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The name of the move group is /move_group.

Alternatively to the /move_group action, one can generate a trajectory path using the plan_kinematics_path, and the /plan_sequence_path services.

Trajectory Execution

Moreover, MoveIt provides the /execute_trajectory action to execute ROS trajectory messages. If you need a good example on how to use the MoveIt without using the MoveIt libraries, you can take a look at the moveit_python implementation: