#!/usr/bin/env python   # arms_to_zero_angles.py 
#   
"""
Script to return Baxter's arms to a "zero angles" position  
"""

# rospy - ROS Python API
import rospy

# baxter_interface - Baxter Python API
import baxter_interface

# initialize our ROS node, registering it with the Master
rospy.init_node('Zero_Arms')

# create instances of baxter_interface's Limb class
limb_right = baxter_interface.Limb('right')
limb_left = baxter_interface.Limb('left')

# store the zero position of the arms
zero_right = {'right_s0': 0.0, 'right_s1': 0.00, 'right_w0': 0.00, 'right_w1': 0.00, 'right_w2': 0.00, 'right_e0': 0.00, 'right_e1': 0.00}
zero_left = {'left_s0': 0.0, 'left_s1': 0.00, 'left_w0': 0.00, 'left_w1': 0.00, 'left_w2': 0.00, 'left_e0': 0.00, 'left_e1': 0.00}

# move both arms to home position
limb_right.move_to_joint_positions(zero_right)
limb_left.move_to_joint_positions(zero_left)
quit()