pr2_plugs_msgs/WigglePlugActionGoal Message

Header header
    uint32 seq
    time stamp
    string frame_id
actionlib_msgs/GoalID goal_id
    time stamp
    string id
WigglePlugGoal goal
    geometry_msgs/Pose gripper_to_plug
        geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
        geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
    geometry_msgs/Pose base_to_outlet
        geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
        geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
    duration wiggle_period
    int32 insert