text: import time
  import arm_control_utils
  
  # offset = [180 180 90] # niryo
  # DXL_ID = [1,2,3]
  DXL_ID = [2]
  
  my_arm_controller = arm_control_utils.arm_controller(DXL_ID,devicename='/dev/ttyUSB0', baudrate=1000000)
  
  
  
  my_arm_controller.initialize_motors()
  my_arm_controller.enable_state_torque()
  
  # state = [2560]
  state = [2048]
  my_arm_controller.write_state(state)
  time.sleep(2)
  
  # state = [1024]
  # my_arm_controller.write_state(state)
  # time.sleep(2)
  
  my_arm_controller.disable_state_torque()
  my_arm_controller.stop_motors()