id: "test"
pre_grasp_posture:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "base_link"
  joint_names: [gripper_axis]
  points:
    -
      positions: [0.0]
      velocities: []
      accelerations: []
      effort: []
      time_from_start:
        secs: 0
        nsecs:         0
grasp_posture:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "base_link"
  joint_names: [gripper_axis]
  points:
    -
      positions: [0.02]
      velocities: []
      accelerations: []
      effort: [0.0]
      time_from_start:
        secs: 0
        nsecs:         0
grasp_pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "base_link"
  pose:
    position:
      x: -0.126221465369
      y: 0.140356318094
      z: 0.819058962134
    orientation:
      x: -0.0465531033984
      y: 0.412094838764
      z: -0.161902333854
      w: 0.895431899544
grasp_quality:
  data: 353.55947876
pre_grasp_approach:
  direction:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs:         0
      frame_id: "base_link"
    vector:
      x: 1.0
      y: 0.0
      z: 0.0
  desired_distance: 0.1
  min_distance: 0.001
post_grasp_retreat:
  direction:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs:         0
      frame_id: ''
    vector:
      x: 0.0
      y: 0.0
      z: 0.0
  desired_distance: 0.0
  min_distance: 0.0
post_place_retreat:
  direction:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs:         0
      frame_id: ''
    vector:
      x: 0.0
      y: 0.0
      z: 0.0
  desired_distance: 0.0
  min_distance: 0.0
max_contact_force: 0
allowed_touch_objects: []