mechanism_interface.cpp

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#include "object_manipulator/tools/mechanism_interface.h"
#include "object_manipulator/tools/hand_description.h"
#include "object_manipulator/tools/exceptions.h"

//#define PROF_ENABLED
//#include <profiling/profiling.h>
//PROF_DECLARE(INTERPOLATED_IK);
//PROF_DECLARE(SET_PLANNING_SCENE);

namespace object_manipulator {

static const std::string IK_SERVICE_SUFFIX = "/constraint_aware_ik";
static const std::string FK_SERVICE_SUFFIX = "/get_fk";
static const std::string INTERPOLATED_IK_SERVICE_SUFFIX = "/interpolated_ik";
static const std::string INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX = "/interpolated_ik_set_params";
static const std::string IK_QUERY_SERVICE_SUFFIX = "/get_ik_solver_info";
static const std::string GRASP_STATUS_SUFFIX = "/grasp_status";

static const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff";
static const std::string CHECK_STATE_VALIDITY_NAME = "planning_scene_validity_server/get_state_validity";
static const std::string GET_ROBOT_STATE_NAME = "environment_server/get_robot_state";
static const std::string NORMALIZE_SERVICE_NAME = "trajectory_filter_unnormalizer/filter_trajectory";
static const std::string RESET_COLLISION_MAP_SERVICE_NAME = "collider_node/reset";

static const std::string REACTIVE_GRASP_ACTION_SUFFIX = "/reactive_grasp";
static const std::string REACTIVE_LIFT_ACTION_SUFFIX = "/reactive_lift";
static const std::string REACTIVE_PLACE_ACTION_SUFFIX = "/reactive_place";
static const std::string MOVE_ARM_ACTION_SUFFIX = "/move_arm";
static const std::string TRAJECTORY_ACTION_SUFFIX = "/joint_trajectory";
static const std::string HAND_POSTURE_ACTION_SUFFIX = "/hand_posture_execution";

static const std::string SWITCH_CONTROLLER_SERVICE_NAME = "/switch_controller";
static const std::string LIST_CONTROLLERS_SERVICE_NAME = "/list_controllers";
static const std::string CARTESIAN_COMMAND_SUFFIX = "/cart/command_pose";
static const std::string CARTESIAN_POSTURE_SUFFIX = "/cart/command_posture";
//static const std::string CARTESIAN_GAINS_SUFFIX = "/cart/gains";

static const std::string MOVE_ARM_PLANNER_ID = "SBLkConfig1";
static const std::string MOVE_ARM_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path";
static const std::string MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME = "ompl_planning/plan_kinematic_path";

static const std::string ATTACHED_COLLISION_TOPIC="attached_collision_object";

static const std::string POINT_HEAD_ACTION_TOPIC = "/head_traj_controller/point_head_action";

static const double OBJECT_POSITION_TOLERANCE_X = 0.02;
static const double OBJECT_POSITION_TOLERANCE_Y = 0.02;
static const double OBJECT_POSITION_TOLERANCE_Z = 0.02;

MechanismInterface::MechanismInterface() : 
  root_nh_(""),priv_nh_("~"),
  cm_("robot_description"),
  planning_scene_state_(NULL),
  planning_scene_cache_empty_(true),
  cache_planning_scene_(false),
  //------------------- multi arm service clients -----------------------
  ik_query_client_("", IK_QUERY_SERVICE_SUFFIX, true),
  ik_service_client_("", IK_SERVICE_SUFFIX, true),
  fk_service_client_("",FK_SERVICE_SUFFIX,true),
  interpolated_ik_service_client_("", INTERPOLATED_IK_SERVICE_SUFFIX, true),
  interpolated_ik_set_params_client_("", INTERPOLATED_IK_SET_PARAMS_SERVICE_SUFFIX, true),
  grasp_status_client_("", GRASP_STATUS_SUFFIX, true),
  //------------------- simple service clients -----------------------
  check_state_validity_client_(CHECK_STATE_VALIDITY_NAME),
  joint_trajectory_normalizer_service_(NORMALIZE_SERVICE_NAME),
  switch_controller_service_(SWITCH_CONTROLLER_SERVICE_NAME),
  list_controllers_service_(LIST_CONTROLLERS_SERVICE_NAME),
  get_robot_state_client_(GET_ROBOT_STATE_NAME),
  set_planning_scene_diff_service_(SET_PLANNING_SCENE_DIFF_NAME),
  reset_collision_map_service_(RESET_COLLISION_MAP_SERVICE_NAME),
  //-------------------- multi arm action clients -----------------------
  reactive_grasp_action_client_("", REACTIVE_GRASP_ACTION_SUFFIX, true, true),
  reactive_lift_action_client_("", REACTIVE_LIFT_ACTION_SUFFIX, true, true),
  reactive_place_action_client_("", REACTIVE_PLACE_ACTION_SUFFIX, true, true),
  move_arm_action_client_("", MOVE_ARM_ACTION_SUFFIX, true, true),
  traj_action_client_("", TRAJECTORY_ACTION_SUFFIX, true, true),
  hand_posture_client_("", HAND_POSTURE_ACTION_SUFFIX, true, true),
  //-------------------- head action client -----------------------
  point_head_action_client_(POINT_HEAD_ACTION_TOPIC, true),
  //-------------------- multi arm topic publishers ---------------------
  cartesian_pub_("", CARTESIAN_COMMAND_SUFFIX, true),
  cartesian_posture_pub_("", CARTESIAN_POSTURE_SUFFIX, true)
  //cartesian_gains_pub_("", CARTESIAN_GAINS_SUFFIX, true)
{
  //attached object publishing topic
  attached_object_pub_ = root_nh_.advertise<arm_navigation_msgs::AttachedCollisionObject>(ATTACHED_COLLISION_TOPIC, 10);

  //JointStates topic for current arm angles
  priv_nh_.param<std::string>("joint_states_topic", joint_states_topic_, "joint_states");

}

std::vector<std::string> MechanismInterface::getJointNames(std::string arm_name)
{
  kinematics_msgs::GetKinematicSolverInfo::Request query_request;
  kinematics_msgs::GetKinematicSolverInfo::Response query_response;  
  if ( !ik_query_client_.client(arm_name).call(query_request, query_response) ) 
  {
    ROS_ERROR("Failed to call ik information query");
    throw MechanismException("Failed to call ik information query");
  }
  return query_response.kinematic_solver_info.joint_names;
}

void MechanismInterface::getRobotState(arm_navigation_msgs::RobotState& robot_state)
{
  arm_navigation_msgs::GetRobotState::Request req;
  arm_navigation_msgs::GetRobotState::Response res;  
  if(!get_robot_state_client_.client().call(req,res)) 
  {
    ROS_ERROR("Mechanism interface: can't get current robot state");
    throw MechanismException("Mechanism interface: can't get current robot state");
  }
  robot_state = res.robot_state;
}

bool compareOrderedCollisionOperations(const arm_navigation_msgs::OrderedCollisionOperations& c1,
                                       const arm_navigation_msgs::OrderedCollisionOperations& c2)
{
  if (c1.collision_operations.size() != c2.collision_operations.size()) return false;
  for (size_t i=0; i<c1.collision_operations.size(); i++)
  {
    if (c1.collision_operations[i].object1 != c2.collision_operations[i].object1 ) return false;
    if (c1.collision_operations[i].object2 != c2.collision_operations[i].object2 ) return false;
    if (c1.collision_operations[i].penetration_distance != 
        c2.collision_operations[i].penetration_distance ) return false;
    if (c1.collision_operations[i].operation != c2.collision_operations[i].operation ) return false;
  }
  return true;
}

bool compareLinkPadding(const std::vector<arm_navigation_msgs::LinkPadding> &l1,
                        const std::vector<arm_navigation_msgs::LinkPadding> &l2)
{
  if (l1.size() != l2.size()) return false;
  for (size_t i=0; i<l1.size(); i++)
  {
    if (l1[i].link_name != l2[i].link_name) return false;
    if (l1[i].padding != l2[i].padding) return false;
  }
  return true;
}

bool MechanismInterface::cachePlanningScene(const arm_navigation_msgs::OrderedCollisionOperations& collision_operations,
                                            const std::vector<arm_navigation_msgs::LinkPadding> &link_padding)
{
  static int cache_hits = 0;
  static int total_hits = 0;
  total_hits++;
  if (!cache_planning_scene_) 
  {
    ROS_DEBUG_NAMED("manipulation","Planning scene caching disabled");
    collision_operations_cache_ = collision_operations;
    link_padding_cache_ = link_padding;
    return false;
  }
  if (planning_scene_cache_empty_)
  {
    ROS_DEBUG_NAMED("manipulation","Planning scene cache empty.");
    collision_operations_cache_ = collision_operations;
    link_padding_cache_ = link_padding;
    planning_scene_cache_empty_ = false;
    return false;
  }
  if (!compareOrderedCollisionOperations(collision_operations, collision_operations_cache_))
  {
    ROS_DEBUG_NAMED("manipulation","Planning scene cache miss - collisions (hits: %d/%d).", cache_hits, total_hits);
    collision_operations_cache_ = collision_operations;
    link_padding_cache_ = link_padding;
    return false;
  }
  if (!compareLinkPadding(link_padding, link_padding_cache_))
  {
    ROS_DEBUG_NAMED("manipulation","Planning scene cache miss - padding (hits: %d/%d).", cache_hits, total_hits);
    collision_operations_cache_ = collision_operations;
    link_padding_cache_ = link_padding;
    return false;
  }
  cache_hits++;
  ROS_DEBUG_NAMED("manipulation", "Planning scene cache hit (hits: %d/%d).", cache_hits, total_hits);
  return true;
}
  
