File: object_manipulation_msgs/GraspPlanning.srv
# Requests that grasp planning be performed on the object to be grasped
# returns a list of grasps to be tested and executed
# the arm being used
string arm_name
# the object to be grasped
GraspableObject target
# the name that the target object has in the collision environment
# can be left empty if no name is available
string collision_object_name
# the name that the support surface (e.g. table) has in the collision map
# can be left empty if no name is available
string collision_support_surface_name
# an optional list of grasps to be evaluated by the planner
Grasp[] grasps_to_evaluate
---
# the list of planned grasps
Grasp[] grasps
# whether an error occurred
GraspPlanningErrorCode error_code
Expanded Definition