Grasp Pose

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Hello,

I am trying to get my robot to grasp something and I'm currently running into some weird issues. Therefore, I wanted to make sure, how the grasp_message is intended to be used, specificly the grasp-pose:

Is it either, that the end effector goes to the provided pose, approaches, closes the gripper and retreats

OR

The end effector goes to the provided pose MINUS the approach, does the approach (and is then in the provided pose) and retreats?

Thanks in advance,

Rabe