void MechanismInterface::getPlanningScene(const arm_navigation_msgs::OrderedCollisionOperations& collision_operations,
                                          const std::vector<arm_navigation_msgs::LinkPadding> &link_padding)
{
  //if (cachePlanningScene(collision_operations, link_padding)) return;
  arm_navigation_msgs::SetPlanningSceneDiff::Request planning_scene_req;
  planning_scene_req.planning_scene_diff.link_padding = link_padding;
  planning_scene_req.operations = collision_operations;
  arm_navigation_msgs::SetPlanningSceneDiff::Response planning_scene_res;  
  //PROF_COUNT(SET_PLANNING_SCENE);
  //PROF_START_TIMER(SET_PLANNING_SCENE);
  //ROS_INFO("mechanism_interface: setting the planning scene diff");
  if(!set_planning_scene_diff_service_.client().call(planning_scene_req, planning_scene_res)) 
  {
    ROS_ERROR("Failed to set planning scene diff");
    throw MechanismException("Failed to set planning scene diff");
  }
  
  if(planning_scene_state_ != NULL) {
    cm_.revertPlanningScene(planning_scene_state_);
  }
  planning_scene_state_ = cm_.setPlanningScene(planning_scene_res.planning_scene);
  //PROF_STOP_TIMER(SET_PLANNING_SCENE);
}

trajectory_msgs::JointTrajectory MechanismInterface::assembleJointTrajectory(std::string arm_name, 
                                           const std::vector< std::vector<double> > &positions, 
                                           float time_per_segment)
{
  trajectory_msgs::JointTrajectory trajectory;
  trajectory.header.frame_id = handDescription().robotFrame(arm_name);
  trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);
  trajectory.joint_names = getJointNames(arm_name);
  float current_time = 0;
  for (size_t i=0; i<positions.size(); i++)
  {
    current_time += time_per_segment;
    if (positions[i].size() != trajectory.joint_names.size())
    {
      ROS_ERROR("Mechanism interface: requested trajectory does not have enough joint values");
      throw MechanismException("Mechanism interface: requested trajectory does not have enough joint values");
    }
    trajectory_msgs::JointTrajectoryPoint point;
    point.positions = positions[i];
    point.time_from_start = ros::Duration(current_time);
    trajectory.points.push_back(point);
  }
  return trajectory;
}

void MechanismInterface::attemptTrajectory(std::string arm_name,
                                           const std::vector< std::vector<double> > &positions,
                                           bool unnormalize,
                                           float time_per_segment)
{
  attemptTrajectory(arm_name, assembleJointTrajectory(arm_name, positions, time_per_segment), unnormalize);
}


void MechanismInterface::unnormalizeTrajectory(std::string arm_name, 
                                           const trajectory_msgs::JointTrajectory &input_trajectory,
                                           trajectory_msgs::JointTrajectory &normalized_trajectory)
{    
  arm_navigation_msgs::FilterJointTrajectory service_call;
  getRobotState(service_call.request.start_state);
  service_call.request.trajectory = input_trajectory;
  service_call.request.allowed_time = ros::Duration(2.0);
  if ( !joint_trajectory_normalizer_service_.client().call(service_call) )
  {
    ROS_ERROR("Mechanism interface: joint trajectory normalizer service call failed");
    throw MechanismException("joint trajectory normalizer service call failed");
  } 
  normalized_trajectory = service_call.response.trajectory;
}


void MechanismInterface::attemptTrajectory(std::string arm_name, 
                                           const trajectory_msgs::JointTrajectory &trajectory, 
                                           bool unnormalize)
{
  if (trajectory.points.empty()) 
  {
    ROS_ERROR("attemptTrajectory called with empty trajectory");
    throw MechanismException("attemptTrajectory called with empty trajectory");
  }

  //make sure joint controllers are running
  if(!checkController(jointControllerName(arm_name)))
     switchToJoint(arm_name);

  pr2_controllers_msgs::JointTrajectoryGoal goal;
  if (unnormalize)
  {
    unnormalizeTrajectory(arm_name, trajectory, goal.trajectory);
  }
  else
  {
    goal.trajectory = trajectory;
  }
  //force it to wait for client here, so that the duration below is not wasted
  traj_action_client_.client(arm_name);
  goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0);

  //wait 5 seconds more that the whole trajectory is supposed to take
  ros::Duration timeout = ros::Duration(1.0) + trajectory.points.back().time_from_start + ros::Duration(5.0);
  traj_action_client_.client(arm_name).sendGoal(goal);
  if ( !traj_action_client_.client(arm_name).waitForResult(timeout) ) 
  {
    ROS_ERROR("  Trajectory timed out");
    throw MechanismException("trajectory timed out");
  }
}

void MechanismInterface::setInterpolatedIKParams(std::string arm_name, int num_steps,
                                                 int collision_check_resolution, bool start_from_end)
{
  interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParams srv;
  srv.request.num_steps = num_steps;
  srv.request.consistent_angle = M_PI/6;
  srv.request.collision_check_resolution = collision_check_resolution;
  srv.request.steps_before_abort = 0;
  srv.request.pos_spacing = 0.01; //ignored if num_steps !=0
  srv.request.rot_spacing = 0.1;  //ignored if num_steps !=0
  srv.request.collision_aware = true;
  srv.request.start_from_end = start_from_end;
  if (!interpolated_ik_set_params_client_.client(arm_name).call(srv))
  {
    ROS_ERROR("Failed to set Interpolated IK server parameters");
    throw MechanismException("Failed to set Interpolated IK server parameters");
  }
}

bool MechanismInterface::moveArmToPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose,
                                       const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                       const std::vector<arm_navigation_msgs::LinkPadding> &link_padding)
{
  kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response;
  if(!getIKForPose(arm_name, desired_pose,ik_response, collision_operations, link_padding)) return false;
  if(!attemptMoveArmToGoal(arm_name, ik_response.solution.joint_state.position, collision_operations, link_padding))
    return false;
  return true;
}

bool MechanismInterface::getFK(std::string arm_name, 
                               std::vector<double> positions, 
                               geometry_msgs::PoseStamped &pose_stamped)
{
 // define the service messages
 kinematics_msgs::GetPositionFK::Request  fk_request;
 kinematics_msgs::GetPositionFK::Response fk_response;
 fk_request.header.frame_id = pose_stamped.header.frame_id;
 fk_request.header.stamp = pose_stamped.header.stamp;
 fk_request.fk_link_names.resize(1);
 fk_request.fk_link_names[0] = handDescription().gripperFrame(arm_name);
 fk_request.robot_state.joint_state.position = positions;
 fk_request.robot_state.joint_state.name = getJointNames(arm_name);
 if( !fk_service_client_.client(arm_name).call(fk_request,fk_response) ) 
   {
     ROS_ERROR("FK Service Call failed altogether");
     throw MechanismException("FK Service Call failed altogether");
   }
 if (fk_response.error_code.val != fk_response.error_code.SUCCESS)
   {
    ROS_ERROR("Get FK failed with error code %d", fk_response.error_code.val);
    return false;
   }
 pose_stamped = fk_response.pose_stamped[0];
 return true;
}

bool MechanismInterface::getIKForPose(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose,
                                      kinematics_msgs::GetConstraintAwarePositionIK::Response& ik_response,
                                      const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                      const std::vector<arm_navigation_msgs::LinkPadding> &link_padding)
{
  //prepare the planning scene
  getPlanningScene(collision_operations, link_padding);
  //call collision-aware ik
  kinematics_msgs::GetConstraintAwarePositionIK::Request ik_request;
  ik_request.ik_request.ik_link_name = handDescription().gripperFrame(arm_name);
  ik_request.ik_request.pose_stamped.pose = desired_pose.pose;
  ik_request.ik_request.pose_stamped.header.stamp = desired_pose.header.stamp;
  ik_request.ik_request.pose_stamped.header.frame_id = desired_pose.header.frame_id;
  ik_request.ik_request.ik_seed_state.joint_state.name = getJointNames(arm_name);
  ik_request.ik_request.ik_seed_state.joint_state.position.resize(7, 0.0);
  ik_request.timeout = ros::Duration(2.0);
  if( !ik_service_client_.client(arm_name).call(ik_request,ik_response) ) 
  {
    ROS_ERROR("IK Service Call failed altogether");
    throw MechanismException("IK Service Call failed altogether");
  }
  if (ik_response.error_code.val != ik_response.error_code.SUCCESS)
  {
    ROS_ERROR("Get IK failed with error code %d", ik_response.error_code.val);
    return false;
  }
  return true;
}

bool MechanismInterface::checkStateValidity(std::string arm_name, const std::vector<double> &joint_values,
                                          const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                            const std::vector<arm_navigation_msgs::LinkPadding> &link_padding)
{
  //prepare the planning scene
  getPlanningScene(collision_operations, link_padding);
  //call check state validity
  arm_navigation_msgs::GetStateValidity::Request req;
  arm_navigation_msgs::GetStateValidity::Response res;
  req.group_name = handDescription().armGroup(arm_name);
  if (!joint_values.empty())
  {
    req.robot_state.joint_state.name = getJointNames(arm_name);
    req.robot_state.joint_state.position = joint_values;
    if ( req.robot_state.joint_state.name.size() != joint_values.size() )
    {
      throw MechanismException("Wrong number of joint values for checkStateValidity");
    }
    req.robot_state.joint_state.header.stamp = ros::Time::now();
  }
  req.check_collisions = true;
  if(!check_state_validity_client_.client().call(req,res))
  {
    throw MechanismException("Call to check state validity client failed");
  }

