# which arm to be used for grasping string arm_name
# the object to be grasped GraspableObject target
# a list of grasps to be used # if empty, the grasp executive will call one of its own planners Grasp[] desired_grasps
# how far the pre-grasp should ideally be away from the grasp float32 desired_approach_distance
# how much distance between pre-grasp and grasp must actually be feasible # for the grasp not to be rejected float32 min_approach_distance
# how the object should be lifted after the grasp # the frame_id that this lift is specified in MUST be either the robot_frame # or the gripper_frame specified in your hand description file GripperTranslation lift
# the name that the target object has in the collision map # 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
# whether collisions between the gripper and the support surface should be acceptable # during move from pre-grasp to grasp and during lift. Collisions when moving to the # pre-grasp location are still not allowed even if this is set to true. bool allow_gripper_support_collision
# whether reactive grasp execution using tactile sensors should be used bool use_reactive_execution
# whether reactive object lifting based on tactile sensors should be used bool use_reactive_lift
# OPTIONAL (These will not have to be filled out most of the time) # constraints to be imposed on every point in the motion of the arm motion_planning_msgs/Constraints path_constraints
# OPTIONAL (These will not have to be filled out most of the time) # additional collision operations to be used for every arm movement performed # during grasping. Note that these will be added on top of (and thus overide) other # collision operations that the grasping pipeline deems necessary. Should be used # with care and only if special behaviors are desired motion_planning_msgs/OrderedCollisionOperations additional_collision_operations
# OPTIONAL (These will not have to be filled out most of the time) # additional link paddings to be used for every arm movement performed # during grasping. Note that these will be added on top of (and thus overide) other # link paddings that the grasping pipeline deems necessary. Should be used # with care and only if special behaviors are desired motion_planning_msgs/LinkPadding[] additional_link_padding