function closeEventHandler(h)
sim.addLog(sim.verbosity_scriptinfos,'Window '..h..' is closing...')
simUI.hide(h)
end
function joint1_rotate(ui,id,newVal)
simUI.setLabelText(ui,3000,'theta1 set to '..newVal)
sim.setJointTargetPosition(joint1, newVal*deg)
end
function joint2_rotate(ui,id,newVal)
simUI.setLabelText(ui,3000,'theta2 set to '..newVal)
sim.setJointTargetPosition(joint2, newVal*deg)
end
function joint3_rotate(ui,id,newVal)
simUI.setLabelText(ui,3000,'theta3 set to '..newVal)
sim.setJointTargetPosition(joint3, newVal*deg)
end
function joint16_rotate(ui,id,newVal)
simUI.setLabelText(ui,3000,'theta16 set to '..newVal)
sim.setJointTargetPosition(joint16, newVal*deg)
sim.setJointTargetPosition(joint20, -newVal*deg)
end
function sysCall_init()
joint1 = sim.getObjectHandle('motor1')
joint2 = sim.getObjectHandle('motor2')
joint3 = sim.getObjectHandle('motor3')
joint16 = sim.getObjectHandle('motor16')
joint20 = sim.getObjectHandle('motor20')
i = 0
deg = math.pi/180
print(i)
xml = [[
<ui closeable="true" on-close="closeEventHandler" resizable="true">
<label text="This is a demo of the CustomUI plugin. Browse through the tabs below to explore all the widgets that can be created with the plugin." wordwrap="true" />
<tabs>
<tab title="Numeric">a
<label text="Sliders can be oriented horizontally or vertically, and have optional properties that can be set (in the XML) such as minimum and maximum value." wordwrap="true" />
<label text="" id="3000" wordwrap="true" />
<label text="theta1" /> <hslider tick-position="above" tick-interval="1"
minimum="0" maximum="360" on-change="joint1_rotate" />
<label text="theta2" /> <hslider tick-position="above" tick-interval="1"
minimum="-90" maximum="65" on-change="joint2_rotate" />
<label text="theta3" /> <hslider tick-position="above" tick-interval="1"
minimum="-90" maximum="185" on-change="joint3_rotate" />
<label text="theta16" /> <hslider tick-position="above" tick-interval="1"
minimum="0" maximum="15" on-change="joint16_rotate" />
</tab>
</tabs>
</ui>
]]
ui=simUI.create(xml)
end