  if (res.error_code.val == res.error_code.SUCCESS) return true;
  return false;
}

double getJointPosition( std::string name, const arm_navigation_msgs::RobotState& robot_state)
{
  for (size_t i=0; i<robot_state.joint_state.name.size(); i++)
  {
    if (robot_state.joint_state.name[i] == name)
    {
      ROS_ASSERT(robot_state.joint_state.position.size() > i);
      return robot_state.joint_state.position[i];
    }
  }
  ROS_ERROR_STREAM("Joint " << name << " not found in robot state");
  return 0.0;
}

int MechanismInterface::getInterpolatedIK(std::string arm_name,
                                          geometry_msgs::PoseStamped start_pose,
                                          geometry_msgs::Vector3Stamped direction,
                                          float desired_trajectory_length,
                                          const std::vector<double> &seed_joint_position,
                                          const sensor_msgs::JointState &joint_state,
                                          const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                          const std::vector<arm_navigation_msgs::LinkPadding> &link_padding,
                                          bool reverse_trajectory,
                                          trajectory_msgs::JointTrajectory &trajectory,
                                          float &actual_trajectory_length)
{
  //first compute the desired end pose
  //make sure the input is normalized
  geometry_msgs::Vector3Stamped direction_norm = direction;
  direction_norm.vector = normalize(direction.vector);
  //multiply by the length
  desired_trajectory_length = fabs(desired_trajectory_length);
  direction_norm.vector.x *= desired_trajectory_length;
  direction_norm.vector.y *= desired_trajectory_length;
  direction_norm.vector.z *= desired_trajectory_length;
  geometry_msgs::PoseStamped end_pose = translateGripperPose(direction_norm, start_pose, arm_name);
 
  //hard-coded for now
  float max_step_size = 0.01;
  unsigned int collision_check_resolution = 2;
 
  //compute the number of steps  
  unsigned int num_steps = (unsigned int)ceil(desired_trajectory_length / fabs(max_step_size));
  float actual_step_size = desired_trajectory_length / num_steps;

  ROS_DEBUG_NAMED("manipulation","Trajectory details: length %f, requested num steps: %d, actual step size: %f",
           desired_trajectory_length, num_steps, actual_step_size);

  if (reverse_trajectory)
  {
    std::swap(start_pose, end_pose);
  }

  //recall that here we setting the number of points in trajectory, which is steps+1
  setInterpolatedIKParams(arm_name, num_steps+1, collision_check_resolution, reverse_trajectory);

  arm_navigation_msgs::RobotState start_state;
  start_state.multi_dof_joint_state.child_frame_ids.push_back(handDescription().gripperFrame(arm_name));
  start_state.multi_dof_joint_state.poses.push_back(start_pose.pose);
  start_state.multi_dof_joint_state.frame_ids.push_back(start_pose.header.frame_id);
  start_state.multi_dof_joint_state.stamp = ros::Time::now();

  //pass the seeds for the IK
  if (!seed_joint_position.empty())
  { 
    //the caller has provided seeds for planned joints
    //we are silently assuming that the values passed in match our joint names for IK
    start_state.joint_state.name = getJointNames(arm_name);
    if (seed_joint_position.size() != start_state.joint_state.name.size())
    {
      ROS_ERROR("Interpolated IK request: seed_joint_position does not match joint names");
      throw MechanismException("Interpolated IK request: seed_joint_position does not match joint names");
    }
    start_state.joint_state.position = seed_joint_position;
  }
  else
  {
    //no seeds have been passed in, use current robot state
    //grab the latest JointState message and read in joint positions
    arm_navigation_msgs::RobotState robot_state;
    getRobotState(robot_state);
    start_state.joint_state.name = getJointNames(arm_name);
    for (size_t i=0; i<start_state.joint_state.name.size(); i++)
    {
      start_state.joint_state.position.push_back( getJointPosition(start_state.joint_state.name[i], robot_state) );
    }
  }

  //pass the desired values of non-planned joints, if any
  for (size_t i=0; i<joint_state.name.size(); i++)
  {
    start_state.joint_state.name.push_back(joint_state.name[i]);
    start_state.joint_state.position.push_back(joint_state.position[i]);
  }
  
  arm_navigation_msgs::PositionConstraint position_constraint;
  arm_navigation_msgs::OrientationConstraint orientation_constraint;
  arm_navigation_msgs::poseStampedToPositionOrientationConstraints(end_pose, handDescription().gripperFrame(arm_name),
                                                                    position_constraint, 
                                                                    orientation_constraint);
  arm_navigation_msgs::Constraints goal_constraints;
  goal_constraints.position_constraints.push_back(position_constraint);
  goal_constraints.orientation_constraints.push_back(orientation_constraint);

  arm_navigation_msgs::GetMotionPlan motion_plan;
  motion_plan.request.motion_plan_request.start_state = start_state;
  motion_plan.request.motion_plan_request.goal_constraints = goal_constraints;

  //prepare the planning scene
  getPlanningScene(collision_operations, link_padding);

  //PROF_COUNT(INTERPOLATED_IK);
  //PROF_START_TIMER(INTERPOLATED_IK);
  if ( !interpolated_ik_service_client_.client(arm_name).call(motion_plan) ) 
  {
    ROS_ERROR("  Call to Interpolated IK service failed");
    throw MechanismException("Call to Interpolated IK service failed");
  }
  //PROF_STOP_TIMER(INTERPOLATED_IK);

  trajectory.points.clear();
  trajectory.joint_names = motion_plan.response.trajectory.joint_trajectory.joint_names;

  if (motion_plan.response.trajectory_error_codes.empty()) 
  {
    ROS_ERROR("  Interpolated IK: empty trajectory received");
    throw MechanismException("Interpolated IK: empty trajectory received");
  }
  
  int error_code = arm_navigation_msgs::ArmNavigationErrorCodes::SUCCESS;
  if (!reverse_trajectory)
  {
    for (size_t i=0; i<motion_plan.response.trajectory_error_codes.size(); i++) 
    {
      if ( motion_plan.response.trajectory_error_codes[i].val == motion_plan.response.trajectory_error_codes[i].SUCCESS )
      {
        trajectory.points.push_back( motion_plan.response.trajectory.joint_trajectory.points[i] );
      } 
      else 
      {
        ROS_DEBUG_NAMED("manipulation","  Interpolated IK failed on step %d (forward towards %d) with error code %d", 
                 (int) i, 
                 (int) motion_plan.response.trajectory_error_codes.size() - 1, 
                 motion_plan.response.trajectory_error_codes[i].val);
        error_code = motion_plan.response.trajectory_error_codes[i].val;
        break;
      }
    }
  }
  else
  {
    size_t first_success = 0;
    while ( first_success < motion_plan.response.trajectory_error_codes.size() &&
            motion_plan.response.trajectory_error_codes[first_success].val != 
            motion_plan.response.trajectory_error_codes[first_success].SUCCESS ) first_success ++;
    if (first_success != 0)
    {
      ROS_DEBUG_NAMED("manipulation","  Interpolation failed on step %d (backwards from %d) with error code %d",
               (int) first_success - 1,
               (int) motion_plan.response.trajectory_error_codes.size() - 1,
               motion_plan.response.trajectory_error_codes[first_success - 1].val);
      error_code = motion_plan.response.trajectory_error_codes[first_success - 1].val;
    }
    else
    {
      ROS_DEBUG_NAMED("manipulation","  Interpolation trajectory complete (backwards from %d points)",
               (int) motion_plan.response.trajectory_error_codes.size());
      
    }
    for (size_t i=first_success; i < motion_plan.response.trajectory_error_codes.size(); i++) 
    {
      if ( motion_plan.response.trajectory_error_codes[i].val == motion_plan.response.trajectory_error_codes[i].SUCCESS )
      {
        trajectory.points.push_back( motion_plan.response.trajectory.joint_trajectory.points[i] );
      } 
      else 
      {
        ROS_ERROR("  Interpolated IK: unexpected behavior for error codes: step %d has error code %d",
                  (int) i, motion_plan.response.trajectory_error_codes[i].val);
        throw MechanismException("Interpolated IK: unexpected behavior for error codes");
      }
    }
  }

  if (!trajectory.points.empty()) actual_trajectory_length = actual_step_size * (trajectory.points.size()-1);
  else actual_trajectory_length = 0.0;
  return error_code;
}

void MechanismInterface::cancelMoveArmGoal(std::string arm_name)
{
  move_arm_action_client_.client(arm_name).cancelGoal();
}

actionlib::SimpleClientGoalState MechanismInterface::getMoveArmState(std::string arm_name)
{
  actionlib::SimpleClientGoalState state = move_arm_action_client_.client(arm_name).getState();
  return state;
}

