NOTE:
'action_server_robot.py' and 'action_client_robot.py' are applicable to the latest version of panda_base_gripper.ttt.
ACTION CLIENT:
Specify type of action and required parameters in this node
PICK:
If 'gripper content' is FALSE and 'object reachability' is TRUE, the end effector moves to the 'goal' and then, grasps the object
PLACE:
If 'gripper content' is TRUE and 'object reachability' is TRUE, the end effector moves to the 'goal' and then, releases the object
GRASP/RELEASE:
Sends the 'grasp'/'release' command through '/panda/commands'
MOVE TO GOAL PRIMITIVE:
Moves end effector to the 'goal' as specified in the client node in interpolated steps
MOVE TO CONTACT PRIMITIVE:
Moves end effector towards a contact until the 'force_threshold' is met.
APPLY FORCE:
Once the end effector has reached the contact/surface, force is applied on the contact as specified in the client node.
SCREW (In Progress):
Moves end effector to 'goal' and begins the action based on screw depth, screw lead, screw angle, screw direction and screw force.