Added documentation about manipulation actions in the message.

sr_manipulation_interfaces/action/Manip.action

@@ -16,6 +16,7 @@ bool disable_scene_handling
 # only plan, not execution
 bool only_plan
 # enforce the planner profile (empty means use default)
+# Currently the options are: 'ompl', 'ompl_with_constraints', 'pilz_lin'
 string planner_profile
 ---
 # final state effectively reached
@@ -26,4 +27,4 @@ bool success
 # manipulation action currently performed
 int8 current_manip
 int8 current_step
-PlanExecState state
+PlanExecState state

sr_manipulation_interfaces/msg/ManipType.msg

@@ -1,3 +1,54 @@
+#####  Detailed Documentation  ########
+#
+# MANIP_REACH_PREGRASP - Reaching 'pre-grasp' pose from an arbitrary robot state *without* object in
+# the gripper. More details in the note below. Default planner: 'ompl'.
+#
+# MANIP_MOVE_GRASP - Move manipulator to the grasp position *without* object attached.
+# It is expeced that the robot is in 'pre-grasp' state and linear movement in cartesian space is
+# posible to reach grasp position. Default planner: 'pilz_lin'.
+#
+# MANIP_MOVE_GRASP_ADJUST - Adjusting grasp clearance if any to avoid object movement when gripper
+# is closing.Default planner: 'pilz_lin'.
+#
+# MANIP_GRASP - Grasping the object (closing gripper) and attaching object to the manipualtor for
+# planning.
+#
+# MANIP_GRIPPER_CLOSE - equivalent to MANIP_GRASP.
+#
+# MANIP_MOVE_POSTGRASP - Move manipulator to the post grasp position *with* an object attached.
+# It is expeced that the robot has graped (and attached) an object in the previous step.
+# More details in the note below. Default planner: 'pilz_lin'.
+#
+# MANIP_REACH_PREPLACE - Reaching 'pre-place' pose poro an arbitrary robot state *with* object in
+# the gripper. More details in the note below. Default planner: 'ompl_with_constraints'
+#
+# MANIP_MOVE_PLACE - Move manipulator to the place position *with* an object attached.
+# It is expeced that the robot is in 'pre-place' state and linear movement in cartesian space is
+# posible to reach grasp position. Default planner: 'pilz_lin'.
+#
+# MANIP_RELEASE - Releasing the object (opening gripper) and detaching object from the manipualtor
+# for planning.
+#
+# MANIP_GRIPPER_OPEN - equivalent to MANIP_RELEASE.
+#
+# MANIP_MOVE_PLACE_ADJUST - Adjusting grasp clearance if any to avoid object movement when gripper
+# is moving away from the object. Default planner: 'pilz_lin'.
+#
+# MANIP_MOVE_POSTPLACE - Move manipulator to the post place position *without* object attached.
+# It is expeced that the robot has placed (and detached) an object in the previous step.
+# More details in the note below. Default planner: 'pilz_lin'.
+#
+# MANIP_GRIPPER_ADJUST - Adjust Gripper Gauge. Gripper is moved to adjustment position and adjusting
+# procedure is executed. The procedure needs synchronized behavior of the manipualtor and the gripper.
+#
+#
+# NOTE on 'pre-' and 'post-' grasping and placing poses - The poses are defined from the object's
+# perspecitve, i.e., in the target frame form where object is grasped or placed to. The relevant
+# parameters are distance from the targt and direction vector from which target should be approached.
+# One can also define planner with or without constraines for those actions. Per
+
+
+
 # definition of various types of manipulation actions/sequence of actions
 int8 type
 int8 MANIP_UNKNOWN=0
@@ -17,4 +68,4 @@ int8 MANIP_MOVE_POSTPLACE=55
 # gripper special actions
 int8 MANIP_GRIPPER_ADJUST=100
 int8 MANIP_GRIPPER_OPEN=101
-int8 MANIP_GRIPPER_CLOSE=102
+int8 MANIP_GRIPPER_CLOSE=102