bool MechanismInterface::clearMoveArmGoals(double timeout)
{
  //if move_arm is running, cancel its goal
  actionlib::SimpleClientGoalState state = getMoveArmState("right_arm");
  if(state == actionlib::SimpleClientGoalState::ACTIVE || state == actionlib::SimpleClientGoalState::PENDING)
  {
    ROS_INFO("move_arm for the right arm is running!  Attempting to cancel goals");
    ros::Time start_time = ros::Time::now();
    cancelMoveArmGoal("right_arm");
    while(state == actionlib::SimpleClientGoalState::ACTIVE || state == actionlib::SimpleClientGoalState::PENDING)
    {
      ros::Duration(0.1).sleep();
      state = getMoveArmState("right_arm");
      if(ros::Time::now() - start_time > ros::Duration(timeout))
      {
        ROS_WARN("Timed out while waiting for move arm goal to finish");
        return false;
      } 
    }
  }
  state = getMoveArmState("left_arm");
  if(state == actionlib::SimpleClientGoalState::ACTIVE || state == actionlib::SimpleClientGoalState::PENDING)
  {
    ROS_INFO("move_arm for the left arm is running!  Attempting to cancel goals");
    ros::Time start_time = ros::Time::now();
    cancelMoveArmGoal("left_arm");
    while(state == actionlib::SimpleClientGoalState::ACTIVE || state == actionlib::SimpleClientGoalState::PENDING)
    {
      ros::Duration(0.1).sleep();
      state = getMoveArmState("left_arm");
      if(ros::Time::now() - start_time > ros::Duration(timeout))
      {
        ROS_WARN("Timed out while waiting for move arm goal to finish");
        return false;
      } 
    }
  }
  ROS_INFO("Done clearing move arm goals");
  return true;
}

bool MechanismInterface::attemptMoveArmToGoal(std::string arm_name, const std::vector<double> &desired_joint_values,
                                              const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                              const std::vector<arm_navigation_msgs::LinkPadding> &link_padding,
                                              int max_tries, bool reset_map_if_stuck, double timeout) 
{
  //make sure joint controllers are running
  if(!checkController(jointControllerName(arm_name)))
     switchToJoint(arm_name);

  int num_tries = 0;  
  arm_navigation_msgs::MoveArmGoal move_arm_goal;
  move_arm_goal.planning_scene_diff.link_padding = link_padding;
  move_arm_goal.operations = collision_operations;

  move_arm_goal.motion_plan_request.group_name = handDescription().armGroup(arm_name);
  move_arm_goal.motion_plan_request.num_planning_attempts = 1;
  move_arm_goal.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
  move_arm_goal.motion_plan_request.planner_id = MOVE_ARM_PLANNER_ID;
  move_arm_goal.planner_service_name = MOVE_ARM_PLANNER_SERVICE_NAME;
  

  move_arm_goal.operations = collision_operations;
  move_arm_goal.planning_scene_diff.link_padding = link_padding;

  std::vector<std::string> joint_names = getJointNames(arm_name);
  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints.resize(joint_names.size());
  for(unsigned int i = 0; i < desired_joint_values.size(); i++) 
  {
    move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = joint_names.at(i);
    move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[i].position = desired_joint_values[i];
    move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = .08;
    move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = .08;
  }
  
  bool success = false;
  arm_navigation_msgs::ArmNavigationErrorCodes error_code;
  while(num_tries < max_tries)
  {
    move_arm_action_client_.client(arm_name).sendGoal(move_arm_goal);
    bool withinWait = move_arm_action_client_.client(arm_name).waitForResult(ros::Duration(timeout));
    if(!withinWait) 
    {
      move_arm_action_client_.client(arm_name).cancelGoal();
      ROS_DEBUG_NAMED("manipulation","   Move arm goal could not be achieved by move_arm in the allowed duration");
      success = false;
      num_tries++;
      arm_navigation_msgs::MoveArmResult move_arm_result = *move_arm_action_client_.client(arm_name).getResult();
      error_code.val = error_code.TIMED_OUT;
      modifyMoveArmGoal(move_arm_goal,error_code,move_arm_result.contacts);
      continue;
    }
    actionlib::SimpleClientGoalState state = move_arm_action_client_.client(arm_name).getState();
    if(state == actionlib::SimpleClientGoalState::SUCCEEDED) 
    {
      ROS_DEBUG_NAMED("manipulation","  Move arm: position was successfully achieved");
      success = true;
      break;
    } 
    else 
    {
      arm_navigation_msgs::MoveArmResult move_arm_result = *move_arm_action_client_.client(arm_name).getResult();
      ROS_DEBUG_NAMED("manipulation","   Move arm: non-success state was reached. Reason: %s",
               (arm_navigation_msgs::armNavigationErrorCodeToString(move_arm_result.error_code)).c_str());
      ROS_DEBUG_NAMED("manipulation","   num_tries: %d, max_tries: %d",num_tries,max_tries);
      success = false;
      num_tries++;
      error_code = move_arm_result.error_code;

      //reset the collision map and wait to repopulate it before trying again
      if(reset_map_if_stuck && error_code.val == error_code.START_STATE_IN_COLLISION && num_tries < max_tries)
      {
        std_srvs::Empty srv;
        if ( !reset_collision_map_service_.client().call(srv) )
        {
          ROS_ERROR("Mechanism interface: reset collision map service call failed");
        }
        //tried to reset and repopulate twice already; just reset and try again right away
        if(num_tries <= 2){
          ros::Duration(5.0).sleep();
          ROS_INFO("move arm is stuck!  Resetting the collision map and repopulating!");
        }
        else{
          ROS_ERROR("move arm is still stuck!  Resetting the collision map and NOT repopulating");
        }
      }
      //modifyMoveArmGoal(move_arm_goal,error_code,move_arm_result.contacts);
      continue;
    }
  }
  if (!success && error_code.val == error_code.START_STATE_IN_COLLISION)
  {
    ROS_ERROR("move arm is still stuck!  Throwing MoveArmStuckException!");
    throw MoveArmStuckException();
  }
  return success;
}


void MechanismInterface::modifyMoveArmGoal(arm_navigation_msgs::MoveArmGoal &move_arm_goal, 
                                           arm_navigation_msgs::ArmNavigationErrorCodes &error_code,
                                           std::vector<arm_navigation_msgs::ContactInformation> &contact_info_)
{
  double allowed_penetration_depth = 0.03;
  if(error_code.val == error_code.START_STATE_IN_COLLISION)
  {
    std::vector<arm_navigation_msgs::AllowedContactSpecification> allowed_contacts;
    for(unsigned int i=0; i < contact_info_.size(); i++)
    {
      if(contact_info_[i].depth < allowed_penetration_depth)
      {
        arm_navigation_msgs::AllowedContactSpecification allowed_contact_tmp;
        allowed_contact_tmp.shape.type = allowed_contact_tmp.shape.BOX;
        allowed_contact_tmp.shape.dimensions.resize(3);
        allowed_contact_tmp.shape.dimensions[0] = 0.03;
        allowed_contact_tmp.shape.dimensions[1] = 0.03;
        allowed_contact_tmp.shape.dimensions[2] = 0.03;
        allowed_contact_tmp.pose_stamped.pose.position = contact_info_[i].position;
        allowed_contact_tmp.pose_stamped.pose.orientation.x = 0.0;
        allowed_contact_tmp.pose_stamped.pose.orientation.y = 0.0;
        allowed_contact_tmp.pose_stamped.pose.orientation.z = 0.0;
        allowed_contact_tmp.pose_stamped.pose.orientation.w = 1.0;
        allowed_contact_tmp.pose_stamped.header.stamp = ros::Time::now();
        allowed_contact_tmp.pose_stamped.header.frame_id = contact_info_[i].header.frame_id;
        allowed_contact_tmp.link_names.push_back(contact_info_[i].contact_body_1);
        allowed_contact_tmp.penetration_depth = allowed_penetration_depth;
        allowed_contacts.push_back(allowed_contact_tmp);
        ROS_DEBUG_NAMED("manipulation","Added allowed contact region: %d",i);
        ROS_DEBUG_NAMED("manipulation","Position                    : (%f,%f,%f)",contact_info_[i].position.x,
                 contact_info_[i].position.y,contact_info_[i].position.z);
        ROS_DEBUG_NAMED("manipulation","Frame id                    : %s",contact_info_[i].header.frame_id.c_str());
        ROS_DEBUG_NAMED("manipulation","Depth                       : %f",allowed_penetration_depth);
        ROS_DEBUG_NAMED("manipulation","Link                        : %s",contact_info_[i].contact_body_1.c_str());
        ROS_DEBUG_NAMED("manipulation"," ");
      }
    }
    ROS_DEBUG_NAMED("manipulation","Added %d allowed contact regions",(int)allowed_contacts.size());
    move_arm_goal.planning_scene_diff.allowed_contacts = allowed_contacts;
  }
}


bool MechanismInterface::moveArmConstrained(std::string arm_name, const geometry_msgs::PoseStamped &commanded_pose,
                                            const arm_navigation_msgs::OrderedCollisionOperations &collision_operations,
                                            const std::vector<arm_navigation_msgs::LinkPadding> &link_padding,
                                            const arm_navigation_msgs::Constraints &path_constraints,
                                            const double &redundancy,
                                            const bool &compute_viable_command_pose)
{
  //make sure joint controllers are running
  if(!checkController(jointControllerName(arm_name)))
     switchToJoint(arm_name);

  int num_tries = 0;
  int max_tries = 1;

  arm_navigation_msgs::MoveArmGoal move_arm_goal;
  // no need to set the planning scene as move arm does not use that; instead
  // we'll set collision ops and link padding in move arm call
  move_arm_goal.planning_scene_diff.link_padding = link_padding;
  move_arm_goal.operations = collision_operations;

  move_arm_goal.motion_plan_request.group_name = handDescription().armGroup(arm_name)+"_cartesian";
  move_arm_goal.motion_plan_request.num_planning_attempts = 1;
  move_arm_goal.motion_plan_request.allowed_planning_time = ros::Duration(5.0);
  move_arm_goal.motion_plan_request.planner_id = MOVE_ARM_PLANNER_ID;
  move_arm_goal.planner_service_name = MOVE_ARM_CONSTRAINED_PLANNER_SERVICE_NAME;

  move_arm_goal.motion_plan_request.goal_constraints.position_constraints.resize(1);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id = 
    commanded_pose.header.frame_id;
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].link_name = 
    handDescription().gripperFrame(arm_name);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].position = commanded_pose.pose.position;
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_shape.type = 
    arm_navigation_msgs::Shape::BOX;
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].
    constraint_region_shape.dimensions.push_back(OBJECT_POSITION_TOLERANCE_X);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].
    constraint_region_shape.dimensions.push_back(OBJECT_POSITION_TOLERANCE_Y);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].
    constraint_region_shape.dimensions.push_back(OBJECT_POSITION_TOLERANCE_Z);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].constraint_region_orientation.w = 1.0;
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].weight = 1.0;
  
  move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.resize(1);
  move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints[0] = 
    path_constraints.orientation_constraints[0];
  move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints[0].header.stamp = ros::Time::now();

  tf::Quaternion orientation;
  tf::quaternionMsgToTF(commanded_pose.pose.orientation,orientation);
  geometry_msgs::PoseStamped desired_pose = commanded_pose;  
  desired_pose.pose.position = move_arm_goal.motion_plan_request.goal_constraints.position_constraints[0].position;
  desired_pose.header.stamp = ros::Time::now();

