File: pr2_common_action_msgs/ArmMoveIK.action
Action Definition
# the desired pose of the tool frame
geometry_msgs/PoseStamped pose
# tool frame defauts to x_wrist_roll_link
geometry_msgs/PoseStamped tool_frame
# the joint space configuration to resolve redundancy
sensor_msgs/JointState ik_seed
duration ik_timeout
duration move_duration
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#result definition
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#feedback