EndEffectorGlobalPlanner composite message format

Hi,

I am trying to use EndEffectorGlobalPlanner by sending Composite messages to the end_effector_target channel. But I couldn’t find the format of the expected CompositeProto in the documentation. Does anybody know what format is expected by EndEffectorGlobalPlanner?

Here’s the quantities

quantities.push_back(
    composite::Quantity::Vector(end_effector_name, composite::Measure::kRotation, 4));
quantities.push_back(
    composite::Quantity::Vector(end_effector_name, composite::Measure::kPosition, 3));

The buffer contains 7 values, 3 for translation and 4 for rotation quaternion