move_arm_msgs/MoveArmAction Message

MoveArmActionGoal action_goal
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalID goal_id
        time stamp
        string id
    move_arm_msgs/MoveArmGoal goal
        string planner_service_name
        motion_planning_msgs/MotionPlanRequest motion_plan_request
            motion_planning_msgs/WorkspaceParameters workspace_parameters
                geometric_shapes_msgs/Shape workspace_region_shape
                    byte SPHERE=0
                    byte BOX=1
                    byte CYLINDER=2
                    byte MESH=3
                    byte type
                    float64[] dimensions
                    int32[] triangles
                    geometry_msgs/Point[] vertices
                        float64 x
                        float64 y
                        float64 z
                geometry_msgs/PoseStamped workspace_region_pose
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/Pose pose
                        geometry_msgs/Point position
                            float64 x
                            float64 y
                            float64 z
                        geometry_msgs/Quaternion orientation
                            float64 x
                            float64 y
                            float64 z
                            float64 w
            motion_planning_msgs/RobotState start_state
                sensor_msgs/JointState joint_state
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    string[] name
                    float64[] position
                    float64[] velocity
                    float64[] effort
                motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
                    time stamp
                    string[] joint_names
                    string[] frame_ids
                    string[] child_frame_ids
                    geometry_msgs/Pose[] poses
                        geometry_msgs/Point position
                            float64 x
                            float64 y
                            float64 z
                        geometry_msgs/Quaternion orientation
                            float64 x
                            float64 y
                            float64 z
                            float64 w
            motion_planning_msgs/Constraints goal_constraints
                motion_planning_msgs/JointConstraint[] joint_constraints
                    string joint_name
                    float64 position
                    float64 tolerance_above
                    float64 tolerance_below
                    float64 weight
                motion_planning_msgs/PositionConstraint[] position_constraints
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    string link_name
                    geometry_msgs/Point target_point_offset
                        float64 x
                        float64 y
                        float64 z
                    geometry_msgs/Point position
                        float64 x
                        float64 y
                        float64 z
                    geometric_shapes_msgs/Shape constraint_region_shape
                        byte SPHERE=0
                        byte BOX=1
                        byte CYLINDER=2
                        byte MESH=3
                        byte type
                        float64[] dimensions
                        int32[] triangles
                        geometry_msgs/Point[] vertices
                            float64 x
                            float64 y
                            float64 z
                    geometry_msgs/Quaternion constraint_region_orientation
                        float64 x
                        float64 y
                        float64 z
                        float64 w
                    float64 weight
                motion_planning_msgs/OrientationConstraint[] orientation_constraints
                    int32 LINK_FRAME=0
                    int32 HEADER_FRAME=1
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    string link_name
                    int32 type
                    geometry_msgs/Quaternion orientation
                        float64 x
                        float64 y
                        float64 z
                        float64 w
                    float64 absolute_roll_tolerance
                    float64 absolute_pitch_tolerance
                    float64 absolute_yaw_tolerance
                    float64 weight
                motion_planning_msgs/VisibilityConstraint[] visibility_constraints
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/PointStamped target
                        Header header
                            uint32 seq
                            time stamp
                            string frame_id
                        geometry_msgs/Point point
                            float64 x
                            float64 y
                            float64 z
                    geometry_msgs/PoseStamped sensor_pose
                        Header header
                            uint32 seq
                            time stamp
                            string frame_id
                        geometry_msgs/Pose pose
                            geometry_msgs/Point position
                                float64 x
                                float64 y
                                float64 z
                            geometry_msgs/Quaternion orientation
                                float64 x
                                float64 y
                                float64 z
                                float64 w
                    float64 absolute_tolerance
            motion_planning_msgs/Constraints path_constraints
                motion_planning_msgs/JointConstraint[] joint_constraints
                    string joint_name
                    float64 position
                    float64 tolerance_above
                    float64 tolerance_below
                    float64 weight
                motion_planning_msgs/PositionConstraint[] position_constraints
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    string link_name
                    geometry_msgs/Point target_point_offset
                        float64 x
                        float64 y
                        float64 z
                    geometry_msgs/Point position
                        float64 x
                        float64 y
                        float64 z
                    geometric_shapes_msgs/Shape constraint_region_shape
                        byte SPHERE=0
                        byte BOX=1
                        byte CYLINDER=2
                        byte MESH=3
                        byte type
                        float64[] dimensions
                        int32[] triangles
                        geometry_msgs/Point[] vertices
                            float64 x
                            float64 y
                            float64 z
                    geometry_msgs/Quaternion constraint_region_orientation
                        float64 x
                        float64 y
                        float64 z
                        float64 w
                    float64 weight
                motion_planning_msgs/OrientationConstraint[] orientation_constraints
                    int32 LINK_FRAME=0
                    int32 HEADER_FRAME=1
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    string link_name
                    int32 type
                    geometry_msgs/Quaternion orientation
