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stow_plug

stow_plug action is used to return the plug to the storage location on the robot.

The action uses the joint_trajectory_action, pr2_gripper_action, and the vision_detect_plug_action to return the plug to the last measured location and then re-detects that the plug is stowed at the desired location.

Action Goal

stow_plug/goal (pr2_plugs_msgs/StowPlugGoal)

Action Result

stow_plug/result (pr2_plugs_msgs/StowPlugResult)

Actions Called

r_gripper_controller/gripper_action (pr2_gripper_action) r_arm_plugs_controller/joint_trajectory_action (joint_trajectory_action) r_arm_ik (pr2_arm_ik_action) vision_detect_plug (vision_detect_plug_action)

2019-12-07 12:58