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")