object_manipulation_msgs/ReactiveGraspAction Message

ReactiveGraspActionGoal action_goal
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalID goal_id
        time stamp
        string id
    object_manipulation_msgs/ReactiveGraspGoal 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
        geometry_msgs/PoseStamped final_grasp_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
        trajectory_msgs/JointTrajectory trajectory
            Header header
                uint32 seq
                time stamp
                string frame_id
            string[] joint_names
            trajectory_msgs/JointTrajectoryPoint[] points
                float64[] positions
                float64[] velocities
                float64[] accelerations
                duration time_from_start
        string collision_support_surface_name
        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
ReactiveGraspActionResult 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/ReactiveGraspResult 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
ReactiveGraspActionFeedback 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/ReactiveGraspFeedback feedback
        object_manipulation_msgs/ManipulationPhase manipulation_phase
            int32 CHECKING_FEASIBILITY=0
            int32 MOVING_TO_PREGRASP=1
            int32 MOVING_TO_GRASP=2
            int32 CLOSING=3
            int32 ADJUSTING_GRASP=4
            int32 LIFTING=5
            int32 MOVING_WITH_OBJECT=6
            int32 MOVING_TO_PLACE=7
            int32 PLACING=8
            int32 OPENING=9
            int32 RETREATING=10
            int32 MOVING_WITHOUT_OBJECT=11
            int32 SHAKING=12
            int32 SUCCEEDED=13
            int32 FAILED=14
            int32 ABORTED=15
            int32 HOLDING_OBJECT=16
            int32 phase