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