graspit_ros_planning_msgs/VerifyGrasp Service

# This service can be used to check whether a grasp collides with environment and object
# only one object and one tabletop right below it will be considered

int32 scaled_model_id

geometry_msgs/Pose grasp_pose

float64 grasp_joint_angle

string table_file_name

---

bool hand_environment_collision

bool hand_object_collision

float64 gripper_tabletop_clearance

float64 gripper_object_distance


int32 LOAD_OBJECT_FAILURE = 0
int32 LOAD_OBSTACLE_FAILURE = 1
int32 LOAD_GRIPPER_FAILURE = 2
int32 CHECK_SUCCESS = 3
int32 result