object_manipulation_msgs/GraspHandPostureExecutionGoal Documentation

File: object_manipulation_msgs/GraspHandPostureExecutionGoal.msg

# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for requesting the finger posture part of grasp be physically carried out by a hand
# the name of the arm being used is not in here, as this will be sent to a specific action server
# for each arm

# the grasp to be executed
Grasp grasp

# the goal of this action
# requests that the hand be set in the pre-grasp posture
int32 PRE_GRASP=1
# requests that the hand execute the actual grasp
int32 GRASP=2
# requests that the hand open to release the object
int32 RELEASE=3
int32 goal

Expanded Definition

int32 PRE_GRASP=1
int32 GRASP=2
int32 RELEASE=3
Grasp grasp
    sensor_msgs/JointState pre_grasp_posture
        Header header
            uint32 seq
            time stamp
            string frame_id
        string[] name
        float64[] position
        float64[] velocity
        float64[] effort
    sensor_msgs/JointState grasp_posture
        Header header
            uint32 seq
            time stamp
            string frame_id
        string[] name
        float64[] position
        float64[] velocity
        float64[] effort
    geometry_msgs/Pose grasp_pose
        geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
        geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
    float64 success_probability
    bool cluster_rep
int32 goal

object_manipulation_msgs/GraspHandPostureExecutionGoal Message

File: object_manipulation_msgs/GraspHandPostureExecutionGoal.msg

Expanded Definition