did some work to assemble it together

script/imitator.py

@@ -27,6 +27,7 @@ if __name__ == '__main__':
         sleep(0.1)
         if not _inform_controller('imitate'):
             continue
+        rospy.loginfo('IMITATOR: ACTIVE')
         for i, eff in enumerate(['L',
                                  'R'], 1):
             try:
@@ -36,18 +37,14 @@ if __name__ == '__main__':
                     rospy.Time(0)
                 )
             except Exception as e:
-                print e
                 continue
+
             sign = 1 if eff == 'L' else -1
             roll = asin(trans[1] /
                         sqrt(trans[0]**2 + trans[1]**2 + trans[2]**2))
             roll -= sign * radians(25)
             pitch = atan(-trans[2] / abs(trans[0]))
 
-            # sign = 1 if roll > 0 else -1
-            # roll -= sign * radians(10)
-            # print degrees(roll)
-
             mp.setAngles([
                 '{}ShoulderRoll'.format(eff),
                 '{}ShoulderPitch'.format(eff)