Please help with this piece of code. I don't know what the mistake is$.$

def wave$\_$hi$($publisher$)$:

$"""$Wave with one hand."""

joint$\_$names $=["$HeadYaw$",$ "HeadPitch", "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll"$]$

# Raise arm

raise$\_$arm$\_$positions $=[0,0,$ math.radians$(-30),$ math.radians$(45),0,$ math.radians$(-90)]$

publish$\_$joint$\_$state$($publisher$,$ joint$\_$names, raise$\_$arm$\_$positions, delay$=2\mathrm{.}0)$

# Wave $($back and forth$)$

for i in range$(3)$:

wave$\_$positions $=$ raise$\_$arm$\_$positions$[$:$]$

wave$\_$positions$[5]=$ math.radians$(-60)$ # Elbow wave position $1$

publish$\_$joint$\_$state$($publisher$,$ joint$\_$names, wave$\_$positions, delay$=0\mathrm{.}5)$

wave$\_$positions$[5]=$ math.radians$(-90)$ # Elbow wave position $2$

publish$\_$joint$\_$state$($publisher$,$ joint$\_$names, wave$\_$positions, delay$=0\mathrm{.}5)$

# Lower arm

lower$\_$arm$\_$positions $=[0,0,0,0,0,0]$

publish$\_$joint$\_$state$($publisher$,$ joint$\_$names, lower$\_$arm$\_$positions, delay$=2\mathrm{.}0)$