object_manipulation_msgs/PickupAction Message

PickupActionGoal action_goal
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalID goal_id
        time stamp
        string id
    object_manipulation_msgs/PickupGoal goal
        string arm_name
        object_manipulation_msgs/GraspableObject target
            string reference_frame_id
            household_objects_database_msgs/DatabaseModelPose[] potential_models
                int32 model_id
                geometry_msgs/PoseStamped pose
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/Pose pose
                        geometry_msgs/Point position
                            float64 x
                            float64 y
                            float64 z
                        geometry_msgs/Quaternion orientation
                            float64 x
                            float64 y
                            float64 z
                            float64 w
                float32 confidence
            sensor_msgs/PointCloud cluster
                Header header
                    uint32 seq
                    time stamp
                    string frame_id
                geometry_msgs/Point32[] points
                    float32 x
                    float32 y
                    float32 z
                sensor_msgs/ChannelFloat32[] channels
                    string name
                    float32[] values
            object_manipulation_msgs/SceneRegion region
                sensor_msgs/PointCloud2 cloud
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    uint32 height
                    uint32 width
                    sensor_msgs/PointField[] fields
                        uint8 INT8=1
                        uint8 UINT8=2
                        uint8 INT16=3
                        uint8 UINT16=4
                        uint8 INT32=5
                        uint8 UINT32=6
                        uint8 FLOAT32=7
                        uint8 FLOAT64=8
                        string name
                        uint32 offset
                        uint8 datatype
                        uint32 count
                    bool is_bigendian
                    uint32 point_step
                    uint32 row_step
                    uint8[] data
                    bool is_dense
                int32[] mask
                sensor_msgs/Image image
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    uint32 height
                    uint32 width
                    string encoding
                    uint8 is_bigendian
                    uint32 step
                    uint8[] data
                sensor_msgs/Image disparity_image
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    uint32 height
                    uint32 width
                    string encoding
                    uint8 is_bigendian
                    uint32 step
                    uint8[] data
                sensor_msgs/CameraInfo cam_info
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    uint32 height
                    uint32 width
                    string distortion_model
                    float64[] D
                    float64[9] K
                    float64[9] R
                    float64[12] P
                    uint32 binning_x
                    uint32 binning_y
                    sensor_msgs/RegionOfInterest roi
                        uint32 x_offset
                        uint32 y_offset
                        uint32 height
                        uint32 width
                        bool do_rectify
        object_manipulation_msgs/Grasp[] desired_grasps
            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
        float32 desired_approach_distance
        float32 min_approach_distance
        object_manipulation_msgs/GripperTranslation lift
            geometry_msgs/Vector3Stamped direction
                Header header
                    uint32 seq
                    time stamp
                    string frame_id
                geometry_msgs/Vector3 vector
                    float64 x
                    float64 y
                    float64 z
            float32 desired_distance
            float32 min_distance
        string collision_object_name
        string collision_support_surface_name
        bool allow_gripper_support_collision
        bool use_reactive_execution
        bool use_reactive_lift
        motion_planning_msgs/Constraints path_constraints
            motion_planning_msgs/JointConstraint[] joint_constraints
                string joint_name
                float64 position
                float64 tolerance_above
                float64 tolerance_below
                float64 weight
            motion_planning_msgs/PositionConstraint[] position_constraints
                Header header
                    uint32 seq
                    time stamp
                    string frame_id
                string link_name
                geometry_msgs/Point target_point_offset
                    float64 x
                    float64 y
                    float64 z
                geometry_msgs/Point position
                    float64 x
                    float64 y
                    float64 z
                geometric_shapes_msgs/Shape constraint_region_shape
