using baxter custom APIs to control a limb

custom_limb.ipynb

{
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   "cell_type": "code",
   "execution_count": 1,
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   "source": [
    "import rospy\n",
    "import baxter_interface"
   ]
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   "cell_type": "code",
   "execution_count": 2,
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    "collapsed": true
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   "source": [
    "rospy.init_node('custom_limb')"
   ]
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  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "limb = baxter_interface.Limb('left')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'left_e0': 3.056840215058658,\n",
       " 'left_e1': 0.8149272935641261,\n",
       " 'left_s0': -0.4195437454866607,\n",
       " 'left_s1': -0.5518495884417776,\n",
       " 'left_w0': -0.3416942205014759,\n",
       " 'left_w1': 1.135912773429149,\n",
       " 'left_w2': -0.0011504855909140602}"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "limb.joint_angles()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "limb.move_to_joint_positions({'left_e0': 0.})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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