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)