GraspPlanning
This is a ROS service definition.
Source
# Requests that grasp planning be performed for the target object
# returns a list of candidate grasps to be tested and executed
# the planning group used
string group_name
# the object to be grasped
CollisionObject target
# the names of the relevant support surfaces (e.g. tables) in the collision map
# can be left empty if no names are available
string[] support_surfaces
# an optional list of grasps to be evaluated by the planner
Grasp[] candidate_grasps
# an optional list of obstacles that we have semantic information about
# and that can be moved in the course of grasping
CollisionObject[] movable_obstacles
---
# the list of planned grasps
Grasp[] grasps
# whether an error occurred
MoveItErrorCodes error_code