  // TODO - this should really happen through the constraint
  // Currently its hard-coded for keeping objects level
  if(compute_viable_command_pose && path_constraints.orientation_constraints.size())
  {
    bool get_ik = false;
    for(unsigned int i=0; i < 360; i++)
    {
      double rotation_yaw = i*M_PI/360.0;
      ROS_DEBUG_NAMED("manipulation","Trying to find suitable goal orientation with yaw rotation: %f",rotation_yaw);
      tf::Quaternion orientation_yaw;
      orientation_yaw.setRPY(0.0,0.0,rotation_yaw);
      orientation_yaw *= orientation;
      geometry_msgs::Quaternion quaternion;
      tf::quaternionTFToMsg(orientation_yaw,quaternion);
      desired_pose.pose.orientation = quaternion;
      desired_pose.header.stamp = ros::Time::now();
      kinematics_msgs::GetConstraintAwarePositionIK::Response ik_response;
      if(getIKForPose(arm_name,desired_pose,ik_response, collision_operations, link_padding))
      {
        get_ik = true;
        break;
      }
    }
    if(!get_ik) 
      return false;
  }

  move_arm_goal.motion_plan_request.path_constraints.orientation_constraints.resize(1);
  move_arm_goal.motion_plan_request.path_constraints.orientation_constraints[0] = 
    move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints[0];
  move_arm_goal.disable_ik = true;

  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints.resize(1);
  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[0].joint_name = (getJointNames(arm_name))[2];
  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[0].position = redundancy;
  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[0].tolerance_below = M_PI;
  move_arm_goal.motion_plan_request.goal_constraints.joint_constraints[0].tolerance_above = M_PI;
      
  bool success = false;
  while(num_tries < max_tries)
  {
    move_arm_action_client_.client(arm_name).sendGoal(move_arm_goal);
    bool withinWait = move_arm_action_client_.client(arm_name).waitForResult(ros::Duration(60.0));
    if(!withinWait) 
    {
      move_arm_action_client_.client(arm_name).cancelGoal();
      ROS_DEBUG_NAMED("manipulation","  Move arm goal could not be achieved by move_arm in the allowed duration");
      success = false;
      num_tries++;
      arm_navigation_msgs::MoveArmResult move_arm_result = *move_arm_action_client_.client(arm_name).getResult();
      arm_navigation_msgs::ArmNavigationErrorCodes error_code;
      error_code.val = error_code.TIMED_OUT;
      modifyMoveArmGoal(move_arm_goal,error_code,move_arm_result.contacts);
      continue;
    }
    actionlib::SimpleClientGoalState state = move_arm_action_client_.client(arm_name).getState();
    if(state == actionlib::SimpleClientGoalState::SUCCEEDED) 
    {
      ROS_DEBUG_NAMED("manipulation","  Move arm: position was successfully achieved");
      success = true;
      break;
    } 
    else 
    {
      arm_navigation_msgs::MoveArmResult move_arm_result = *move_arm_action_client_.client(arm_name).getResult();
      ROS_DEBUG_NAMED("manipulation","Move arm: non-success state was reached. Reason: %s",
               (arm_navigation_msgs::armNavigationErrorCodeToString(move_arm_result.error_code)).c_str());
      ROS_DEBUG_NAMED("manipulation","num_tries: %d, max_tries: %d",num_tries,max_tries);
      success = false;
      num_tries++;
      modifyMoveArmGoal(move_arm_goal,move_arm_result.error_code,move_arm_result.contacts);
      continue;
    }
  }
  return success;
}

geometry_msgs::PoseStamped MechanismInterface::translateGripperPose(geometry_msgs::Vector3Stamped translation, 
                                                                    geometry_msgs::PoseStamped start_pose,
                                                                    std::string arm_name)
{
  bool pre_multiply;
  if (translation.header.frame_id == handDescription().gripperFrame(arm_name))
  {
    pre_multiply=false;
  } 
  else if (translation.header.frame_id == handDescription().robotFrame(arm_name))
  {
    pre_multiply=true;
  }
  else
  {
    throw MechanismException(std::string("Gripper translations (such as for lift or approach) can only be specified in "
                                     "either the gripper frame or the robot frame. This one was specified in frame ") + 
                             translation.header.frame_id);
  }


  //go to robot frame first
  geometry_msgs::PoseStamped start_pose_robot_frame = transformPose(handDescription().robotFrame(arm_name), start_pose);
  tf::StampedTransform start_transform;
  tf::poseMsgToTF(start_pose_robot_frame.pose, start_transform);

  tf::Vector3 vec;
  tf::vector3MsgToTF(translation.vector, vec);
  tf::StampedTransform translate_trans;
  translate_trans.setIdentity();
  translate_trans.setOrigin(vec);

  //compute the translated pose
  tf::Transform end_transform;
  if (pre_multiply) end_transform = translate_trans * start_transform;
  else end_transform = start_transform * translate_trans;

  //prepare the results
  geometry_msgs::PoseStamped translated_pose;
  tf::poseTFToMsg(end_transform, translated_pose.pose);
  translated_pose.header.frame_id = handDescription().robotFrame(arm_name);
  translated_pose.header.stamp = ros::Time(0);

  //return the result in the requested frame
  translated_pose = transformPose(start_pose.header.frame_id, translated_pose);

  return translated_pose;
}

geometry_msgs::PoseStamped MechanismInterface::getGripperPose(std::string arm_name, std::string frame_id)
{
  tf::StampedTransform gripper_transform;
  try
  {
    listener_.lookupTransform(frame_id, handDescription().gripperFrame(arm_name), ros::Time(0), gripper_transform);
  }
  catch (tf::TransformException ex)
  {
    //sometimes fails the first time but succeeds the second.  Don't ask me why.
    ROS_ERROR("failed to get tf transform for wrist roll link, trying a second time");
    try
    {
      listener_.lookupTransform(frame_id, handDescription().gripperFrame(arm_name), ros::Time(0), gripper_transform);
    }
    catch (tf::TransformException ex)
    {
      ROS_ERROR("Mechanism interface: failed to get tf transform for wrist roll link; tf exception %s", ex.what());
      throw MechanismException(std::string("failed to get tf transform for wrist roll link; tf exception: ") + 
                             std::string(ex.what()) );
    }
  }
  geometry_msgs::PoseStamped gripper_pose;
  tf::poseTFToMsg(gripper_transform, gripper_pose.pose);
  gripper_pose.header.frame_id = frame_id;
  gripper_pose.header.stamp = ros::Time::now();
  return gripper_pose;
}

void MechanismInterface::transformPointCloud(std::string target_frame, 
                                             const sensor_msgs::PointCloud &cloud_in,
                                             sensor_msgs::PointCloud &cloud_out)
{
  try
  {
    listener_.transformPointCloud(target_frame, cloud_in, cloud_out);    
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("Mechanism interface: failed to cloud into %s frame; exception: %s", target_frame.c_str(),
              ex.what());
    throw MechanismException(std::string("failed to transform cloud into frame ") + target_frame + 
                             std::string("; tf exception: ") + std::string(ex.what()) );
  }
}

void MechanismInterface::convertGraspableObjectComponentsToFrame(manipulation_msgs::GraspableObject &object,
                                                                 std::string frame_id)
{
  if (!object.cluster.points.empty())
  {
    transformPointCloud(frame_id, object.cluster, object.cluster);
  }
  for (size_t i=0; i<object.potential_models.size(); i++)
  {
    object.potential_models[i].pose = transformPose(frame_id, object.potential_models[i].pose);
  }
  object.reference_frame_id = frame_id;
}

geometry_msgs::PoseStamped MechanismInterface::transformPose(const std::string target_frame, 
                                                             const geometry_msgs::PoseStamped &stamped_in)
{
  geometry_msgs::PoseStamped stamped_out;
  try
  {
    listener_.transformPose(target_frame, stamped_in, stamped_out);
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("Mechanism interface: failed to transform pose into %s frame; exception: %s", target_frame.c_str(),
              ex.what());
    throw MechanismException(std::string("failed to transform pose into frame ") + target_frame + 
                             std::string("; tf exception: ") + std::string(ex.what()) );
  }
  return stamped_out;
}

bool MechanismInterface::translateGripper(std::string arm_name, const geometry_msgs::Vector3Stamped &direction,
                                          arm_navigation_msgs::OrderedCollisionOperations ord, 
                                          const std::vector<arm_navigation_msgs::LinkPadding> &link_padding,
                                          float requested_distance, float min_distance,
                                          float &actual_distance)
{
  //get the current gripper pose in the robot frame
  geometry_msgs::PoseStamped start_pose_stamped = getGripperPose(arm_name, handDescription().robotFrame(arm_name));

