text: import time
  
  import airobot as ar
  import numpy as np
  
  
  def main():
      """
      This function demonstrates how to move the robot arm
      to the desired joint positions.
      """
      robot = ar.Robot('yumi_grippers')
      robot.arm.go_home()
  
      robot.arm.right_arm.set_jpos(
          [0.5, -1.0, -1.0, -0.0, -0.2, 1.0, -1.57])
  
      time.sleep(3)
      ar.log_info('Right arm joint positions: ')
      ar.log_info(np.round(robot.arm.right_arm.get_jpos(), 6))
      ar.log_info('Both arm joint positions: ')
      ar.log_info(np.round(robot.arm.get_jpos(), 6))
      ar.log_info('\n')
  
      robot.arm.right_arm.set_jpos(0.5, 'yumi_joint_3_r')
      time.sleep(3)
  
      robot.arm.left_arm.eetool.activate()
  
      robot.arm.left_arm.eetool.open()
      time.sleep(3)
  
      robot.arm.left_arm.eetool.set_jpos(0.005)
      ar.log_info('Left gripper position: ')
      ar.log_info(np.round(robot.arm.left_arm.eetool.get_jpos(), 6))
      ar.log_info('\n')
      time.sleep(3)
  
      robot.arm.left_arm.eetool.close()
  
      time.sleep(3)
      ar.log_info('Left gripper position at close: ')
      ar.log_info(np.round(robot.arm.left_arm.eetool.get_jpos(), 6))
      ar.log_info('\n')
  
  
  if __name__ == '__main__':
      main()
  