def main(argv):
rclpy.init(args=argv)
arm = Arm()
#collapse together
arm.move_joints(-0.0000, -0.1104, +1.5000, -1.3700, path_time=4.0)
arm.move_joints(joint1=-1.5000, path_time=1.0)
arm.move_joints(joint1=+1.5000, path_time=2.0)
arm.move_joints(joint1=-1.5000, path_time=2.0)
arm.move_joints(joint1=+1.5000, path_time=2.0)
arm.move_joints(joint1=-1.5000, path_time=2.0)
arm.move_joints(joint1=+1.5000, path_time=2.0)
arm.move_joints(joint1=-1.5000, path_time=2.0)
arm.move_joints(joint1=+1.5000, path_time=2.0)
arm.move_joints(joint1=+0.0000, path_time=2.0)
time.sleep(2.0)
# return to neutral
arm.move_joints(-0.1227, -1.0440, +0.6213, +0.4341, path_time=4.0)
arm.move_to(+0.1360, +0.0000, +0.2324, accelerate=0.5)
time.sleep(3.0)
# dizzy
arm.move_joints(joint4=+0.7000, path_time=1.0)
arm.circle(radius=0.010, path_time=2.0)
arm.circle(radius=0.020, path_time=4.0)
arm.circle(radius=0.010, path_time=2.0)
# return to neutral
arm.move_to(+0.1360, +0.0000, +0.2324, accelerate=0.3)
