content: from interbotix_xs_modules.arm import InterbotixManipulatorXS
  from aloha_scripts.robot_utils import move_arms, torque_on, move_grippers
  from constants import PUPPET_GRIPPER_JOINT_OPEN, PUPPET_GRIPPER_JOINT_CLOSE
  import argparse
  import numpy as np
  
  # for calibrating head cam and arms being symmetrical
  
  def main():
      argparser = argparse.ArgumentParser()
      argparser.add_argument('--all', action='store_true', default=False)
      args = argparser.parse_args()
  
      puppet_bot_left = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_left', init_node=True)
      puppet_bot_right = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_right', init_node=False)
  
      all_bots = [puppet_bot_left, puppet_bot_right]
      for bot in all_bots:
          torque_on(bot)
      
      multiplier = np.array([-1, 1, 1, -1, 1, 1])
      puppet_sleep_position_left = np.array([-0.8, -0.5, 0.5, 0, 0.65, 0])
      puppet_sleep_position_right = puppet_sleep_position_left * multiplier
      all_positions = [puppet_sleep_position_left, puppet_sleep_position_right]
      move_arms(all_bots, all_positions, move_time=2)
  
      # move_grippers(all_bots, [PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=1)  # open
  
  
  if __name__ == '__main__':
      main()
  