  //compute the interpolated trajectory
  trajectory_msgs::JointTrajectory traj;
  std::vector<double> empty;
  sensor_msgs::JointState empty_state;
  getInterpolatedIK(arm_name, 
                    start_pose_stamped, direction, requested_distance, 
                    empty, empty_state, ord, link_padding, false, traj, actual_distance);

  if (min_distance > 0 && actual_distance < min_distance) 
  {
    ROS_DEBUG_NAMED("manipulation","Mechanism interface: interpolated IK trajectory covers %f distance, but at least %f requested", 
             actual_distance, min_distance);
    actual_distance = 0;
    return false;
  }

  if (traj.points.empty())
  {
    ROS_DEBUG_NAMED("manipulation","Mechanism interface: translate gripper trajectory is empty");
    actual_distance = false;
    return false;
  }

  //execute the normalized interpolated trajectory
  attemptTrajectory(arm_name, traj, true);
  return true;
}

geometry_msgs::PoseStamped MechanismInterface::getObjectPoseForGrasp(std::string arm_name, 
                                                                     const geometry_msgs::Pose &grasp_pose)

{
  //get the current pose of the gripper in base link coordinate frame
  tf::StampedTransform wrist_transform;
  try
  {
    listener_.lookupTransform("base_link",handDescription().gripperFrame(arm_name), 
                              ros::Time(0), wrist_transform);
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("Mechanism interface: failed to get tf transform for wrist roll link");
    throw MechanismException(std::string("failed to get tf transform for wrist roll link; tf exception: ") + 
                             std::string(ex.what()) );
  }

  //multiply by inverse of grasp pose
  tf::Transform grasp_transform;
  tf::poseMsgToTF(grasp_pose, grasp_transform);

  tf::Transform object_transform;
  object_transform = wrist_transform * grasp_transform.inverse();

  //prepare the result
  geometry_msgs::PoseStamped object_pose;
  tf::poseTFToMsg(object_transform, object_pose.pose);
  object_pose.header.frame_id = "base_link";
  object_pose.header.stamp = ros::Time::now();
  return object_pose;
}

void MechanismInterface::attachObjectToGripper(std::string arm_name, std::string collision_object_name)
{
  arm_navigation_msgs::AttachedCollisionObject obj;
  obj.object.header.stamp = ros::Time::now();
  obj.object.header.frame_id = handDescription().robotFrame(arm_name);
  obj.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ATTACH_AND_REMOVE_AS_OBJECT;
  obj.object.id = collision_object_name;
  obj.link_name = handDescription().attachLinkName(arm_name);
  obj.touch_links = handDescription().gripperTouchLinkNames(arm_name);
  attached_object_pub_.publish(obj);
}
 
void MechanismInterface::detachAndAddBackObjectsAttachedToGripper(std::string arm_name, 
                                                                  std::string collision_object_name)
{
  arm_navigation_msgs::AttachedCollisionObject att;
  att.object.header.stamp = ros::Time::now();
  att.object.header.frame_id = handDescription().robotFrame(arm_name);
  att.link_name = handDescription().attachLinkName(arm_name);
  att.object.id = collision_object_name;
  att.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::DETACH_AND_ADD_AS_OBJECT;
  attached_object_pub_.publish(att);
}

void MechanismInterface::detachAllObjectsFromGripper(std::string arm_name)
{
  arm_navigation_msgs::AttachedCollisionObject att;
  att.object.header.stamp = ros::Time::now();
  att.object.header.frame_id = handDescription().robotFrame(arm_name);
  att.link_name = handDescription().attachLinkName(arm_name);
  att.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::REMOVE;
  attached_object_pub_.publish(att);
}

void MechanismInterface::handPostureGraspAction(std::string arm_name, 
                    const manipulation_msgs::Grasp &grasp, int goal, float max_contact_force)
{
  object_manipulation_msgs::GraspHandPostureExecutionGoal posture_goal;
  posture_goal.grasp = grasp;
  posture_goal.goal = goal;
  posture_goal.max_contact_force = max_contact_force;
  hand_posture_client_.client(arm_name).sendGoal(posture_goal);
  bool withinWait = hand_posture_client_.client(arm_name).waitForResult(ros::Duration(10.0));
  if(!withinWait) 
  {
    hand_posture_client_.client(arm_name).cancelGoal();
    ROS_ERROR("Hand posture controller timed out on goal (%d)", goal);
    throw MechanismException("Hand posture controller timed out");
  }
  actionlib::SimpleClientGoalState state = hand_posture_client_.client(arm_name).getState();
  if(state != actionlib::SimpleClientGoalState::SUCCEEDED) 
  {
    ROS_ERROR("Hand posture controller failed on goal (%d)", goal);
    throw MechanismException("Hand posture controller failed");
  }
  ROS_DEBUG_NAMED("manipulation","Hand posture controller successfully achieved goal %d", goal);
}

bool MechanismInterface::graspPostureQuery(std::string arm_name, const manipulation_msgs::Grasp grasp)
{
  object_manipulation_msgs::GraspStatus query;
  query.request.grasp = grasp;
  if (!grasp_status_client_.client(arm_name).call(query))
  {
    ROS_ERROR("Grasp posture query call failed");
    throw MechanismException("Grasp posture query call failed");
  }
  return query.response.is_hand_occupied;
}

bool MechanismInterface::pointHeadAction(const geometry_msgs::PointStamped &target, std::string pointing_frame, bool wait_for_result)
{
  pr2_controllers_msgs::PointHeadGoal goal;
  goal.target = target;
  goal.pointing_axis.x = 0;
  goal.pointing_axis.y = 0;
  goal.pointing_axis.z = 1;
  goal.pointing_frame = pointing_frame;
  goal.min_duration = ros::Duration(0.05);
  goal.max_velocity = 1.0;

  point_head_action_client_.client().sendGoal(goal);

  if(wait_for_result)
  {
    point_head_action_client_.client().waitForResult( ros::Duration(3.0) );

    if (point_head_action_client_.client().getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    {
      ROS_DEBUG_NAMED("manipulation","Successfully moved head.");
      return true;
    }
    else
    {
      ROS_ERROR("Head movement failed or timed out.");
      return false;
    }
  }
  return true;
}

bool MechanismInterface::callSwitchControllers(std::vector<std::string> start_controllers, 
                                               std::vector<std::string> stop_controllers)
{
  pr2_mechanism_msgs::SwitchController srv;
  srv.request.start_controllers = start_controllers;
  srv.request.stop_controllers = stop_controllers;
  srv.request.strictness = srv.request.STRICT;
  if ( !switch_controller_service_.client().call(srv) )
  {
    ROS_ERROR("Mechanism interface: switch controller service call failed");
    throw MechanismException("switch controller service call failed");
  } 
  if(!srv.response.ok) return false;
  return true;
}  

bool MechanismInterface::switchControllers(std::string start_controller, std::string stop_controller)
{
  ROS_DEBUG_NAMED("manipulation","Switching controller %s for %s", start_controller.c_str(), stop_controller.c_str());
  std::vector<std::string> start_controllers;
  std::vector<std::string> stop_controllers;
  start_controllers.push_back(start_controller);
  stop_controllers.push_back(stop_controller);
  bool success = callSwitchControllers(start_controllers, stop_controllers);
  if(success)
  {
    bool start_running = checkController(start_controller);
    bool stop_running = checkController(stop_controller);
    if(start_running && !stop_running) return true;
    ROS_ERROR("switching %s to %s failed even though it returned success", 
              stop_controller.c_str(), start_controller.c_str());
    return false;
  }
  else
  {
    ROS_ERROR("switching %s to %s failed", stop_controller.c_str(), start_controller.c_str());
    return false;
  }
}

bool MechanismInterface::checkController(std::string controller)
{
  pr2_mechanism_msgs::ListControllers srv;
  if( !list_controllers_service_.client().call(srv))
  {
    ROS_ERROR("Mechanism interface: list controllers service call failed");
    throw MechanismException("list controllers service call failed");
  }
  for(size_t controller_ind=0; controller_ind < srv.response.controllers.size(); controller_ind++)
  {
    if(controller.compare(srv.response.controllers[controller_ind]) == 0)
    {
      if(srv.response.state[controller_ind].compare("running") == 0) return true;
      return false;
    }
  }
  ROS_WARN("controller %s not found when checking status!", controller.c_str());
  return false;
}

bool MechanismInterface::startController(std::string controller)
{
  ROS_DEBUG_NAMED("manipulation","Starting controller %s", controller.c_str());
  std::vector<std::string> start_controllers;
  std::vector<std::string> stop_controllers;
  start_controllers.push_back(controller);
  bool success = callSwitchControllers(start_controllers, stop_controllers);
  if(success)
  {
    bool running = checkController(controller);
    if(running) return true;
    ROS_ERROR("starting controller %s failed even though it returned success", controller.c_str());
    return false;
  }
  else
  {
    ROS_ERROR("starting controller %s failed", controller.c_str());
    return false;
  }
}

bool MechanismInterface::stopController(std::string controller)
{
  ROS_DEBUG_NAMED("manipulation","Stopping controller %s", controller.c_str());
  std::vector<std::string> start_controllers;
  std::vector<std::string> stop_controllers;
  stop_controllers.push_back(controller);
  bool success = callSwitchControllers(start_controllers, stop_controllers);
  if(success)
  {
    bool running = checkController(controller);
    if(running)
    {
      ROS_ERROR("stopping controller %s failed even though it returned success", controller.c_str());
      return false;
    }
    return true;
  }
  else
  {
    ROS_ERROR("stopping controller %s failed", controller.c_str());
    return false;
  }
}

bool MechanismInterface::getArmAngles(std::string arm_name, std::vector<double> &arm_angles)
{
  std::vector<std::string> arm_joints = handDescription().armJointNames(arm_name);
  if(arm_joints.size() == 0)
  {
    ROS_ERROR("mechanism interface: armJointNames was empty!");
    return false;
  }
  arm_angles.resize(arm_joints.size());

