Trouble trying to find ActionType for "execute_trajectory" Action Server

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Hello, i'm running ROS Kinetic on Ubuntu 16.04 and working with the Panda robot from Franka Emika.

I'm currently trying to send a command to the robot via Python scripting, i.e Action Client.

I can already send commands to the robot (like stopping it) through the command line, like:

$ rostopic pub -1 /execute_trajectory/cancel actionlib_msgs/GoalID "stamp:
  secs: 0
  nsecs: 0
id: ''"

And i would like to do the same but with Python, so i tried the following:

import actionlib
import rospy
from actionlib_msgs.msg import GoalID
from franka_control.msg import ErrorRecoveryAction, ErrorRecoveryActionGoal


def stop_robot():
    rospy.init_node('panda_STOPP')
    client = actionlib.SimpleActionClient('execute_trajectory', GoalID)
    client.wait_for_server()
    goal = GoalID()
    goal.goal_id.stamp.secs = 0
    goal.goal_id.stamp.nsecs = 0
    goal.goal_id.id = ''
    goal.goal = {}
    client.send_goal(goal)

if name == '__main__':
    stop_robot()

It doesn't work because GoalID is not an action type message. And in order to create the Client we need one Action message. And i find it strange that there is no action message for GoalID because "execute_trajectory" is actually an action server, meaning there should be an action message for it, right? I don't know if understood the concept of Actions wrongly but any help would be welcome!

Thanks!