ExecuteDualArmPoseTorsoJointPosition.srv

# Execute the pose goals for given planning groups (dual arm)

# Requests
# group_name: The group providing the reference frame
# goal_type: BASE_ABS: pose wrt the global base frame (robot base)
#            BASE_REL: pose wrt the base frame transferred to current eef base position
#            EEF: pose wrt the eef frame
# left_goal: Pose of the goal for left arm
# right_goal: Pose of the goal for right arm
# run_time: Expected time duration for executing the trajectory from robot current pose to goal pose
# tolerance [opt]: Tolerance for considering the goal has been reached, default 0.01 m/rad
# constraint: If 'r', 'p', or 'y' is given, the eef_frame should not rotate about itself along x-, y-, or z-axis.
#             You can combine them like 'rp', 'ry', 'py', and 'rpy'. default ''
# goal_state: Goal joint state
# pos_tolerance [opt]: Position tolerance for considering the goal location has been reached, default 0.01 m
# speed_ratio: a value within [0,1] to shape the maximum speed of robot moving to the goal_state

std_msgs/Header header
string group_name
uint8 BASE_ABS=0
uint8 BASE_REL=1
uint8 EEF=2
uint8 goal_type
geometry_msgs/Pose left_goal
geometry_msgs/Pose right_goal
float64 run_time
float64 tolerance
string constraint
sensor_msgs/JointState torso_goal_state
float64 torso_speed_ratio
---
uint8 SUCCEEDED=0
uint8 FAILED=1
uint8 result_status