                    byte SPHERE=0
                    byte BOX=1
                    byte CYLINDER=2
                    byte MESH=3
                    byte type
                    float64[] dimensions
                    int32[] triangles
                    geometry_msgs/Point[] vertices
                        float64 x
                        float64 y
                        float64 z
                geometry_msgs/Quaternion constraint_region_orientation
                    float64 x
                    float64 y
                    float64 z
                    float64 w
                float64 weight
            motion_planning_msgs/OrientationConstraint[] orientation_constraints
                int32 LINK_FRAME=0
                int32 HEADER_FRAME=1
                Header header
                    uint32 seq
                    time stamp
                    string frame_id
                string link_name
                int32 type
                geometry_msgs/Quaternion orientation
                    float64 x
                    float64 y
                    float64 z
                    float64 w
                float64 absolute_roll_tolerance
                float64 absolute_pitch_tolerance
                float64 absolute_yaw_tolerance
                float64 weight
            motion_planning_msgs/VisibilityConstraint[] visibility_constraints
                Header header
                    uint32 seq
                    time stamp
                    string frame_id
                geometry_msgs/PointStamped target
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/Point point
                        float64 x
                        float64 y
                        float64 z
                geometry_msgs/PoseStamped sensor_pose
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/Pose pose
                        geometry_msgs/Point position
                            float64 x
                            float64 y
                            float64 z
                        geometry_msgs/Quaternion orientation
                            float64 x
                            float64 y
                            float64 z
                            float64 w
                float64 absolute_tolerance
        motion_planning_msgs/OrderedCollisionOperations additional_collision_operations
            motion_planning_msgs/CollisionOperation[] collision_operations
                string COLLISION_SET_ALL="all"
                string COLLISION_SET_OBJECTS="objects"
                string COLLISION_SET_ATTACHED_OBJECTS="attached"
                int32 DISABLE=0
                int32 ENABLE=1
                string object1
                string object2
                float64 penetration_distance
                int32 operation
        motion_planning_msgs/LinkPadding[] additional_link_padding
            string link_name
            float64 padding
PickupActionResult action_result
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalStatus status
        uint8 PENDING=0
        uint8 ACTIVE=1
        uint8 PREEMPTED=2
        uint8 SUCCEEDED=3
        uint8 ABORTED=4
        uint8 REJECTED=5
        uint8 PREEMPTING=6
        uint8 RECALLING=7
        uint8 RECALLED=8
        uint8 LOST=9
        actionlib_msgs/GoalID goal_id
            time stamp
            string id
        uint8 status
        string text
    object_manipulation_msgs/PickupResult result
        object_manipulation_msgs/ManipulationResult manipulation_result
            int32 SUCCESS=1
            int32 UNFEASIBLE=-1
            int32 FAILED=-2
            int32 ERROR=-3
            int32 ARM_MOVEMENT_PREVENTED=-4
            int32 LIFT_FAILED=-5
            int32 RETREAT_FAILED=-6
            int32 CANCELLED=-7
            int32 value
        object_manipulation_msgs/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
        object_manipulation_msgs/Grasp[] attempted_grasps
            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
        object_manipulation_msgs/GraspResult[] attempted_grasp_results
            int32 SUCCESS=1
            int32 GRASP_OUT_OF_REACH=2
            int32 GRASP_IN_COLLISION=3
            int32 GRASP_UNFEASIBLE=4
            int32 PREGRASP_OUT_OF_REACH=5
            int32 PREGRASP_IN_COLLISION=6
            int32 PREGRASP_UNFEASIBLE=7
            int32 LIFT_OUT_OF_REACH=8
            int32 LIFT_IN_COLLISION=9
            int32 LIFT_UNFEASIBLE=10
            int32 MOVE_ARM_FAILED=11
            int32 GRASP_FAILED=12
            int32 LIFT_FAILED=13
            int32 RETREAT_FAILED=14
            int32 result_code
            bool continuation_possible
PickupActionFeedback action_feedback
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalStatus status
        uint8 PENDING=0
        uint8 ACTIVE=1
        uint8 PREEMPTED=2
        uint8 SUCCEEDED=3
        uint8 ABORTED=4
        uint8 REJECTED=5
        uint8 PREEMPTING=6
        uint8 RECALLING=7
        uint8 RECALLED=8
        uint8 LOST=9
        actionlib_msgs/GoalID goal_id
            time stamp
            string id
        uint8 status
        string text
    object_manipulation_msgs/PickupFeedback feedback
        int32 current_grasp
        int32 total_grasps