(numpy.diff(plan_array, axis=0))
sum_deltas = numpy.sum(deltas, axis=0)
sum_deltas_weighted = sum_deltas * weights
plan_quality = float(numpy.sum(sum_deltas_weighted))
return plan_quality
def evaluate_plan(self):
return self.evaluate_given_plan(self.__plan)
def evaluate_plan_quality(self, plan_quality, good_threshold=20, medium_threshold=50):
if plan_quality > medium_threshold:
rospy.logwarn("Low plan quality! Value: {}".format(plan_quality))
return 'poor'
elif (plan_quality > good_threshold and plan_quality < medium_threshold):
rospy.loginfo("Medium plan quality. Value: {}".format(plan_quality))
return 'medium'
elif plan_quality < good_threshold:
rospy.loginfo("Good plan quality. Value: {}".format(plan_quality))
return 'good'
def get_robot_name(self):
return self._robot_name
def named_target_in_srdf(self, name):
return name in self._srdf_names
def set_named_target(self, name):
"""
Set a joint configuration by name.
@param name - name of the target which must correspond to a name defined,
either in the srdf or in the mongo warehouse database.
@return - bool to confirm that the target has been correctly set.
"""
if name in self._srdf_names:
self._move_group_commander.set_named_target(name)
elif (name in self._warehouse_names):
response = self._warehouse_name_get_srv(name, self._robot_name)
active_names = self._move_group_commander._g.get_active_joints()
joints = response.state.joint_state.name
positions = response.state.joint_state.position
js = {}
for n, this_name in enumerate(joints):
if this_name in active_names:
js[this_name] = positions[n]
try:
self._move_group_commander.set_joint_value_target(js)
except Exception as e:
rospy.loginfo(e)
else:
rospy.logerr("Unknown named state '%s'..." % name)
return False
return True
def get_named_target_joint_values(self, name):
"""
Get the joint angles for targets specified by name.
@param name - @param name - name of the target which must correspond to a name defined,
either in the srdf or in the mongo warehouse database.
@return - joint values of the named target.
"""
output = dict()
if (name in self._srdf_names):
output = self._move_group_commander._g.get_named_target_values(str(name))
elif (name in self._warehouse_names):
js = self._warehouse_name_get_srv(
name, self._robot_name).state.joint_state
for x, n in enumerate(js.name):
if n in self._move_group_commander._g.get_joints():
output[n] = js.position[x]
else:
rospy.logerr("No target named %s" % name)
return None
return output
def get_end_effector_link(self):
return self._move_group_commander.get_end_effector_link()
def get_current_pose(self, reference_frame=None):
"""
Get the current pose of the end effector.
@param reference_frame - The desired reference frame in which end effector pose should be returned.
If none is passed, it will use the planning frame as reference.
@return - geometry_msgs.msg.Pose() - current pose of the end effector.
"""
if reference_frame is not None:
try:
trans = self.tf_buffer.lookup_transform(reference_frame,
self._move_group_commander.get_end_effector_link(),
rospy.Time(0),
rospy.Duration(5.0))
current_pose = geometry_msgs.msg.Pose()
current_pose.position.x = trans.transform.translation.x
current_pose.position.y = trans.transform.translation.y
current_pose.position.z = trans.transform.translation.z
current_pose.orientation.x = trans.transform.rotation.x
current_pose.orientation.y = trans.transform.rotation.y
current_pose.orientation.z = trans.transform.rotation.z
current_pose.orientation.w = trans.transform.rotation.w
return current_pose
except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
rospy.logwarn("Couldn't get the pose from " + self._move_group_commander.get_end_effector_link() +
" in " + reference_frame + " reference frame")
return None
else:
return self._move_group_commander.get_current_pose().pose
def get_current_state(self):
"""
Get the current joint state of the group being used.
@return - a dictionary with the joint names as keys and current joint values.
