To cancel the trajectory (hrpsys, MoveIt!)

[130s]

In a trial to implement stop feature discussed in #36, I'm trying to utilize existing methods to achieve (1) stopping the arm that's moving according to the given trajectory, (2) canceling the given trajectory. (2) may or may not be critically in need depending on the situation.
I tried the following both on MoveIt! and hrpsys. Neither worked to my expectation. What's the right way to do so?

_MoveIt!_

term-1$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch 

term-2$ roslaunch hironx_moveit_config moveit_planning_execution.launch 

term-3$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py

Then move an arm by MoveIt!, maybe using RViz plugin's random feature. While the arm is moving, ran:

In [2]: robot.servoOff()  # I know I'm on simulation.
In [3]: robot.clear()

_hrpsys_

In [49]: robot.goInitial(1.5)
:
Out[49]: True

In [50]: pose_r
Out[50]: 
[0.9998309638508134,
 -0.006003459001414185,
 -0.017378210643564852,
 -0.06430055471859833,
 0.0009817197259366591,
 0.9612723882086925,
 -0.27559831620301467,
 -0.08785886673095027,
 0.01835973724031689,
 0.27553466959273104,
 0.9611157921399955,
 -0.21089215061362426,
 0.0,
 0.0,
 0.0,
 1.0]

In [51]: robot.setJointAnglesOfGroup('rarm', pose_r, tm, False)
Out[51]: True

In [52]: robot.servoOff()
[hrpsys.py]  omit servo off
Out[52]: 0

In [53]: robot.clear()

[k-okada]

i think clear() clears queued waypoins, so you'd better to send command
with several way points using TrajectorJjointAction of ros interface and
MoveIt uses that.

On Mon, Sep 22, 2014 at 9:52 PM, Isaac I.Y. Saito [email protected]
wrote:

In a trial to implement stop feature discussed in #36
#36, I'm trying to
utilize existing methods to achieve (1) stopping the arm that's moving
according to the given trajectory, (2) canceling the given trajectory. (2)
may or may not be critically in need depending on the situation.
I tried the following both on MoveIt! and hrpsys. Neither worked to my
expectation. What's the right way to do so?

MoveIt!

term-1$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch

term-2$ roslaunch hironx_moveit_config moveit_planning_execution.launch

term-3$ ipython -i rospack find hironx_ros_bridge/scripts/hironx.py

Then move an arm by MoveIt!, maybe using RViz plugin's random feature.
While the arm is moving, ran:

In [2]: robot.servoOff() # I know I'm on simulation.
In [3]: robot.clear()

hrpsys

In [49]: robot.goInitial(1.5)
:
Out[49]: True

In [50]: pose_r
Out[50]:
[0.9998309638508134,
-0.006003459001414185,
-0.017378210643564852,
-0.06430055471859833,
0.0009817197259366591,
0.9612723882086925,
-0.27559831620301467,
-0.08785886673095027,
0.01835973724031689,
0.27553466959273104,
0.9611157921399955,
-0.21089215061362426,
0.0,
0.0,
0.0,
1.0]

In [51]: robot.setJointAnglesOfGroup('rarm', pose_r, tm, False)
Out[51]: True

In [52]: robot.servoOff()
[hrpsys.py] omit servo off
Out[52]: 0

In [53]: robot.clear()

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#250.

[130s]

Addressed in several ways incl. fkanehiro/hrpsys-base#665, tork-a/rtmros_nextage#284