text: #!/usr/bin/env python
  import sys
  import time
  import math
  import rospy
  from mycobot.commander import MyCobotCommander
  
  if __name__ == "__main__":
      rospy.init_node("moveit_test", anonymous = True, disable_signals=True)
      
      manipulator = MyCobotCommander()
      init_joints = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
      #manipulator.add_obstacle('floor', 0.4, 0.52, 0.001, pos_x=0.1)
      #manipulator.add_obstacle('back_wall', 0.0001, 0.52, 0.5, pos_x=-0.2, pos_z=0.25)
      #manipulator.add_obstacle('camera_mount', 0.04, 0.015, 0.5, pos_x=0.25, pos_y=-0.23, pos_z=0.25)
      # manipulator.move_joints(init_joints)
  
      time.sleep(6)
      manipulator.open_gripper()
      time.sleep(1)
      manipulator.close_gripper()
      time.sleep(1)
      manipulator.open_gripper()
      time.sleep(1)
  
      while not rospy.is_shutdown():
          target_x = 0.25
          target_y = 0.0
          target_z = 0.10
          manipulator.close_gripper()
          time.sleep(1)
  
          manipulator.move_to_goal_pose(target_x, 
                                        target_y, 
                                        target_z, 
                                        roll=0.0,
                                        pitch=1.309,
                                        yaw=0.0)
  
          manipulator.move_to_goal_pose(target_x, 
                                        target_y, 
                                        target_z-0.08, 
                                        roll=0.0,
                                        pitch=1.309,
                                        yaw=0.0)
  
          manipulator.set_gripper_dist(0.009)
          time.sleep(1)
  
          break