"""
joint_names = self._move_group_commander._g.get_active_joints()
joint_values = self._move_group_commander._g.get_current_joint_values()
return dict(zip(joint_names, joint_values))
def get_current_state_bounded(self):
"""
Get the current joint state of the group being used, enforcing that they are within each joint limits.
@return - a dictionary with the joint names as keys and current joint values.
"""
current = self._move_group_commander._g.get_current_state_bounded()
names = self._move_group_commander._g.get_active_joints()
output = {n: current[n] for n in names if n in current}
return output
def get_robot_state_bounded(self):
return self._move_group_commander._g.get_current_state_bounded()
def move_to_named_target(self, name, wait=True):
"""
Set target of the robot's links and moves to it
@param name - name of the target pose defined in SRDF
@param wait - should method wait for movement end or not
"""
self._move_group_commander.set_start_state_to_current_state()
if self.set_named_target(name):
self._move_group_commander.go(wait=wait)
def plan_to_named_target(self, name, custom_start_state=None):
"""
Set target of the robot's links and plans
This is a blocking method.
@param name - name of the target pose defined in SRDF.
@param custom_start_state - specify a start state different than the current state.
@return - a motion plan (RobotTrajectory msg) that contains the trajectory to the named target.
"""
if custom_start_state is None:
self._move_group_commander.set_start_state_to_current_state()
else:
self._move_group_commander.set_start_state(custom_start_state)
if self.set_named_target(name):
self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX]
else:
rospy.logwarn("Could not find named target, plan not generated")
return False
return True
def __get_warehouse_names(self):
try:
list_srv = rospy.ServiceProxy("list_robot_states", ListStates)
return list_srv("", self._robot_name).states
except rospy.ServiceException as exc:
rospy.logwarn("Couldn't access warehouse: " + str(exc))
return list()
def _reset_plan(self):
self.__plan = None
def _set_plan(self, plan):
self.__plan = plan
def __get_srdf_names(self):
return self._move_group_commander._g.get_named_targets()
def get_named_targets(self):
"""
Get the complete list of named targets, from SRDF
as well as warehouse poses if available.
@return - list of strings containing names of targets.
"""
return self._srdf_names + self._warehouse_names
def get_joints_position(self):
"""
Returns joints position.
@return - dictionary with joints positions.
"""
with self._joint_states_lock:
return self._joints_position
def get_joints_velocity(self):
"""
Returns joints velocities
@return - dictionary with joints velocities.
"""
with self._joint_states_lock:
return self._joints_velocity
def _get_joints_effort(self):
"""
Returns joints effort.
@return - dictionary with joints efforts.
"""
with self._joint_states_lock:
return self._joints_effort
def get_joints_state(self):
"""
Returns joints state
@return - JointState message
"""
with self._joint_states_lock:
return self._joints_state
def run_joint_trajectory(self, joint_trajectory):
"""
Moves robot through all joint states with specified timeouts.
@param joint_trajectory - JointTrajectory class object. Represents
trajectory of the joints which would be executed.
@return - Success of execution.
"""
plan = RobotTrajectory()
plan.joint_trajectory = joint_trajectory
return self._move_group_commander.execute(plan)
def make_named_trajectory(self, trajectory):
"""
Makes joint value trajectory from specified by named poses (either from
SRDF or from warehouse).
@param trajectory - list of waypoints, each waypoint is a dict with
the following elements (n.b either name or joint_angles is required)
- name -> the name of the way point
- joint_angles -> a dict of joint names and angles
- interpolate_time -> time to move from last wp
OPTIONAL:
- pause_time -> time to wait at this wp
- degrees -> set to true if joint_angles is specified in degrees. Assumed false if absent.
