update actions & plotting + add plotting examples

examples/plotting/link_frames.py

@@ -0,0 +1,32 @@
+#!/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)