# send goal to action server moveit2

I initiate the demo of the default panda arm in rviz that comes with the tutorials:

ros2 launch moveit_resources_panda_moveit_config demo.launch.py

and now I want to send a pose in x,y,z world frame coordinates via action. I.e. it can be done c++ as described here:

https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html#

how can i just send a goal, like a pose, via ros2 action send_goal so that I can drive to it in rviz from terminal or python script for example?