  //grab the latest JointState message
  arm_navigation_msgs::RobotState robot_state;
  getRobotState(robot_state);
  //find each joint and its current position in the JointState message
  for (size_t joint_num = 0; joint_num < arm_joints.size(); joint_num++)
  {
    std::string joint_name = arm_joints[joint_num];
    size_t i;
    for (i=0; i<robot_state.joint_state.name.size(); i++)
    {
      if (robot_state.joint_state.name[i] == joint_name) break;
    }
    if (i==robot_state.joint_state.name.size())
    {
      ROS_ERROR("mechanism interface: arm joint %s not found in joint state", joint_name.c_str());
      return false;
    }
    if (robot_state.joint_state.position.size() <= i)
    {
      ROS_ERROR("mechanism interface: malformed joint state message received");
      return false;
    }
    arm_angles[joint_num] = robot_state.joint_state.position[i];
  }
  ROS_DEBUG_NAMED("manipulation","%s arm_angles: %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
           arm_name.c_str(), arm_angles[0], arm_angles[1], arm_angles[2], 
           arm_angles[3], arm_angles[4], arm_angles[5], arm_angles[6]);
  return true;
}

bool MechanismInterface::switchToCartesian(std::string arm_name)
{
  //set the desired posture to the current joint angles first
  setCartesianPostureGoalToCurrentAngles(arm_name);
  
  //switch controllers
  bool result = switchControllers(cartesianControllerName(arm_name), jointControllerName(arm_name));
  if(!result) return false;
  return true;
}

bool MechanismInterface::switchToJoint(std::string arm_name)
{
  bool result = switchControllers(jointControllerName(arm_name), cartesianControllerName(arm_name));
  if(!result) return false;
  return true;
}

std::string MechanismInterface::jointControllerName(std::string arm_name)
{
  std::map<std::string, std::string>::iterator it = joint_controller_names_.find(arm_name);
  if ( it != joint_controller_names_.end() ) 
  {
    return it->second;
  }
  std::string controller_name;
  priv_nh_.param<std::string>(arm_name+std::string("_joint_controller"), controller_name, "");
  if(controller_name == "")
  {
    ROS_WARN("joint controller name for arm %s not found!", arm_name.c_str());
  }
  else
  {
    joint_controller_names_.insert(std::pair<std::string, std::string>(arm_name, controller_name));
    ROS_INFO("added controller name %s to joint controller map", controller_name.c_str());
  }
  return controller_name;
}

std::string MechanismInterface::cartesianControllerName(std::string arm_name)
{
  std::map<std::string, std::string>::iterator it = cartesian_controller_names_.find(arm_name);
  if ( it != cartesian_controller_names_.end() ) 
  {
    return it->second;
  }
  std::string controller_name;
  priv_nh_.param<std::string>(arm_name+std::string("_cartesian_controller"), controller_name, "");
  if(controller_name == "")
  {
    ROS_WARN("Cartesian controller name for arm %s not found!", arm_name.c_str());
  }
  else
  {
    cartesian_controller_names_.insert(std::pair<std::string, std::string>(arm_name, controller_name));
    ROS_INFO("added controller name %s to Cartesian controller map", controller_name.c_str());
  }
  return controller_name;
}

geometry_msgs::PoseStamped MechanismInterface::clipDesiredPose(std::string arm_name,
                                                               const geometry_msgs::PoseStamped &desired_pose,
                                                               double clip_dist, double clip_angle,
                                                               double &resulting_clip_fraction)
{
  //no clipping desired
  if(clip_dist == 0 && clip_angle == 0) return desired_pose;

  //Get the current gripper pose
  geometry_msgs::PoseStamped current_pose = getGripperPose(arm_name, desired_pose.header.frame_id);

  return clipDesiredPose(current_pose, desired_pose, clip_dist, clip_angle, resulting_clip_fraction);
}

geometry_msgs::PoseStamped MechanismInterface::clipDesiredPose(const geometry_msgs::PoseStamped &current_pose,
                                                               const geometry_msgs::PoseStamped &desired_pose,
                                                               double clip_dist, double clip_angle,
                                                               double &resulting_clip_fraction)
{
  //no clipping desired
  if(clip_dist == 0 && clip_angle == 0) return desired_pose;

  //Get the position and angle dists between current and desired
  Eigen::Affine3d current_trans, desired_trans;
  double pos_dist, angle;
  Eigen::Vector3d axis, direction;
  tf::poseMsgToEigen(current_pose.pose, current_trans);
  tf::poseMsgToEigen(desired_pose.pose, desired_trans);
  positionAndAngleDist(current_trans, desired_trans, pos_dist, angle, axis, direction);

  //Clip the desired pose to be at most clip_dist and the desired angle to be at most clip_angle (proportional)
  //from the current
  double pos_mult, angle_mult;
  double pos_change, angle_change;
  angle_mult = fabs(angle / clip_angle);
  pos_mult = fabs(pos_dist / clip_dist);
  if(pos_mult <=1 && angle_mult <=1){
    return desired_pose;
  }
  double mult = pos_mult;
  if(angle_mult > pos_mult) mult = angle_mult;
  pos_change = pos_dist / mult;
  angle_change = angle / mult;
  resulting_clip_fraction = 1 / mult;

  Eigen::Affine3d clipped_trans;
  clipped_trans = current_trans;
  Eigen::Vector3d scaled_direction;
  scaled_direction = direction * pos_change;
  Eigen::Translation3d translation(scaled_direction);
  clipped_trans = clipped_trans * translation;
  Eigen::AngleAxis<double> angle_axis(angle_change, axis);
  clipped_trans = clipped_trans * angle_axis;
  geometry_msgs::PoseStamped clipped_pose;
  tf::poseEigenToMsg(clipped_trans, clipped_pose.pose);
  clipped_pose.header = desired_pose.header;
  return clipped_pose;
}


geometry_msgs::PoseStamped MechanismInterface::overshootDesiredPose(std::string arm_name, 
                                                                    const geometry_msgs::PoseStamped &desired_pose, 
                                                                    double overshoot_dist, double overshoot_angle,
                                                                    double dist_tol, double angle_tol)
{
  //Get the current gripper pose
  geometry_msgs::PoseStamped current_pose = getGripperPose(arm_name, desired_pose.header.frame_id);

  //Get the position and angle dists between current and desired
  Eigen::Affine3d current_trans, desired_trans;
  double pos_dist, angle;
  Eigen::Vector3d axis, direction;
  tf::poseMsgToEigen(current_pose.pose, current_trans);
  tf::poseMsgToEigen(desired_pose.pose, desired_trans);
  positionAndAngleDist(current_trans, desired_trans, pos_dist, angle, axis, direction);

  //Add overshoot_dist in length to the pos difference vector, and overshoot_angle to the angle difference
  double pos_change = 0;
  double angle_change = 0;
  if(angle > angle_tol) angle_change = angle + overshoot_angle;
  double pos_sign = pos_dist / fabs(pos_dist);
  if(fabs(pos_dist) > dist_tol) pos_change = pos_dist + pos_sign*overshoot_dist;
  //std::cout << "pos_change: " << pos_change << "angle_change: " << angle_change;

  Eigen::Affine3d overshoot_trans;
  overshoot_trans = current_trans;
  Eigen::Vector3d scaled_direction;
  scaled_direction = direction * pos_change;
  Eigen::Translation3d translation(scaled_direction);
  overshoot_trans = overshoot_trans * translation;
  Eigen::AngleAxis<double> angle_axis(angle_change, axis);
  overshoot_trans = overshoot_trans * angle_axis;
  geometry_msgs::PoseStamped overshoot_pose;
  tf::poseEigenToMsg(overshoot_trans, overshoot_pose.pose);
  overshoot_pose.header = desired_pose.header;

  return overshoot_pose;
} 


geometry_msgs::PoseStamped MechanismInterface::clipDesiredPose(std::string arm_name, 
                                                               const geometry_msgs::PoseStamped &desired_pose, 
                                                               double clip_dist, double clip_angle,
                                                               double &resulting_clip_fraction,
                                                               const std::vector<double> &goal_posture_suggestion,
                                                               std::vector<double> &clipped_posture_goal)
{
  double clip_fraction;
  geometry_msgs::PoseStamped clipped_pose = clipDesiredPose(arm_name, desired_pose, clip_dist, clip_angle, clip_fraction);

