text: from dvrk.robot import *
  from autolab.data_collector import *
  
  import time
  
  
  #initialize sensor readings
  d = DataCollector()
  print(d.identifier)
  
  """
  time.sleep(2)
  
  
  #initialize robot
  psm1 = robot("PSM1")
  psm1.home()
  
  #move robot to a position
  post,rott = ((0.05, 0.02, -0.15), (0.0, 0.0,-160.0))
  pos = [post[0], post[1], post[2]]
  rot = tfx.tb_angles(rott[0], rott[1], rott[2])
  psm1.move_cartesian_frame_linear_interpolation(tfx.pose(pos, rot), 0.03)
  """
  
  
  