• ACTION_NAME : pr2_precise_trajectory::base_controller , pr2_precise_trajectory::gripper_controller
• ARM_JOINTS : pr2_precise_trajectory::arm_controller
• BASE : pr2_precise_trajectory
• CLOSED : pr2_precise_trajectory::gripper_controller
• controller : perform_trajectory
• DEFAULT_TIME : pr2_precise_trajectory
• HEAD : pr2_precise_trajectory
• HEAD_JOINTS : pr2_precise_trajectory::head_controller
• infile : convert
• LEFT : pr2_precise_trajectory
• LEFT_HAND : pr2_precise_trajectory
• movements : perform_trajectory , play_as_joints
• OPEN : pr2_precise_trajectory::gripper_controller
• outfile : convert
• pm : pr2_precise_trajectory::base_controller
• pub : play_as_joints
• result : convert
• RIGHT : pr2_precise_trajectory
• RIGHT_HAND : pr2_precise_trajectory
• TIME : pr2_precise_trajectory
• wait : play_as_joints