object_manipulation_msgs/PlaceActionGoal Message

Header header
    uint32 seq
    time stamp
    string frame_id
actionlib_msgs/GoalID goal_id
    time stamp
    string id
PlaceGoal goal
    string arm_name
    geometry_msgs/PoseStamped[] place_locations
        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
    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
    float32 desired_retreat_distance
    float32 min_retreat_distance
    object_manipulation_msgs/GripperTranslation approach
        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_place
    float64 place_padding
    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