example_move_joint.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('sr_edc_muscle_tools')
import rospy
from std_msgs.msg import Float64
import math

rospy.init_node('example1')

# Move a joint, send position.
# NB Load position controllers first

# Create  publisher for the joints controller
ffj3_pub = rospy.Publisher("/sh_ffj3_muscle_position_controller/command", Float64, latch=True)

# Send targets
ffj3_pub.publish(0)
rospy.sleep(2)
ffj3_pub.publish(math.radians(90) )
rospy.sleep(6)

# Using explicit message
msg = Float64()
msg.data = 0
ffj3_pub.publish(msg)
rospy.sleep(2)