import moveit_commander import geometry_msgs.msg   # Initialize the robot commander robot = moveit_commander.RobotCommander() group_name = "manipulator" move_group = moveit_commander.MoveGroupCommander(group_name)   # Set target pose pose_goal = geometry_msgs.msg.Pose() pose_goal.orientation.w = 1.0 pose_goal.position.x = 0.4 pose_goal.position.y = 0.1 pose_goal.position.z = 0.4   move_group.set_pose_target(pose_goal) plan = move_group.go(wait=True)