Update FK & IK examples

Author: gonzalocasas

docs/examples/03_backends_ros/02_forward_and_inverse_kinematics.rst

@@ -23,9 +23,19 @@ state of each joint in the articulated body of a robot needs to be defined.
 Joint states are described in **COMPAS FAB** with the
 :class:`compas_fab.robots.Configuration` class.
 
+The simplest way to calculate forward kinematics is based on the properties defined
+by the robot model and does not require ROS to be running:
+
 .. literalinclude :: files/02_forward_kinematics.py
    :language: python
 
+Additionally, if the :class:`compas_fab.robots.Robot` is assigned a ``client``, it
+will try to use it to resolve forward kinematics. The following example shows the same
+solutions but calculated by ROS:
+
+.. literalinclude :: files/02_forward_kinematics_ros.py
+   :language: python
+
 Inverse kinematics
 ==================
 

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

@@ -1,12 +1,13 @@
-from compas_fab.backends import RosClient
 from compas_fab.robots import Configuration
 from compas_fab.robots.ur5 import Robot
 
-with RosClient() as client:
-    robot = Robot(client)
-    configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
+robot = Robot()
+configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
-    response = robot.forward_kinematics(configuration)
+frame_RCF = robot.forward_kinematics(configuration)
+frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
 
-    print("Frame in the robot's coordinate system", response.frame_RCF)
-    print("Frame in the world coordinate system", response.frame_WCF)
+print("Frame in the robot's coordinate system")
+print(frame_RCF)
+print("Frame in the world coordinate system")
+print(frame_WCF)

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

@@ -0,0 +1,15 @@
+from compas_fab.backends import RosClient
+from compas_fab.robots import Configuration
+from compas_fab.robots.ur5 import Robot
+
+with RosClient() as client:
+    robot = Robot(client)
+    configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
+
+    frame_RCF = robot.forward_kinematics(configuration)
+    frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+
+    print("Frame in the robot's coordinate system")
+    print(frame_RCF)
+    print("Frame in the world coordinate system")
+    print(frame_WCF)