"""
if not self._is_trajectory_valid(trajectory, ["name|joint_angles", "interpolate_time"]):
return
current = self.get_current_state_bounded()
joint_trajectory = JointTrajectory()
joint_names = list(current.keys())
joint_trajectory.joint_names = joint_names
start = JointTrajectoryPoint()
start.positions = list(current.values())
start.time_from_start = rospy.Duration.from_sec(0.001)
joint_trajectory.points.append(start)
time_from_start = 0.0
for wp in trajectory:
joint_positions = None
if 'name' in wp.keys():
joint_positions = self.get_named_target_joint_values(wp['name'])
elif 'joint_angles' in wp.keys():
joint_positions = copy.deepcopy(wp['joint_angles'])
if 'degrees' in wp.keys() and wp['degrees']:
for joint, angle in joint_positions.items():
joint_positions[joint] = radians(angle)
if joint_positions is None:
rospy.logerr("Invalid waypoint. Must contain valid name for named target or dict of joint angles.")
return None
new_positions = {}
for n in joint_names:
new_positions[n] = joint_positions[n] if n in joint_positions else current[n]
trajectory_point = JointTrajectoryPoint()
trajectory_point.positions = [new_positions[n] for n in joint_names]
current = new_positions
time_from_start += wp['interpolate_time']
trajectory_point.time_from_start = rospy.Duration.from_sec(time_from_start)
joint_trajectory.points.append(trajectory_point)
if 'pause_time' in wp and wp['pause_time'] > 0:
extra = JointTrajectoryPoint()
extra.positions = trajectory_point.positions
time_from_start += wp['pause_time']
extra.time_from_start = rospy.Duration.from_sec(time_from_start)
joint_trajectory.points.append(extra)
return joint_trajectory
def send_stop_trajectory_unsafe(self):
"""
Sends a trajectory of all active joints at their current position.
This stops the robot.
"""
current = self.get_current_state_bounded()
trajectory_point = JointTrajectoryPoint()
trajectory_point.positions = list(current.values())
trajectory_point.time_from_start = rospy.Duration.from_sec(0.1)
trajectory = JointTrajectory()
trajectory.points.append(trajectory_point)
trajectory.joint_names = list(current.keys())
self.run_joint_trajectory_unsafe(trajectory)
def run_named_trajectory_unsafe(self, trajectory, wait=False):
"""
Moves robot through trajectory specified by named poses, either from
SRDF or from warehouse. Runs trajectory directly via contoller.
@param trajectory - list of waypoints, each waypoint is a dict with
the following elements:
- name -> the name of the way point
- interpolate_time -> time to move from last wp
OPTIONAL:
- pause_time -> time to wait at this wp
"""
if self._is_trajectory_valid(trajectory, ['name|joint_angles', 'interpolate_time']):
joint_trajectory = self.make_named_trajectory(trajectory)
self.run_joint_trajectory_unsafe(joint_trajectory, wait)
def run_named_trajectory(self, trajectory):
"""
Moves robot through trajectory specified by named poses, either from
SRDF or from warehouse. Runs trajectory via moveit.
@param trajectory - list of waypoints, each waypoint is a dict with
the following elements:
- name -> the name of the way point
- interpolate_time -> time to move from last wp
OPTIONAL:
- pause_time -> time to wait at this wp
"""
if self._is_trajectory_valid(trajectory, ['name|joint_angles', 'interpolate_time']):
joint_trajectory = self.make_named_trajectory(trajectory)
self.run_joint_trajectory(joint_trajectory)
def move_to_position_target(self, xyz, end_effector_link="", wait=True):
"""
Specify a target position for the end-effector and moves to it
preserving the current orientation of the end-effector.
@param xyz - new position of end-effector.
@param end_effector_link - name of the end effector link.
@param wait - should method wait for movement end or not.
"""
pose = self._move_group_commander.get_current_pose()
pose.pose.position.x = xyz[0]
pose.pose.position.y = xyz[1]
pose.pose.position.z = xyz[2]
self._move_group_commander.set_start_state_to_current_state()
self._move_group_commander.set_pose_target(pose, end_effector_link)
self._move_group_commander.go(wait=wait)
def plan_to_position_target(self, xyz, end_effector_link="", custom_start_state=None):
"""
Specify a target position for the end-effector and plans preserving the current orientation of end-effector.
This is a blocking method.
