Raw Message Definition
# a header, used for interpreting the poses
# the id of the object (name used in MoveIt)
# The object type in a database of known objects
# the the collision geometries associated with the object;
# their poses are with respect to the specified header
# solid geometric primitives
# bounding planes (equation is specified, but the plane can be oriented using an additional pose)
# Adds the object to the planning scene. If the object previously existed, it is replaced.
# Removes the object from the environment entirely (everything that matches the specified id)
# Append to an object that already exists in the planning scene. If the does not exist, it is added.
# If an object already exists in the scene, new poses can be sent (the geometry arrays must be left empty)
# if solely moving the object is desired
# Operation to be performed
Compact Message Definition