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Send a goal position to UR5 by a script


I have the ur5 manipulator and I am working with the moveIt package for it. Now, I want to send a simple goal of the pose of the tcp frame by a code to make a simple control in my lab. I don't find any example for that. I will very glad if someone can help me with a simple example. I want to work with the moveit too but only send commands to the robot by a topic and not by the execute button from rviz.

Tnx, Aviad