@param xyz - new position of end-effector.
@param end_effector_link - name of the end effector link.
@param custom_start_state - specify a start state different than the current state.
"""
pose = self._move_group_commander.get_current_pose()
pose.pose.position.x = xyz[0]
pose.pose.position.y = xyz[1]
pose.pose.position.z = xyz[2]
if custom_start_state is None:
self._move_group_commander.set_start_state_to_current_state()
else:
self._move_group_commander.set_start_state(custom_start_state)
self._move_group_commander.set_pose_target(pose, end_effector_link)
self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX]
return self.__plan
def move_to_pose_target(self, pose, end_effector_link="", wait=True):
"""
Specify a target pose for the end-effector and moves to it
@param pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list
of 7 floats [x, y, z, qx, qy, qz, qw].
@param end_effector_link - name of the end effector link.
@param wait - should method wait for movement end or not.
"""
self._move_group_commander.set_start_state_to_current_state()
self._move_group_commander.set_pose_target(pose, end_effector_link)
self._move_group_commander.go(wait=wait)
def plan_to_pose_target(self, pose, end_effector_link="", alternative_method=False, custom_start_state=None):
"""
Specify a target pose for the end-effector and plans.
This is a blocking method.
@param pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list
of 7 floats [x, y, z, qx, qy, qz, qw].
@param end_effector_link - name of the end effector link.
@param alternative_method - use set_joint_value_target instead of set_pose_target.
@param custom_start_state - specify a start state different than the current state.
"""
if custom_start_state is None:
self._move_group_commander.set_start_state_to_current_state()
else:
self._move_group_commander.set_start_state(custom_start_state)
if alternative_method:
self._move_group_commander.set_joint_value_target(pose, end_effector_link)
else:
self._move_group_commander.set_pose_target(pose, end_effector_link)
self.__plan = self._move_group_commander.plan()[CONST_TUPLE_TRAJECTORY_INDEX]
return self.__plan
def _joint_states_callback(self, joint_state):
"""
The callback function for the topic joint_states.
It will store the received joint position, velocity and efforts
information into dictionaries.
@param joint_state - the message containing the joints data.
"""
with self._joint_states_lock:
self._joints_state = joint_state
self._joints_position = {n: p for n, p in
zip(joint_state.name,
joint_state.position)}
self._joints_velocity = {n: v for n, v in
zip(joint_state.name,
joint_state.velocity)}
self._joints_effort = {n: v for n, v in
zip(joint_state.name, joint_state.effort)}
def _set_up_action_client(self, controller_list):
"""
Sets up an action client to communicate with the trajectory controller.
"""
self._action_running = {}
for controller_name in controller_list.keys():
self._action_running[controller_name] = False
service_name = controller_name + "/follow_joint_trajectory"
self._clients[controller_name] = SimpleActionClient(service_name,
FollowJointTrajectoryAction)
if self._clients[controller_name].wait_for_server(timeout=rospy.Duration(4)) is False:
err_msg = 'Failed to connect to action server ({}) in 4 sec'.format(service_name)
rospy.logwarn(err_msg)
def move_to_joint_value_target_unsafe(self, joint_states, time=0.002,
wait=True, angle_degrees=False):
"""
Set target of the robot's links and moves to it.
@param joint_states - dictionary with joint name and value. It can
contain only joints values of which need to be changed.
@param time - time in s (counting from now) for the robot to reach the
target (it needs to be greater than 0.0 for it not to be rejected by
the trajectory controller).
@param wait - should method wait for movement end or not.
@param angle_degrees - are joint_states in degrees or not.
