def __init__ (self, armName, closedGraspValue=0.,defaultPoseSpeed=.01):
self.armName = armName
if armName == raven_constants.Arm.Left:
self.toolFrame = raven_constants.Frames.LeftTool
else:
self.toolFrame = raven_constants.Frames.RightTool
self.commandFrame = raven_constants.Frames.Link0
self.ravenController = RavenController(self.armName, closedGraspValue=closedGraspValue, defaultPoseSpeed=defaultPoseSpeed)
