object_manipulation_msgs/ReactiveGrasp Service

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

---

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