niryo_robot_arm_commander/ArmMoveCommand Message

int32 JOINTS = 0            # uses joints 
int32 POSE = 1              # uses position and rpy 
int32 POSITION = 2          # uses position
int32 RPY = 3               # uses rpy
int32 POSE_QUAT = 4         # uses position and orientation
int32 LINEAR_POSE = 5       # uses position and rpy
int32 SHIFT_POSE = 6        # uses shift
int32 SHIFT_LINEAR_POSE = 7 # uses shift
int32 EXECUTE_TRAJ = 8      # uses dist_smoothing, list_poses
int32 DRAW_SPIRAL = 9
int32 DRAW_CIRCLE = 10
int32 EXECUTE_FULL_TRAJ = 11
int32 EXECUTE_RAW_TRAJ = 12

int32 cmd_type

int32 LEGACY = 1
int32 DH_CONVENTION = 2
int32 tcp_version

float64[] joints
geometry_msgs/Point position
niryo_robot_msgs/RPY rpy
geometry_msgs/Quaternion orientation
niryo_robot_arm_commander/ShiftPose shift

geometry_msgs/Pose[] list_poses
float32 dist_smoothing

trajectory_msgs/JointTrajectory trajectory

float64[] args