# main #
rospy.init_node('chain_viz')
global redraw_flag
redraw_flag = True
drawer = ChainDrawer()
drawer.set_info(info)
state = ChainState()
state.chi = [0.0]*6
state.chi_desired = [0.0]*6
state.weights = [1.0]*6
state.poses = [kdl.Frame()]
drawer.set_state(state)
def callback_pose(msg):
drawer.set_pose(msg)
redraw()
def callback_end_pose(msg):
global state
state.poses = [pm.fromMsg(msg.pose)]
drawer.set_state(state)
def callback_chi(msg):
global state
