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Are you using MoveIt to control your robot? If so all the messages, services and action types are described here. You'll need the ExecuteTrajectory action to command the arm.

To clarify a goal and a trajectory are different things. A goal is the desired pose of the end effector (and possibly gripper state too) but a trajectory is a matrix of joint angles defining how they change over time that the robot can follow. You can generate a trajectory from an initial robot state and a goal using a motion planning algorithm.

Hope this helps.