Add more examples

Author: gonzalocasas

docs/examples/03_backends_ros/05_full_examples.rst

@@ -0,0 +1,60 @@
+*******************************************************************************
+Full examples
+*******************************************************************************
+
+.. note::
+
+    The following examples use the `ROS <http://www.ros.org/>`_ backend
+    and the MoveI! planner with the Franka Emika Panda robots.
+    Before running them, please make sure you have the :ref:`ROS backend <ros_backend>`
+    correctly configured and the :ref:`Panda Demo <ros_bundles_list>` started.
+
+The following lists the 4 main features of the integrated motion planning framework:
+forward and inverse kinematics, cartesian and kinematic planning including loading
+the entire robot model over ROS, and a complete Grasshopper canvas as a playground
+for these features.
+
+Forward Kinematics
+=====================
+
+.. literalinclude :: files/02_forward_kinematics_ros_loader.py
+   :language: python
+
+Inverse Kinematics
+=====================
+
+.. literalinclude :: files/02_inverse_kinematics_ros_loader.py
+   :language: python
+
+Plan cartesian motion
+=====================
+
+.. literalinclude :: files/04_plan_cartesian_motion_ros_loader.py
+   :language: python
+
+Plan motion
+===========
+
+.. literalinclude :: files/04_plan_motion_ros_loader.py
+   :language: python
+
+Grasshopper playground
+======================
+
+The following Grasshopper canvas demonstrate all these features combined in
+a single document, as a reference of how these features could be integrated:
+
+
+.. raw:: html
+
+    <div class="card bg-light">
+    <div class="card-body">
+    <div class="card-title">Download</div>
+
+* :download:`Robot playground (Grasshopper) (.GHX) <files/robot-playground.ghx>`
+
+.. raw:: html
+
+    </div>
+    </div>
+

docs/examples/03_backends_ros/files/02_forward_kinematics_ros_loader.py

@@ -17,7 +17,7 @@
 
     robot = Robot(model, semantics=semantics, client=client)
 
-    configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
+    configuration = Configuration.from_prismatic_and_revolute_values([0.], [-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
     frame_RCF = robot.forward_kinematics(configuration)
     frame_WCF = robot.to_world_coords(frame_RCF)

docs/examples/03_backends_ros/files/04_plan_cartesian_motion_ros_loader.py

@@ -23,7 +23,7 @@
     frames.append(Frame((0.2925, 0.3949, 0.5066), (0, 1, 0), (0, 0, 1)))
     frames.append(Frame((0.5103, 0.2827, 0.4074), (0, 1, 0), (0, 0, 1)))
 
-    start_configuration = Configuration((0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571), (0, 0, 0, 0, 0, 0, 0))
+    start_configuration = Configuration.from_revolute_values((0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571))
 
     trajectory = robot.plan_cartesian_motion(frames,
                                              start_configuration,

docs/examples/03_backends_ros/files/04_plan_motion.py

@@ -27,3 +27,16 @@
 
     print("Computed kinematic path with %d configurations." % len(trajectory.points))
     print("Executing this path at full speed would take approx. %.3f seconds." % trajectory.time_from_start)
+    # print('Executing')
+
+    # robot.client.follow_joint_trajectory(
+    #     trajectory, callback=done_handler, errback=errhandler, feedback_callback=handler)
+
+    # wait = robot.client.execute_joint_trajectory(trajectory)
+
+    # print('Waiting...')
+    # r = wait.result()
+    # print('Done waiting...')
+
+    # import time
+    # time.sleep(1)

docs/examples/03_backends_ros/files/04_plan_motion_ros_loader.py

@@ -24,8 +24,8 @@
     tolerance_position = 0.001
     tolerance_axes = [math.radians(1)] * 3
 
-    start_configuration = Configuration(
-        (0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571), (0, 0, 0, 0, 0, 0, 0))
+    start_configuration = Configuration.from_revolute_values(
+        (0.667, -0.298, 0.336, -2.333, -1.787, 2.123, 0.571))
 
     # create goal constraints from frame
     goal_constraints = robot.constraints_from_frame(frame,