def __init__(self, *args, **kwargs):
threading.Thread.__init__(self)
self.kwargs = kwargs
self.enable_joysticks = True
if 'enable_joysticks' in self.kwargs:
self.enable_joysticks = self.kwargs['enable_joysticks']
logging.getLogger("requests").setLevel(logging.WARNING)
self.stop_robot = False
self.logger = logging.getLogger('GUI')
self.curr_image = None
self.joint_states = []
self.num_empty_commands = 0
self.robot_ctrl = RobotController.getInstance(*args, **kwargs)
self.logger.info('initializing robot...')
self.robot_ctrl.init_robot()
self.logger.info('robot successfully initilized')
if 'robot_init_pos' in self.kwargs:
self.logger.info('Sending robot to center.')
self.robot_ctrl.send_robot_to_center(goal=kwargs['robot_init_pos'])
self.logger.info('Robot centered.')
np.set_printoptions(precision=2)
self.image_size = (640, 360)
if 'image_size' in self.kwargs:
self.image_size = self.kwargs['image_size']
def __init__(self, *args, **kwargs):
self.robot_controller = RobotController.getInstance(*args, **kwargs)
self.stop_command = [0, 0, 0, 0, 0, 0]
self.logger = logging.getLogger("NabotController")
