<<PackageHeader(srs_states)>>
<<TOC(4)>>

== 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


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