add 2 examples: attach a gripper to a manipulator, and a manipulator to a quadruped

examples/robots/README.md

@@ -1,22 +0,0 @@
-## Robot examples
-
-More than 60 robots (of various types) are available through `pyrobolearn`.
-
-Here are the few examples that you can find in this folder:
-1. `load_robot.py <robot_name>`: load the given robot in the world.
-2. `visualize_robot.py <robot_name>`: test different visualization tools that can be used on the robot to show its 
-joint axis, bounding boxes, and others.
-3. `robot_with_sliders.py <robot_name>`: load the given robot in the world and allow you to manipulate the robot's 
-joints with sliders.
-4. `distribute_epucks.py`: distribute several e-pucks in the world and make them move forward.
-5. `quadcopter_controller.py`: move a quadcopter in the air using an Xbox or Playstation game controller.
-6. `robots/<robot>.py`: load the given robot in the simulator by directly instantiating it. Some of these files do 
-more than just loading the robot.
-
-Notes: to turn the camera in the simulator, keep pressing the `ctrl` key and the left button on the mouse, and 
-move this last one.
-
-
-#### What to check next?
-
-Check the `pyrobolearn/examples/interfaces` or `pyrobolearn/examples/kinematics` folder.

examples/robots/README.rst

@@ -0,0 +1,28 @@
+Robot examples
+==============
+
+More than 60 robots (of various types) are available through ``pyrobolearn``.
+
+Here are the few examples that you can find in this folder:
+
+1. ``load_robot.py <robot_name>``: load the given robot in the world.
+2. ``visualize_robot.py <robot_name>``: test different visualization tools that can be used on the robot to show its
+   joint axis, bounding boxes, and others.
+3. ``robot_with_sliders.py <robot_name>``: load the given robot in the world and allow you to manipulate the robot's
+   joints with sliders.
+4. ``distribute_epucks.py``: distribute several e-pucks in the world and make them move forward.
+5. ``quadcopter_controller.py``: move a quadcopter in the air using an Xbox or Playstation game controller.
+6. ``robots/<robot>.py``: load the given robot in the simulator by directly instantiating it. Some of these files do
+   more than just loading the robot.
+7. ``attach_gripper_to_manipulator``: attach the specified gripper / hand to the Kuka manipulator robot. In this file,
+   you can check the various grippers you can use.
+8. ``attach_manipulator_to_quadruped``: attach the Kuka Youbot manipulator to the HyQ2Max quadruped robot.
+
+Notes: to turn the camera in the simulator, keep pressing the ``ctrl`` key and the left button on the mouse, and
+move the mouse.
+
+
+What to check next?
+~~~~~~~~~~~~~~~~~~~
+
+Check the ``pyrobolearn/examples/interfaces`` or ``pyrobolearn/examples/kinematics`` folder.

examples/robots/attach_gripper_to_manipulator.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python
+"""Attach a gripper/hand to the Kuka manipulator.
+
+In this file, you can attach different grippers / hands to the kuka robot. You can move the robot with the mouse.
+"""
+
+import argparse
+
+import pyrobolearn as prl
+
+
+# create parser to select the gripper/hand
+parser = argparse.ArgumentParser()
+parser.add_argument('-g', '--gripper', help='the gripper/hand to attach to the kuka robot', type=str,
+                    choices=['softhand', 'allegrohand', 'wam_gripper', 'youbot_gripper', 'pr2_gripper', 'jaco_gripper',
+                             'fetch_gripper', 'franka_gripper', 'baxter_gripper', 'schunk_hand', 'shadowhand'],
+                    default='softhand')
+args = parser.parse_args()
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world with floor and gravity
+world = prl.worlds.BasicWorld(sim)
+
+# load kuka robot
+robot = world.load_robot('kuka_iiwa')
+
+# load hand/gripper
+hand = world.load_robot(args.gripper, position=(0., 0., 1.5), fixed_base=False)
+
+# compute parent frame position (this will be removed later and integrated in PRL)
+parent_frame_position = [0., 0., 0.]
+if args.gripper == 'shadowhand':
+    parent_frame_position = [0., 0., 0.1]
+elif args.gripper == 'allegrohand':
+    parent_frame_position = [0., 0., 0.06]
+elif args.gripper == 'wam_gripper':
+    parent_frame_position = [0., 0., 0.01]
+elif args.gripper == 'youbot_gripper':
+    parent_frame_position = [0., 0., 0.03]
+elif args.gripper == 'pr2_gripper':
+    parent_frame_position = [0., 0., 0.002]
+elif args.gripper == 'jaco_gripper':
+    parent_frame_position = [0., 0., 0.06]
+elif args.gripper == 'fetch_gripper':
+    parent_frame_position = [0., 0., 0.07]
+elif args.gripper == 'franka_gripper':
+    parent_frame_position = [0., 0., 0.02]
+elif args.gripper == 'baxter_gripper':
+    parent_frame_position = [0., 0., -0.03]
+elif args.gripper == 'schunk_hand':
+    parent_frame_position = [0., 0., 0.002]
+
+# attach hand/gripper to robot
+world.attach(body1=robot, body2=hand, link1=robot.end_effectors[0], link2=-1, joint_axis=[0., 0., 0.],
+             parent_frame_position=parent_frame_position, child_frame_position=[0., 0., 0.])
+
+# set the hand joint positions
+hand.set_joint_positions([0.] * hand.num_actuated_joints)
+
+# run simulation
+for t in prl.count():
+    sim.step(sim.dt)

examples/robots/attach_manipulator_to_quadruped.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+"""Attach the Kuka Youbot manipulator to the HyQ2Max quadruped.
+"""
+
+import pyrobolearn as prl
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create world
+world = prl.worlds.BasicWorld(sim)
+
+# create quadruped and manipulator
+quadruped = world.load_robot('hyq2max')
+manipulator = world.load_robot('kuka_youbot_arm', position=(0., 0., 1.), fixed_base=False)
+
+# attach manipulator to the back of the robot
+world.attach(body1=quadruped, body2=manipulator, link1=-1, link2=-1, joint_axis=[0., 0., 0.],
+             parent_frame_position=[0.25, 0., 0.2], child_frame_position=[0., 0., 0.])
+
+# run simulation
+for t in prl.count():
+    sim.step(sim.dt)