Only released in EOL distros:   electric fuerte groovy

State Documentation

Manipulation states

move_arm_to_given_positions_assisted

Description: Allows remote operator to navigate arm to calculated pregrasp positions for known object.

Source File: arm_manip_states.py

input_keys: ['list_of_target_positions','list_of_id_for_target_positions','name_of_the_target_object','pose_of_the_target_object','bb_of_the_target_object']

output_keys: ['id_of_the_reached_position']

outcomes: ['completed','not_completed','failed','pre-empted','repeat']

move_arm_from_a_given_position_assisted

Description: Allows remote operator to navigate arm to safe position.

Source File: arm_manip_states.py

input_keys: none

output_keys: none

outcomes: ['completed','not_completed','failed','pre-empted']

grasp_unknown_object_assisted

Description: Allows remote operator to grasp unknown object.

Source File: arm_manip_states.py

input_keys: tbd

output_keys: tbd

outcomes: ['completed','not_completed','failed','pre-empted']

select_srs_grasp

Description: Selects a grasp for a given object.

Source File: srs_grasp_states.py

input_keys: ['object', 'target_object_id']

output_keys: ['grasp_configuration', 'poses']

outcomes: ['succeeded', 'not_possible', 'failed', 'preempted']

srs_grasp

Description: Grasp the object.

Source File: srs_grasp_states.py

input_keys: ['grasp_configuration','grasp_configuration_id']

output_keys: ['grasp_categorisation']

outcomes: ['succeeded','not_completed','failed', 'preempted']

grasp_base_pose_estimation

Description: Estimate the best grasp position.

Source File: srs_grasp_states.py

input_keys: ['object','target_workspace_name']

output_keys: ['base_pose']

outcomes: ['retry', 'not_retry', 'failed', 'preempted']

Navigation states

tbd

Perception states

tbd