{{{
#!clearsilver CS/ActionAPI
node.0 {
 name = detect_plug 
 desc << EOM  
`detect_plug` action is used to detect the plug pose in the gripper. 
<<BR>> <<BR>>
The action uses the [[joint_trajectory_action]], and the [[pr2_plugs_actions/vision_detect_plug_action|vision_detect_plug_action]] to move the plug near the forearm camera in order to determine the exact pose of the plug in the gripper of PR2.
EOM
 goal{
  0.name= detect_plug/goal
  0.type= pr2_plugs_msgs/DetectPlugInGripperGoal
  0.desc= This is an empty goal that starts the action.
  }
 result{
  0.name= detect_plug/result
  0.type= pr2_plugs_msgs/DetectPlugInGripperResult
  0.desc= This returns the location where the plug was found in the gripper.
  }
 act_called {
  0.name= r_arm_plugs_controller/joint_trajectory_action
  0.type= joint_trajectory_action
  0.desc= This action moves the arm to a joint configuration.
  1.name= vision_detect_plug_action
  1.type= pr2_plugs_actions/vision_detect_plug_action|vision_detect_plug_action
  1.desc= This action detects the plug.
 }
}
}}}