File: moveit_msgs/AttachedCollisionObject.msg
Raw Message Definition
# The CollisionObject will be attached with a fixed joint to this link
string link_name
#This contains the actual shapes and poses for the CollisionObject
#to be attached to the link
#If action is remove and no object.id is set, all objects
#attached to the link indicated by link_name will be removed
CollisionObject object
# The set of links that the attached objects are allowed to touch
# by default - the link_name is already considered by default
string[] touch_links
# If certain links were placed in a particular posture for this object to remain attached
# (e.g., an end effector closing around an object), the posture necessary for releasing
# the object is stored here
trajectory_msgs/JointTrajectory detach_posture
# The weight of the attached object, if known
float64 weight
Compact Message Definition