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ReactiveGrasp.action:

# an action for reactive grasping
# a reactive grasp starts from the current pose of the gripper and ends
# at a desired grasp pose, presumably using the touch sensors along the way

# the name of the arm being used
string arm_name

# the desired grasp pose
geometry_msgs/PoseStamped final_grasp_pose

# the joint trajectory to use for the approach (if available)
# this trajectory is expected to start at the current pose of the gripper
# and end at the desired grasp pose
trajectory_msgs/JointTrajectory trajectory

# the name of the support surface in the collision environment, if any
string support_collision_name

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# the result of the reactive grasp attempt

ManipulationResult manipulation_result

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#no feedback for now

2019-11-16 13:05