1# Goal
2std_skills/Meta meta
3
4# The identifier of the object to be placed.
5string object_id
6
7# use one of the standard side identifiers (LEFT_SIDE, RIGHT_SIDE, DEFAULT_SIDE)
8# or use a custom string for implementation-specific end-effectors.
9# an empty string is equivalent to DEFAULT_SIDE (the actual default end-effector is implementation-specific)
10string LEFT_SIDE = "left"
11string RIGHT_SIDE = "right"
12string DEFAULT_SIDE = ""
13string side
14
15# the 6D position into which the object should be placed
16geometry_msgs/PoseStamped target
17
18# if true (default), the robot will release the object when the action is completed
19bool release_on_completion
20
21# Mapping between constraint type and its axis tolerances
22manipulation_skills/Constraint constraint
23---
24# Result
25std_skills/Result result
26---
27# Feedback
28std_skills/Feedback feedback