When pushing/pulling for tabletop manipulation, the arm doesn't go back to a safe position; this allows multiple push/pull actions to be chained together.
The PR also removes the grasping workflow from the push_pull action; if grasping an object is necessary before pushing/pulling, the pickup action should be called first.
Related to https://github.com/b-it-bots/mas_domestic_robotics/pull/222
The PR adds a context variable to the goal of the
push_pullaction and defines two context constants:string CONTEXT_MOVING=push_pull_to_movestring CONTEXT_TABLETOP_MANIPULATION=push_pull_for_tabletop_manipulationWhen pushing/pulling for tabletop manipulation, the arm doesn't go back to a safe position; this allows multiple push/pull actions to be chained together.
The PR also removes the grasping workflow from the
push_pullaction; if grasping an object is necessary before pushing/pulling, thepickupaction should be called first.