##Description: Moves robot arm to a specified pose relative to the frame in header.frame_id of target_pose
#goal definition

#Used to indicate which hardcoded motion constraint to use 
#e.g 0 no constraint, 1 keep the same end effector orientation
int32 constraint_mode
#similar to geometry_msgs/PoseStamped but using euler instead of quaternion
#at target_pose->header.frame_id define the tf frame 
# which the pose will be calculated relative from
geometry_msgs/Pose[] target_pose
string robot_name
float32 end_effector_velocity
float32 end_effector_acceleration
float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
---
#result definition
bool success
string status  #Use the constants of ActionResultStatusConstants in the status field
---
#feedback
bool success
uint64 millis_passed
string status  #Use the constants of ActionFeedbackStatusConstants in the status field