  //If there's a goal posture suggestion, clip it as well
  if(goal_posture_suggestion.size() > 0 && (clip_dist != 0 || clip_angle != 0))
  {
    //Get the current arm angles
    std::vector<double> current_arm_angles;
    getArmAngles(arm_name, current_arm_angles);

    if(goal_posture_suggestion.size() != current_arm_angles.size())
    {
      ROS_ERROR("goal posture suggestion length not consistent with length of current arm angles!");
      return clipped_pose;
    }

    //Unnormalize the goal arm angles
    std::vector<std::vector<double> > goal_positions;
    goal_positions.push_back(goal_posture_suggestion);
    trajectory_msgs::JointTrajectory goal_trajectory = assembleJointTrajectory(arm_name, goal_positions, 5.0);
    goal_trajectory.header.stamp = ros::Time(0);
    trajectory_msgs::JointTrajectory unnormalized_goal;
    unnormalizeTrajectory(arm_name, goal_trajectory, unnormalized_goal);

    //Clip the posture goal by the same amount the pose got clipped
    clipped_posture_goal.resize(current_arm_angles.size());
    for(size_t i=0; i<current_arm_angles.size(); i++)
    {
      clipped_posture_goal[i] = 
        (unnormalized_goal.points[0].positions[i] - current_arm_angles[i]) * clip_fraction + current_arm_angles[i];
    }
  }

  return clipped_pose;
}

void MechanismInterface::poseDists(geometry_msgs::Pose start, geometry_msgs::Pose end, double &pos_dist, double &angle)
{
  Eigen::Affine3d start_trans, end_trans;
  tf::poseMsgToEigen(start, start_trans);
  tf::poseMsgToEigen(end, end_trans);
  Eigen::Vector3d axis, direction;
  positionAndAngleDist(start_trans, end_trans, pos_dist, angle, axis, direction);
}

void MechanismInterface::positionAndAngleDist(Eigen::Affine3d start, Eigen::Affine3d end, 
                                              double &pos_dist, 
                                              double &angle, Eigen::Vector3d &axis, Eigen::Vector3d &direction)
{
  //trans = end to start = global to start * end to global
  Eigen::Affine3d trans;
  trans = start.inverse() * end;
  Eigen::AngleAxis<double> angle_axis;
  angle_axis = trans.rotation();
  angle = angle_axis.angle();
  axis = angle_axis.axis();
  if(angle > M_PI)
  {
    angle = -(angle - 2*M_PI);
    axis = -axis;
  }
  direction = trans.translation();
  pos_dist = sqrt(direction.dot(direction));
  if(pos_dist) direction *= 1/pos_dist;
}

int MechanismInterface::translateGripperCartesian(std::string arm_name, const geometry_msgs::Vector3Stamped &direction,
                                                  ros::Duration timeout, double dist_tol, double angle_tol,
                                                  double clip_dist, double clip_angle, 
                                                  double overshoot_dist, double overshoot_angle, double timestep)
{
  geometry_msgs::PoseStamped current_pose = getGripperPose(arm_name, direction.header.frame_id);
  geometry_msgs::PoseStamped desired_pose = translateGripperPose(direction, current_pose, arm_name);  
  int result = moveArmToPoseCartesian(arm_name, desired_pose, timeout, dist_tol, angle_tol, 
                                      clip_dist, clip_angle, overshoot_dist, overshoot_angle, timestep);
  return result;
}

//returns 0 if an error occurred, 1 if it got there, -1 if it timed out
int MechanismInterface::moveArmToPoseCartesian(std::string arm_name, const geometry_msgs::PoseStamped &desired_pose,
                                               ros::Duration timeout, double dist_tol, double angle_tol,
                                               double clip_dist, double clip_angle, 
                                               double overshoot_dist, double overshoot_angle, 
                                               double timestep, 
                                               const std::vector<double> &goal_posture_suggestion)
{
  bool success = false;

  //Switch to Cartesian controllers
  for(int tries=0; tries<3; tries++)
  {
    success = switchToCartesian(arm_name);
    if(success) break;
    ros::Duration(1.0).sleep();
  }
  if(!success)
  {
    ROS_ERROR("Tries exceeded when trying to switch to Cartesian control!");
    return 0;
  }

  //Move towards the desired pose until we get there within our tolerance or until time runs out
  ros::Time begin = ros::Time::now();
  int reached_target = -1;
  geometry_msgs::PoseStamped current_pose = getGripperPose(arm_name, desired_pose.header.frame_id);
  geometry_msgs::PoseStamped last_pose = current_pose;

  //Compute a new desired_pose with the desired overshoot
  geometry_msgs::PoseStamped overshoot_pose = overshootDesiredPose(arm_name, desired_pose, overshoot_dist, overshoot_angle, dist_tol, angle_tol);

  while(ros::ok())
  {
    //stop if we're out of time
    if(ros::Time::now() - begin > timeout)
    {
      ROS_DEBUG_NAMED("manipulation","Timed out when moving to desired Cartesian pose");
      break;
    }
    
    //stop if we're within our tolerances
    current_pose = getGripperPose(arm_name, desired_pose.header.frame_id);

    double pos_dist, angle_dist;
    poseDists(current_pose.pose, overshoot_pose.pose, pos_dist, angle_dist);
    if(pos_dist <= dist_tol+overshoot_dist && angle_dist <= angle_tol+overshoot_angle)
    {
      //send the original desired pose out
      sendCartesianPoseCommand(arm_name, desired_pose);

      //ROS_INFO("moveArmToPoseCartesian reached target");
      reached_target = 1;
      break;
    }

    //also stop if we're not moving
    double pos_change, angle_change;
    poseDists(current_pose.pose, last_pose.pose, pos_change, angle_change);
    if(ros::Time::now() - begin > ros::Duration(2.0) && pos_change <= .005*timestep && angle_change <= .001*timestep)
    {
      ROS_INFO("moveArmToPoseCartesian is stuck!  Returning");
      break;
    }
     
    //clip the desired pose and posture suggestion and send it out
    double resulting_clip_fraction;
    std::vector<double> clipped_posture_suggestion;
    geometry_msgs::PoseStamped clipped_pose = clipDesiredPose(arm_name, overshoot_pose, clip_dist, clip_angle, 
                                    resulting_clip_fraction, goal_posture_suggestion, clipped_posture_suggestion);
    sendCartesianPoseCommand(arm_name, clipped_pose);

    if(clipped_posture_suggestion.size() > 0)
    {
      sendCartesianPostureCommand(arm_name, clipped_posture_suggestion);
    }

    last_pose = current_pose;

    //sleep until the next timestep
    ros::Duration(timestep).sleep();
  }

  //Switch back to joint control
  success = false;
  for(int tries=0; tries<3; tries++)
  {
    success = switchToJoint(arm_name);
    if(success) break;
    ros::Duration(1.0).sleep();
  }
  if(!success)
  {
    ROS_ERROR("Tries exceeding when trying to switch back to joint control!");
    return 0;
  }
  return reached_target;
}

void MechanismInterface::sendCartesianPoseCommand(std::string arm_name, geometry_msgs::PoseStamped desired_pose)
{
  desired_pose.header.stamp = ros::Time(0);
  cartesian_pub_.publisher(arm_name).publish(desired_pose);
}

void MechanismInterface::sendCartesianPostureCommand(std::string arm_name, std::vector<double> arm_angles)
{
  std_msgs::Float64MultiArray angles;
  for(size_t i=0; i<arm_angles.size(); i++)
  {
    angles.data.push_back(arm_angles[i]);
  }
  cartesian_posture_pub_.publisher(arm_name).publish(angles);
}

/*
void MechanismInterface::sendCartesianGainsCommand(std::string arm_name, std::vector<double> gains)
{
  std_msgs::Float64MultiArray new_gains;
  new_gains.data = gains;
  cartesian_gains_pub_.publisher(arm_name).publish(new_gains);
  }*/
 /*
void MechanismInterface::sendCartesianGainsCommand(std::string arm_name, std::vector<double> gains, std::string frame_id, std::vector<double> fixed_frame)
{
  object_manipulation_msgs::CartesianGains new_gains;
  new_gains.gains = gains;
  new_gains.fixed_frame = fixed_frame;
  new_gains.header.frame_id = frame_id;
  cartesian_gains_pub_.publisher(arm_name).publish(new_gains);
  }*/

void MechanismInterface::setCartesianPostureGoalToCurrentAngles(std::string arm_name)
{
  std::vector<double> arm_angles;
  getArmAngles(arm_name, arm_angles);
  sendCartesianPostureCommand(arm_name, arm_angles);
}

std::vector<arm_navigation_msgs::LinkPadding> 
MechanismInterface::fingertipPadding(std::string arm_name, double pad)
{
  std::vector<arm_navigation_msgs::LinkPadding> padding_vec;
  arm_navigation_msgs::LinkPadding padding;
  padding.padding = pad;  
  std::vector<std::string> links = handDescription().fingertipLinks(arm_name);
  for (size_t i=0; i<links.size(); i++)
  {
    padding.link_name = links[i];
    padding_vec.push_back(padding); 
  }  
  return padding_vec; 
}

std::vector<arm_navigation_msgs::LinkPadding> 
MechanismInterface::gripperPadding(std::string arm_name, double pad)
{
  std::vector<arm_navigation_msgs::LinkPadding> padding_vec;
  arm_navigation_msgs::LinkPadding padding;
  padding.padding = pad;  
  std::vector<std::string> links = handDescription().gripperTouchLinkNames(arm_name);
  for (size_t i=0; i<links.size(); i++)
  {
    padding.link_name = links[i];
    padding_vec.push_back(padding); 
  }  
  return padding_vec; 
}

} //namespace object_manipulator