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 --- # the result of the reactive grasp attempt ManipulationResult manipulation_result --- #no feedback for now