"""
# self._update_default_trajectory()
# self._set_targets_to_default_trajectory(joint_states)
goals = {}
joint_states_cpy = copy.deepcopy(joint_states)
if angle_degrees:
joint_states_cpy.update((joint, radians(i))
for joint, i in joint_states_cpy.items())
for controller in self._controllers:
controller_joints = self._controllers[controller]
goal = FollowJointTrajectoryGoal()
goal.trajectory.joint_names = []
point = JointTrajectoryPoint()
point.positions = []
for x in joint_states_cpy.keys():
if x in controller_joints:
goal.trajectory.joint_names.append(x)
point.positions.append(joint_states_cpy[x])
point.time_from_start = rospy.Duration.from_sec(time)
goal.trajectory.points = [point]
goals[controller] = goal
self._call_action(goals)
if not wait:
return
for i in self._clients.keys():
if not self._clients[i].wait_for_result():
rospy.loginfo("Trajectory not completed")
def action_is_running(self, controller=None):
if controller is not None:
return self._action_running[controller]
for controller_running in self._action_running.values():
if controller_running:
return True
return False
def _action_done_cb(self, controller, terminal_state, result):
self._action_running[controller] = False
def _call_action(self, goals):
for client in self._clients:
self._action_running[client] = True
self._clients[client].send_goal(
goals[client], lambda terminal_state, result: self._action_done_cb(client, terminal_state, result))
def run_joint_trajectory_unsafe(self, joint_trajectory, wait=True):
"""
Moves robot through all joint states with specified timeouts.
@param joint_trajectory - JointTrajectory class object. Represents
trajectory of the joints which would be executed.
@param wait - should method wait for movement end or not.
"""
goals = {}
for controller in self._controllers:
controller_joints = self._controllers[controller]
goal = FollowJointTrajectoryGoal()
goal.trajectory = copy.deepcopy(joint_trajectory)
indices_of_joints_in_this_controller = []
for i, joint in enumerate(joint_trajectory.joint_names):
if joint in controller_joints:
indices_of_joints_in_this_controller.append(i)
goal.trajectory.joint_names = [
joint_trajectory.joint_names[i] for i in indices_of_joints_in_this_controller]
for point in goal.trajectory.points:
if point.positions:
point.positions = [point.positions[i] for i in indices_of_joints_in_this_controller]
if point.velocities:
point.velocities = [point.velocities[i] for i in indices_of_joints_in_this_controller]
if point.effort:
point.effort = [point.effort[i] for i in indices_of_joints_in_this_controller]
goals[controller] = goal
self._call_action(goals)
if not wait:
return
for i in self._clients.keys():
if not self._clients[i].wait_for_result():
rospy.loginfo("Trajectory not completed")
def plan_to_waypoints_target(self, waypoints, reference_frame=None,
eef_step=0.005, jump_threshold=0.0, custom_start_state=None):
"""
Specify a set of waypoints for the end-effector and plans.
This is a blocking method.
@param reference_frame - the reference frame in which the waypoints are given.
@param waypoints - an array of poses of end-effector.
@param eef_step - configurations are computed for every eef_step meters.
@param jump_threshold - maximum distance in configuration space between consecutive points in the
resulting path.
@param custom_start_state - specify a start state different than the current state.
@return - motion plan (RobotTrajectory msg) that contains the trajectory to the set wayapoints targets.
"""
if custom_start_state is None:
self._move_group_commander.set_start_state_to_current_state()
else:
self._move_group_commander.set_start_state(custom_start_state)
old_frame = self._move_group_commander.get_pose_reference_frame()
if reference_frame is not None:
self.set_pose_reference_frame(reference_frame)
self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step, jump_threshold)
self.set_pose_reference_frame(old_frame)
return self.__plan, fraction
def set_teach_mode(self, teach):
"""
Activates/deactivates the teach mode for the robot.
Activation: stops the the trajectory controllers for the robot, and
sets it to teach mode.
Deactivation: stops the teach mode and starts trajectory controllers
for the robot.
Currently this method blocks for a few seconds when called on a hand,
while the hand parameters are reloaded.
@param teach - bool to activate or deactivate teach mode
"""
if teach:
mode = RobotTeachModeRequest.TEACH_MODE
else:
mode = RobotTeachModeRequest.TRAJECTORY_MODE
self.change_teach_mode(mode, self._name)
def move_to_trajectory_start(self, trajectory, wait=True):
"""
Make and execute a plan from the current state to the first state in an pre-existing trajectory.
