1# Goal
2std_skills/Meta meta
3
4# use one of the standard side identifiers (LEFT_SIDE, RIGHT_SIDE, DEFAULT_SIDE)
5# or use a custom string for implementation-specific end-effectors.
6# an empty string is equivalent to DEFAULT_SIDE (the actual default end-effector is implementation-specific)
7string LEFT_SIDE = "left"
8string RIGHT_SIDE = "right"
9string DEFAULT_SIDE = ""
10string side
11
12# Gripper action. Insert an INT: 0 to CLOSE the gripper, 1 to OPEN it.
13# If a value that is not Integer or in [0, 1] will be set to Default.
14# Default = 'CLOSE'
15int8 CLOSE = 0
16int8 OPEN = 1
17int8 action
18
19---
20# Result
21std_skills/Result result
22---
23# Feedback
24std_skills/Feedback feedback