text: #!/usr/bin/env python
  
  # Software License Agreement (BSD License)
  #
  # Copyright (c) 2013, SRI International
  # All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions
  # are met:
  #
  #  * Redistributions of source code must retain the above copyright
  #    notice, this list of conditions and the following disclaimer.
  #  * Redistributions in binary form must reproduce the above
  #    copyright notice, this list of conditions and the following
  #    disclaimer in the documentation and/or other materials provided
  #    with the distribution.
  #  * Neither the name of SRI International nor the names of its
  #    contributors may be used to endorse or promote products derived
  #    from this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  #
  # Author: Acorn Pooley
  
  ## BEGIN_SUB_TUTORIAL imports
  ##
  ## To use the python interface to move_group, import the moveit_commander
  ## module.  We also import rospy and some messages that we will use.
  import sys
  import copy
  import math
  import rospy
  import moveit_commander
  import moveit_msgs.msg
  import geometry_msgs.msg
  import tf
  import geometry_msgs.msg
  import tf_conversions.posemath as pm
  from math import pi
  ## END_SUB_TUTORIAL
  
  from std_msgs.msg import String
  
  def move_group_python_interface_tutorial():
  
    print "============ Starting"
    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node('goal',
                    anonymous=True)
  
    robot = moveit_commander.RobotCommander()
  
    scene = moveit_commander.PlanningSceneInterface()
  
    group = moveit_commander.MoveGroupCommander("denso_arm")
  
    display_trajectory_publisher = rospy.Publisher(
                                        '/move_group/display_planned_path',
                                        moveit_msgs.msg.DisplayTrajectory)
  
  
    print "============ Planning Frame: %s" % group.get_planning_frame()
  
    print "============ End effector link: %s" % group.get_end_effector_link()
  
    print "============ Robot Groups:"
    print robot.get_group_names()
  
  ##########################################################################33
    group.clear_pose_targets()
  
    group_variable_values= [0, 0,pi/2,0,0,0]
    group.set_joint_value_target(group_variable_values)
    group.go()
  
  
    print "============ Finished"
  
  
  if __name__=='__main__':
    try:
      move_group_python_interface_tutorial()
    except rospy.ROSInterruptException:
      pass
  