def __init__(self): # Create two arms; initialize their individual state. for side in SIDES: arm = Arm(side) Arms.arms[side] = arm arm.set_mode(ArmMode.HOLD) arm.check_gripper_state() arm.close_gripper() # Initialize Arms (joint) state. self.attended_arm = -1 self.action = None self.preempt = False self.z_offset = 0.0 self.status = ExecutionStatus.NOT_EXECUTING rospy.loginfo('Arms have been initialized.')