pr2_grasp_adjust/GraspAdjust Service

int32 GLOBAL_SEARCH=0
int32 LOCAL_SEARCH=1
int32 SINGLE_POSE=2
geometry_msgs/PoseStamped grasp_pose
geometry_msgs/Vector3 roi_dims
uint8 search_mode

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geometry_msgs/PoseStamped[] grasp_poses
float64[] pose_scores
float32[] gripper_openings
object_manipulation_msgs/ManipulationResult result