def setup(): arm_variables = {'D1': 3.319, 'D2': 3.125, 'A2': 7.913, 'A3': 9.0} single_arm = Arm(VirtualJoint(), VirtualJoint(), VirtualJoint(), arm_variables) single_arm.calibrate_arm() single_arm.home_arm() single_arm.enable_arm() return { 'right_arm':single_arm }