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With all respect, this is homework and you should be able to solve it by reading the Publisher/Subscriber and MoveIt tutorials attentively. MoveIt is the easiest way to check the reachability of a pose. You will need to invest a few hours of study or ask an actual question if you're stuck.

You might also want to read this for general culture. Good luck: https://stackoverflow.com/help/how-to-ask

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