new_contents: #!/usr/bin/python
  
  import sys
  import rospy
  import rospkg
  import baxter_interface
  # import tf
  from copy import deepcopy
  
  from geometry_msgs.msg import (
      PoseStamped,
      Pose,
      Point,
      # Quaternion,
  )
  
  from std_msgs.msg import Header
  
  # from sensor_msgs.msg import (
  #     # Image,
  #     # JointState,
  #     )
  
  from baxter_core_msgs.srv import (
      SolvePositionIK,
      SolvePositionIKRequest,
  )
  
  # import learn_play
  
  def find_joint_position(pose, x_off=0.0, y_off=0.0, z_off=0.0):
      '''
      Finds the joint position of the arm given some pose and the
      offsets from it (to avoid opening the structure all the time
      outside of the function).
      '''
      ik_srv = "ExternalTools/right/PositionKinematicsNode/IKService"
      iksvc = rospy.ServiceProxy(ik_srv, SolvePositionIK)
      ik_request = SolvePositionIKRequest()
      the_pose = deepcopy(pose)
      the_pose['position'] = Point(x=pose['position'].x + x_off,
                                   y=pose['position'].y + y_off,
                                   z=pose['position'].z + z_off)
      approach_pose = Pose()
      approach_pose.position = the_pose['position']
      approach_pose.orientation = the_pose['orientation']
      hdr = Header(stamp=rospy.Time.now(), frame_id='base')
      pose_req = PoseStamped(header=hdr, pose=approach_pose)
      ik_request.pose_stamp.append(pose_req)
      resp = iksvc(ik_request)
      return dict(zip(resp.joints[0].name, resp.joints[0].position))
  
  def main():
      rospy.init_node("learn_play_calibrate")
      rs = baxter_interface.RobotEnable()
      rs.enable()
      baxter_limb = baxter_interface.Limb('right')
      i = ""
      while 1:
          try: 
              x = input("x_off> ")
          except:
              x = "0.0"
          if x == "q":
               break
          try:
              y = input("y_off> ")
          except:
              y = "0.0"
          if y == "q":
               break
          try:
              z = input("z_off> ")
          except:
              z = "0.0"
          if z == "q":
               break   
          new_poss = find_joint_position(baxter_limb.endpoint_pose(),
                                         x_off=float(x),
                                         y_off=float(y),
                                         z_off=float(z))
          baxter_limb.move_to_joint_positions(new_poss)                    
          print "############## Finished moving ##############"
          
  	
  if __name__ == "__main__":
      sys.exit(main())
  
subject: Add basic script to move baxter's arms