In [1]:

    

%pylab inline
import rospy, tf
import vrep_common.srv
import geometry_msgs.msg, std_msgs.msg
import time
import matplotlib.pyplot as plt
import pylab
import numpy as np


    

    




Populating the interactive namespace from numpy and matplotlib

In [4]:

    

getHandle = rospy.ServiceProxy('/vrep/simRosGetObjectHandle',
                         vrep_common.srv.simRosGetObjectHandle)


    

In [5]:

    

getHandle('Cuboid')


    

    
Out[5]:





handle: 26

In [7]:

    

getHandle('Revolute_joint')


    

    
Out[7]:





handle: 27

In [8]:

    

set_joint_position = rospy.ServiceProxy('/vrep/simRosSetJointTargetPosition',
                         vrep_common.srv.simRosSetJointTargetPosition)


    

In [16]:

    

set_joint_position(27, 0)


    

    
Out[16]:





result: 1

In [35]:

    

set_joint_position(27, 0)


    

    
Out[35]:





result: 1

In [22]:

    

import IPython.html.widgets as ipywidgets


    

In [20]:

    

def setpoint(x):
    set_joint_position(27, x)


    

In [34]:

    

ipywidgets.interact(setpoint, x=ipywidgets.FloatSliderWidget())