text: from interbotix_xs_modules.locobot import InterbotixLocobotXS
  
  # This script commands some arbitrary positions to the arm joints
  #
  # To get started, open a terminal and type...
  # 'roslaunch interbotix_xslocobot_control xslocobot_python.launch robot_model:=locobot_wx250s show_lidar:=true'
  # Then change to this directory and type 'python joint_position_control.py'
  
  def main():
      joint_positions = [-1.0, 0.5 , 0.5, 0, -0.5, 1.57]
      locobot = InterbotixLocobotXS(robot_model="locobot_wx250s", arm_model="mobile_wx250s")
      locobot.arm.go_to_home_pose()
      locobot.arm.set_joint_positions(joint_positions)
      locobot.arm.go_to_home_pose()
      locobot.arm.go_to_sleep_pose()
  
  if __name__=='__main__':
      main()
  