update actions & plotting + add plotting examples

examples/plotting/README.rst

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+Plotting examples
+=================
+
+In this folder, you will find examples where we use the plotting tools provided in PRL.
+
+Warnings: Currently, you have to close the figure before closing the simulator. If you close the simulator first,
+you might still have the process responsible to draw the figure running.
+
+- ``joints.py``: plot in real-time the joint positions (in blue), velocities (in green), accelerations (in red),
+  and/or torques (in purple).
+- ``link_frames.py``: plot in real-time the frames of the specified links.
+
+To test these classes, you can run the corresponding python file, and move the manipulator with the mouse and check the
+real-time plots.

examples/plotting/joints.py

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+#!/usr/bin/env python
+"""Provide the joint real-time plotting example.
+
+Try to move the Kuka manipulator with your mouse, and check the joint values. Note that it can take few seconds to
+load the plot.
+
+Warnings: don't forget to close FIRST the figure, THEN the simulator otherwise you will have the plotting process still
+running.
+"""
+
+from itertools import count
+import pyrobolearn as prl
+
+
+# create the simulator
+sim = prl.simulators.Bullet()
+
+# create the world
+world = prl.worlds.BasicWorld(sim)
+
+# load the robot
+robot = world.load_robot('kuka_iiwa')
+
+# create the joint real-time plotting tool
+plot = prl.utils.plotting.JointRealTimePlot(robot, joint_ids=None, position=True, velocity=False,
+                                            acceleration=False, torque=False, ticks=24)
+
+# run the simulation
+for t in count():
+    # update the plot
+    plot.update()
+
+    # perform a step in the world
+    world.step(sim.dt)

examples/plotting/link_frames.py

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+#!/usr/bin/env python
+"""Provide the link frame real-time plotting example.
+
+Try to move the Kuka manipulator and / or the box with your mouse. Note that it can take few seconds to load the plot.
+
+Warnings: don't forget to close FIRST the figure, THEN the simulator otherwise you will have the plotting process still
+running.
+"""
+
+import pyrobolearn as prl
+
+
+# create the simulator
+sim = prl.simulators.Bullet()
+
+# create the world
+world = prl.worlds.BasicWorld(sim)
+
+# load the robot and a box
+robot = world.load_robot('kuka_iiwa')
+box = world.load_box([0.7, 0., 0.2], dimensions=(0.2, 0.2, 0.2), color=(0.2, 0.2, 0.8, 1.), return_body=True)
+
+# create the link frame real-time plotting tool
+plot = prl.utils.plotting.LinkFrameRealTimePlot(bodies=[robot, box], link_ids=None, ticks=24)
+
+# run the simulation
+for t in prl.count():
+    # update the plot
+    plot.update()
+
+    # perform a step in the world
+    world.step(sim.dt)