def __init__(self, limb):
self.limb = limb
self.interface = baxter_interface.Limb(limb)
self.solver = IKSolver(limb)
self.last_solve_request_time = rospy.Time.now()
self.running = True
self.thread = threading.Thread(target=self._update_thread)
self.vis = Vis()
self.goal_transform = GoalTransform(limb)
