def __init__(self):
self.__unit = 'rad'
self.__joint_values = [0.0, 0.0, 0.0, 0.0, 0.0]
self.__joint_offset = [0.0, 0.0, 0.0, 0.0, 0.0]
self.__joint_uris = ["arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5"]
self.__modifiedSolutionPublisher = rospy.Publisher('/arm_1/arm_controller/position_command', brics_actuator.msg.JointPositions)
self.__ikSolutionSubscriber = rospy.Subscriber('ik_modifier_input', brics_actuator.msg.JointPositions, self.ik_modifier_input_callback)
IKControl.__init__(self, False)
self.armpub = rospy.Publisher('/ik_modifier_input', brics_actuator.msg.JointPositions)
