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
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
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
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