Header header uint32 seq time stamp string frame_id actionlib_msgs/GoalID goal_id time stamp string id ArmHandGoal goal string command string pose_name float32[] joint_angles geometry_msgs/Pose end_effector_pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w uint64 end_effector_loid string hand_primitive string object_type uint64[] obstacle_ids float32 distance float32 supporting_plane