original_docstring: 
      Go directly to the start location, assuming you are already close to the pose
      Might behave badly if you try from a pose that isn't close
      
docstring: Go directly to the start location, assuming you are already close to the pose
  Might behave badly if you try from a pose that isn't close
docstring_tokens: Go directly to the start location assuming you are already close to the pose Might behave badly if you try from a pose that isn ' t close
code: def go2start_from_door(fa):
      """
      Go directly to the start location, assuming you are already close to the pose
      Might behave badly if you try from a pose that isn't close
      """
      cart_gains = [1000,1000,1000,50,50,50]
      joint_gains = [500,500,500,500,500,500,500]
  
      input("Please make sure robot is near the desired start position\n Press enter to continue")
  
      print("Going to start position...")
      desired_tool_pose = RigidTransform(
          rotation=np.array([[0.99917643, -0.02115786, 0.03434495],
                             [-0.03350342, 0.03890612, 0.99868102],
                             [-0.02246619, -0.99900921, 0.03816595]]),
          translation=np.array([0.60516914, 0.33243171, 0.45531707]),
          from_frame='franka_tool', to_frame='world')
      fa.goto_pose_with_cartesian_control(desired_tool_pose,
                                          duration=10.0,
                                          cartesian_impedances=cart_gains)
  
      joints2 = [2.28650215, -1.36063288, -1.4431576, -1.93011263,
                 0.23962597, 2.6992652, 0.82820212]
      fa.goto_joints(joints2, duration=5, joint_impedances=joint_gains)
      print("Done")
code_tokens: def go2start_from_door ( fa ) : cart_gains = [ 1000 , 1000 , 1000 , 50 , 50 , 50 ] joint_gains = [ 500 , 500 , 500 , 500 , 500 , 500 , 500 ] input ( "Please make sure robot is near the desired start position\n Press enter to continue" ) print ( "Going to start position..." ) desired_tool_pose = RigidTransform ( rotation = np . array ( [ [ 0.99917643 , - 0.02115786 , 0.03434495 ] , [ - 0.03350342 , 0.03890612 , 0.99868102 ] , [ - 0.02246619 , - 0.99900921 , 0.03816595 ] ] ) , translation = np . array ( [ 0.60516914 , 0.33243171 , 0.45531707 ] ) , from_frame = 'franka_tool' , to_frame = 'world' ) fa . goto_pose_with_cartesian_control ( desired_tool_pose , duration = 10.0 , cartesian_impedances = cart_gains ) joints2 = [ 2.28650215 , - 1.36063288 , - 1.4431576 , - 1.93011263 , 0.23962597 , 2.6992652 , 0.82820212 ] fa . goto_joints ( joints2 , duration = 5 , joint_impedances = joint_gains ) print ( "Done" )
short_docstring: Go directly to the start location, assuming you are already close to the pose
  Might behave badly if you try from a pose that isn't close
short_docstring_tokens: Go directly to the start location assuming you are already close to the pose Might behave badly if you try from a pose that isn ' t close
comment: """
      Go directly to the start location, assuming you are already close to the pose
      Might behave badly if you try from a pose that isn't close
      """