{{{
#!clearsilver CS/ActionAPI
node.0 {
 name = wiggle_plug 
 desc << EOM  
`wiggle_plug` action is used wiggle the plug in and out of the outlet as well as detect whether the plug is in the outlet. 
<<BR>> <<BR>>
The action uses the [[pr2_arm_ik_action]] to wiggle the plug slowly into and out of the outlet. While wiggling the max motion of the plug is monitored, if the max motion exceeds a threshold the action aborts. 
EOM
 goal{
  0.name= wiggle_plug/goal
  0.type= pr2_plugs_msgs/WigglePlugGoal
  0.desc= This sets the direction in which to travel, for how long, and at what frequency to wiggle. It also sets the abort threshold.
  }
 result{
  0.name= wiggle_plug/result
  0.type= pr2_plugs_msgs/WigglePlugResult
  0.desc= This returns an empty result.
  }
 act_called {
  0.name= r_arm_ik
  0.type= pr2_arm_ik_action
  0.desc= This action moves the arm to a given pose.
 }
 pub{
  0.name= visualization_marker
  0.type= visualization_msgs/Marker
  0.desc= This shows the expected path of the wiggling plug.
 }
 sub{
  0.name= joint_states
  0.type= sensor_msgs/JointState
  0.desc= Listens to joint_states to get the current joint configuration.
 }
}
}}}