text: import rospy, sys
  import moveit_commander
  from moveit_commander import MoveGroupCommander
  from copy import deepcopy
  
  def talker_by13():
      	#init
      	moveit_commander.roscpp_initialize(sys.argv)
      	rospy.init_node('moveit_fk_demo')
          cartesian = rospy.get_param('~cartesian', True)
          arm = MoveGroupCommander('manipulator')
  
          #arm.set_pose_reference_frame('base_link')
  
          #arm.set_goal_position_tolerance(0.001)
         # arm.set_goal_orientation_tolerance(0.001)
         # arm.set_max_acceleration_scaling_factor(0.5)
          #arm.set_max_velocity_scaling_factor(0.5)
  
          end_effector_link = arm.get_end_effector_link()
  
          arm.set_named_target('home')
          arm.go()
          rospy.sleep(1)
  
          start_pose = arm.get_current_pose(end_effector_link).pose
  
          waypoints = []
  
          wpose = deepcopy(start_pose)
          #wpose.position.x -= 0.4
          wpose.position.y -= 0.4
  	#wpose.position.z += 0.6 
          #wpose.position.x = 0.8
          #wpose.position.y = 0.9
  	#wpose.position.z = 0.9
  
          arm.set_pose_target(wpose)  
          arm.go()
          rospy.sleep(1)
  
          
  
  
  
  
     	moveit_commander.roscpp_shutdown()
      	moveit_commander.os._exit(0)
  
  if __name__ == "__main__":
      try:
          talker_by13()
      except rospy.ROSInterruptException:
          pass
  