##Description: Moves robot arm to a specified joint space.

#goal definition
string robot_name
rbs_skill_interfaces/PropertyValuePair[] joint_pairs # list of joint_pairs (joint name + value)
float64[] joint_values
float32 joints_velocity_scaling_factor
float32 joints_acceleration_scaling_factor
float32 duration #if this action cannot be completed within this time period it should be considered failed.
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#result definition
bool success
uint64 millis_passed
string status  #Use the constants of ActionResultStatusConstants in the status field
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#feedback
bool success
uint64 millis_passed
string status  #Use the constants of ActionFeedbackStatusConstants in the status field