We can create a MoveIt package for the simulated robot, just like we did in the previous section. We will have to add two planning groups to this package, one for the arm, and one for the end-effector.
We can create as many poses as we want, but these two are the most important poses—start and home.
The following screenshot shows the start pose of the robot:
The following screenshot shows the home pose, which is the trivial pose on any arm robot: