File: object_manipulation_msgs/ReactiveGraspGoal.msg
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for reactive grasping
# a reactive grasp starts from the current pose of the gripper and ends
# at a desired grasp pose, presumably using the touch sensors along the way
# the name of the arm being used
string arm_name
# the object to be grasped
GraspableObject target
# the desired grasp pose for the hand
geometry_msgs/PoseStamped final_grasp_pose
# the joint trajectory to use for the approach (if available)
# this trajectory is expected to start at the current pose of the gripper
# and end at the desired grasp pose
trajectory_msgs/JointTrajectory trajectory
# the name of the support surface in the collision environment, if any
string collision_support_surface_name
# The internal posture of the hand for the pre-grasp
# only positions are used
sensor_msgs/JointState pre_grasp_posture
# The internal posture of the hand for the grasp
# positions and efforts are used
sensor_msgs/JointState grasp_posture
Expanded Definition