sr_robot_commander.py

Go to the documentation of this file.

#!/usr/bin/env python

# Copyright 2015 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

import threading

import rospy
from actionlib import SimpleActionClient
from control_msgs.msg import FollowJointTrajectoryAction, \
    FollowJointTrajectoryGoal
from moveit_commander import MoveGroupCommander, RobotCommander, \
    PlanningSceneInterface
from moveit_msgs.msg import RobotTrajectory, PositionIKRequest
from sensor_msgs.msg import JointState
import geometry_msgs.msg
from sr_robot_msgs.srv import RobotTeachMode, RobotTeachModeRequest, \
    RobotTeachModeResponse

from moveit_msgs.srv import GetPositionIK
from moveit_msgs.srv import ListRobotStatesInWarehouse as ListStates
from moveit_msgs.srv import GetRobotStateFromWarehouse as GetState
from moveit_msgs.msg import OrientationConstraint, Constraints

from trajectory_msgs.msg import JointTrajectoryPoint, JointTrajectory
from math import radians

from moveit_msgs.srv import GetPositionFK
from std_msgs.msg import Header

import tf2_ros
import copy
import numpy


class SrRobotCommanderException(Exception):

    def __init__(self, value):
        self._value = value

    def __str__(self):
        return repr(self._value)


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 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.
        """
        if self.check_plan_is_valid():
            self._move_group_commander.execute(self.__plan)
            self.__plan = None
        else:
            rospy.logwarn("No plans were made, not executing anything.")

    def execute_plan(self, plan):
        """
        Executes a given plan.
        @param plan - RobotTrajectory msg that contains the trajectory
        to the set goal state.
        """
        if self.check_given_plan_is_valid(plan):
            self._move_group_commander.execute(plan)
            self.__plan = None
        else:
            rospy.logwarn("Plan is not valid, not executing anything.")

    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 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()
        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]
            self._move_group_commander.set_joint_value_target(js)
        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()

    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.
        """
        plan = RobotTrajectory()
        plan.joint_trajectory = joint_trajectory
        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
                          - pause_time -> time to wait at this wp
                          - degrees -> set to true if joint_angles is specified in degrees. Assumed false if absent.
        """
        current = self.get_current_state_bounded()

        joint_trajectory = JointTrajectory()
        joint_names = current.keys()
        joint_trajectory.joint_names = joint_names

        start = JointTrajectoryPoint()
        start.positions = 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.iteritems():
                        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 = current.values()
        trajectory_point.time_from_start = rospy.Duration.from_sec(0.1)

        trajectory = JointTrajectory()
        trajectory.points.append(trajectory_point)
        trajectory.joint_names = 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
                            - pause_time -> time to wait at this wp
        """
        joint_trajectory = self.make_named_trajectory(trajectory)
        if joint_trajectory is not None:
            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
                          - pause_time -> time to wait at this wp
        """
        joint_trajectory = self.make_named_trajectory(trajectory)
        if joint_trajectory is not None:
            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.
        @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.
        """
        self._move_group_commander.set_start_state_to_current_state()
        self._move_group_commander.set_position_target(xyz, 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.
        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.
        """
        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_position_target(xyz, end_effector_link)
        self.__plan = self._move_group_commander.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()
        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 = 0.5
        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)