# A Position IK request message
# The name of the link for which we are computing IK
# The (stamped) pose of the link
# A RobotState consisting of hint/seed positions for the IK computation.
# These may be used to seed the IK search.
# The seed state MUST contain state for all joints to be used by the IK solver
# to compute IK. The list of joints that the IK solver deals with can be found using
# the kinematics_msgs/GetKinematicSolverInfo
# Additional state information can be provided here to specify the starting positions
# of other joints/links on the robot.