text: #!/usr/bin/env python
  
  import rospy, sys
  import moveit_commander
  #from control_msgs.msg import GripperCommand
  
  class MoveItFkDemo:
      def __init__(self):
          moveit_commander.roscpp_initialize(sys.argv)
  
          rospy.init_node('moveit_fk_demo',anonymous=True)
  
          arm = moveit_commander.MoveGroupCommander('arm')
  
          arm.set_goal_joint_tolerance(0.001)
  
          arm.set_named_target('home')
          arm.go()
          rospy.sleep(2)
  
          joint_postions = [0.09, 0.26, 1.02, 0, -1.14, 3.24]
          arm.set_joint_value_target(joint_postions)
  
          arm.go()
          rospy.sleep(1)
  
          moveit_commander.roscpp_shutdown()
          moveit_commander.os._exit(0)
  
  if __name__ == '__main__':
      try:
          MoveItFkDemo()
      except rospy.ROSInterruptException:
          pass