                        float64 x
                        float64 y
                        float64 z
                        float64 w
                    float64 absolute_roll_tolerance
                    float64 absolute_pitch_tolerance
                    float64 absolute_yaw_tolerance
                    float64 weight
                motion_planning_msgs/VisibilityConstraint[] visibility_constraints
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/PointStamped target
                        Header header
                            uint32 seq
                            time stamp
                            string frame_id
                        geometry_msgs/Point point
                            float64 x
                            float64 y
                            float64 z
                    geometry_msgs/PoseStamped sensor_pose
                        Header header
                            uint32 seq
                            time stamp
                            string frame_id
                        geometry_msgs/Pose pose
                            geometry_msgs/Point position
                                float64 x
                                float64 y
                                float64 z
                            geometry_msgs/Quaternion orientation
                                float64 x
                                float64 y
                                float64 z
                                float64 w
                    float64 absolute_tolerance
            motion_planning_msgs/AllowedContactSpecification[] allowed_contacts
                string name
                geometric_shapes_msgs/Shape shape
                    byte SPHERE=0
                    byte BOX=1
                    byte CYLINDER=2
                    byte MESH=3
                    byte type
                    float64[] dimensions
                    int32[] triangles
                    geometry_msgs/Point[] vertices
                        float64 x
                        float64 y
                        float64 z
                geometry_msgs/PoseStamped pose_stamped
                    Header header
                        uint32 seq
                        time stamp
                        string frame_id
                    geometry_msgs/Pose pose
                        geometry_msgs/Point position
                            float64 x
                            float64 y
                            float64 z
                        geometry_msgs/Quaternion orientation
                            float64 x
                            float64 y
                            float64 z
                            float64 w
                string[] link_names
                float64 penetration_depth
            motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations
                motion_planning_msgs/CollisionOperation[] collision_operations
                    string COLLISION_SET_ALL="all"
                    string COLLISION_SET_OBJECTS="objects"
                    string COLLISION_SET_ATTACHED_OBJECTS="attached"
                    int32 DISABLE=0
                    int32 ENABLE=1
                    string object1
                    string object2
                    float64 penetration_distance
                    int32 operation
            motion_planning_msgs/LinkPadding[] link_padding
                string link_name
                float64 padding
            string planner_id
            string group_name
            int32 num_planning_attempts
            duration allowed_planning_time
            duration expected_path_duration
            duration expected_path_dt
        bool accept_partial_plans
        bool accept_invalid_goals
        bool disable_ik
        bool disable_collision_monitoring
MoveArmActionResult action_result
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalStatus status
        uint8 PENDING=0
        uint8 ACTIVE=1
        uint8 PREEMPTED=2
        uint8 SUCCEEDED=3
        uint8 ABORTED=4
        uint8 REJECTED=5
        uint8 PREEMPTING=6
        uint8 RECALLING=7
        uint8 RECALLED=8
        uint8 LOST=9
        actionlib_msgs/GoalID goal_id
            time stamp
            string id
        uint8 status
        string text
    move_arm_msgs/MoveArmResult result
        motion_planning_msgs/ArmNavigationErrorCodes error_code
            int32 PLANNING_FAILED=-1
            int32 SUCCESS=1
            int32 TIMED_OUT=-2
            int32 START_STATE_IN_COLLISION=-3
            int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4
            int32 GOAL_IN_COLLISION=-5
            int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6
            int32 INVALID_ROBOT_STATE=-7
            int32 INCOMPLETE_ROBOT_STATE=-8
            int32 INVALID_PLANNER_ID=-9
            int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
            int32 INVALID_ALLOWED_PLANNING_TIME=-11
            int32 INVALID_GROUP_NAME=-12
            int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
            int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
            int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
            int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
            int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
            int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18
            int32 INVALID_TRAJECTORY=-19
            int32 INVALID_INDEX=-20
            int32 JOINT_LIMITS_VIOLATED=-21
            int32 PATH_CONSTRAINTS_VIOLATED=-22
            int32 COLLISION_CONSTRAINTS_VIOLATED=-23
            int32 GOAL_CONSTRAINTS_VIOLATED=-24
            int32 JOINTS_NOT_MOVING=-25
            int32 TRAJECTORY_CONTROLLER_FAILED=-26
            int32 FRAME_TRANSFORM_FAILURE=-27
            int32 COLLISION_CHECKING_UNAVAILABLE=-28
            int32 ROBOT_STATE_STALE=-29
            int32 SENSOR_INFO_STALE=-30
            int32 NO_IK_SOLUTION=-31
            int32 INVALID_LINK_NAME=-32
            int32 IK_LINK_IN_COLLISION=-33
            int32 NO_FK_SOLUTION=-34
            int32 KINEMATICS_STATE_IN_COLLISION=-35
            int32 INVALID_TIMEOUT=-36
            int32 val
        planning_environment_msgs/ContactInformation[] contacts
            uint32 ROBOT_LINK=0
            uint32 OBJECT=1
            uint32 ATTACHED_BODY=2
            Header header
                uint32 seq
                time stamp
                string frame_id
            geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
            geometry_msgs/Vector3 normal
                float64 x
                float64 y
                float64 z
            float64 depth
            string contact_body_1
            string attached_body_1
            uint32 body_type_1
            string contact_body_2
            string attached_body_2
            uint32 body_type_2
MoveArmActionFeedback action_feedback
    Header header
        uint32 seq
        time stamp
        string frame_id
    actionlib_msgs/GoalStatus status
        uint8 PENDING=0
        uint8 ACTIVE=1
        uint8 PREEMPTED=2
        uint8 SUCCEEDED=3
        uint8 ABORTED=4
        uint8 REJECTED=5
        uint8 PREEMPTING=6
        uint8 RECALLING=7
        uint8 RECALLED=8
        uint8 LOST=9
        actionlib_msgs/GoalID goal_id
            time stamp
            string id
        uint8 status
        string text
    move_arm_msgs/MoveArmFeedback feedback
        string state
        duration time_to_completion