File: object_manipulation_msgs/Grasp.msg
# The internal posture of the hand for the pre-grasp
# only positions are used
sensor_msgs/JointState pre_grasp_posture
# The internal posture of the hand for the grasp
# positions and efforts are used
sensor_msgs/JointState grasp_posture
# The position of the end-effector for the grasp relative to the object
geometry_msgs/Pose grasp_pose
# The estimated probability of success for this grasp
float64 success_probability
# Debug flag to indicate that this grasp would be the best in its cluster
bool cluster_rep
Expanded Definition