@param trajectory - moveit_msgs/JointTrajectory.
@param wait - Bool to specify if movement should block untill finished.
"""
if len(trajectory.points) <= 0:
rospy.logerr("Trajectory has no points in it, can't reverse...")
return None
first_point = trajectory.points[0]
end_state = dict(zip(trajectory.joint_names, first_point.positions))
self.move_to_joint_value_target(end_state, wait=wait)
@staticmethod
def change_teach_mode(mode, robot):
teach_mode_client = rospy.ServiceProxy('/teach_mode', RobotTeachMode)
req = RobotTeachModeRequest()
req.teach_mode = mode
req.robot = robot
try:
resp = teach_mode_client(req)
if resp.result == RobotTeachModeResponse.ERROR:
rospy.logerr("Failed to change robot %s to mode %d", robot,
mode)
else:
rospy.loginfo("Changed robot %s to mode %d Result = %d", robot,
mode, resp.result)
except rospy.ServiceException:
rospy.logerr("Failed to call service teach_mode")
def get_ik(self, target_pose, avoid_collisions=False, joint_states=None, ik_constraints=None):
"""
Computes the inverse kinematics for a given pose. It returns a JointState.
@param target_pose - A given pose of type PoseStamped.
@param avoid_collisions - Find an IK solution that avoids collisions. By default, this is false.
@param joint_states - initial joint configuration of type JointState from which the IK solution is computed.
If set to None, the current joint state is retrieved automatically.
@param ik_constraints - Set constraints of type Constraints for computing the IK solution.
"""
service_request = PositionIKRequest()
service_request.group_name = self._name
service_request.ik_link_name = self._move_group_commander.get_end_effector_link()
service_request.pose_stamped = target_pose
service_request.timeout.secs = 1
service_request.avoid_collisions = avoid_collisions
if ik_constraints is not None:
service_request.constraints = ik_constraints
if joint_states is None:
service_request.robot_state.joint_state = self.get_joints_state()
else:
service_request.robot_state.joint_state = joint_states
try:
resp = self._compute_ik(ik_request=service_request)
# Check if error_code.val is SUCCESS=1
if resp.error_code.val != 1:
if resp.error_code.val == -10:
rospy.logerr("Unreachable point: Start state in collision")
elif resp.error_code.val == -12:
rospy.logerr("Unreachable point: Goal state in collision")
elif resp.error_code.val == -31:
rospy.logerr("Unreachable point: No IK solution")
else:
rospy.logerr("Unreachable point (error: %s)" % resp.error_code)
return
else:
return resp.solution.joint_state
except rospy.ServiceException as e:
rospy.logerr("Service call failed: %s" % e)
def move_to_pose_value_target_unsafe(self, target_pose, avoid_collisions=False,
time=0.002, wait=True, ik_constraints=None):
"""
Specify a target pose for the end-effector and moves to it.
@param target_pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list
of 7 floats [x, y, z, qx, qy, qz, qw].
@param avoid_collisions - Find an IK solution that avoids collisions. By default, this is false.
@param time - time in s (counting from now) for the robot to reach the
target (it needs to be greater than 0.0 for it not to be rejected by
the trajectory controller).
@param wait - should method wait for movement end or not.
@param ik_constraints - Set constraints of type Constraints for computing the IK solution.
"""
joint_state = self.get_ik(target_pose, avoid_collisions, ik_constraints=ik_constraints)
if joint_state is not None:
active_joints = self._move_group_commander.get_active_joints()
current_indices = [i for i, x in enumerate(joint_state.name) if any(thing in x for thing in active_joints)]
current_names = [joint_state.name[i] for i in current_indices]
current_positions = [joint_state.position[i] for i in current_indices]
state_as_dict = dict(zip(current_names, current_positions))
self.move_to_joint_value_target_unsafe(state_as_dict, time=time, wait=wait)