#NEWLINE# def __init__( self , robotStateModel , robotStateJointController , view ) : #NEWLINE# #INDENT# self . robotStateModel = robotStateModel #NEWLINE# self . robotStateJointController = robotStateJointController #NEWLINE# self . ft_right_bias = np . array ( ( [ 0.0 ] * 6 ) ) #NEWLINE# self . ft_left_bias = np . array ( ( [ 0.0 ] * 6 ) ) #NEWLINE# self . ft_left_calib_pts = [ ] #NEWLINE# self . ft_left_calib_des = [ ] #NEWLINE# self . ft_right_calib_pts = [ ] #NEWLINE# self . ft_right_calib_des = [ ] #NEWLINE# self . view = view #NEWLINE# self . draw_left = False #NEWLINE# self . draw_right = False #NEWLINE# self . draw_torque = False #NEWLINE# self . robotStateModel . connectModelChanged ( self . doFTDraw )