Merge pull request cram2#127 from hawkina/minor

Fixing typos in examples

examples/action_designator.ipynb

@@ -6,12 +6,12 @@
    "metadata": {},
    "source": [
     "# Action Designator\n",
-    "This example will show the different kinds of Action Designator that are available. We will see how to create Action Designators and what they do.\n",
+    "This example will show the different kinds of Action Designators that are available. We will see how to create Action Designators and what they do.\n",
     "\n",
     "\n",
-    "Action Designator are high-level descriptions of actions which the robot should execute. \n",
+    "Action Designators are high-level descriptions of actions which the robot should execute. \n",
     "\n",
-    "Action Deisgnators are created from a Action Designator Descritpion, which describes the type of action as well as the parameter for this action. Parameter are given as a list of possible parameters.\n",
+    "Action Designators are created from an Action Designator Description, which describes the type of action as well as the parameter for this action. Parameter are given as a list of possible parameters.\n",
     "For example, if you want to describe the robot moving to a table you would need a ```NavigateAction``` and a list of poses that are near the table. The Action Designator Description will then pick one of the poses and return a performable Action Designator which contains the picked pose. \n",
     "\n"
    ]
@@ -103,7 +103,7 @@
    "id": "30bd6765",
    "metadata": {},
    "source": [
-    "What we now did was create the pose were we want to move the robot, create a description describing a navigation with a list of possible poses (in this case the list contains only one pose) and create an action designator from the description. The action designator contains the pose picked from the list of possible poses and can be performed."
+    "What we now did was: create the pose where we want to move the robot, create a description describing a navigation with a list of possible poses (in this case the list contains only one pose) and create an action designator from the description. The action designator contains the pose picked from the list of possible poses and can be performed."
    ]
   },
   {
@@ -126,7 +126,7 @@
    "source": [
     "Every designator that is performed needs to be in an environment that specifies where to perform the designator either on the real robot or the simulated one. This environment is called ```simulated_robot``` similar there is also a ```real_robot``` environment. \n",
     "\n",
-    "There are also decorators which do the same thing but for whole methods, they are called ```with_real_robot``` and ```with_simulated_robor```"
+    "There are also decorators which do the same thing but for whole methods, they are called ```with_real_robot``` and ```with_simulated_robot```."
    ]
   },
   {
@@ -137,7 +137,7 @@
     "## Move Torso\n",
     "This action designator moves the torso up or down, specifically it sets the torso joint to a given value.\n",
     "\n",
-    "We start again by creating a description and resolving it to a designator. Afterwards, the designator is perfomed in a ```simulated_robot``` environment. "
+    "We start again by creating a description and resolving it to a designator. Afterwards, the designator is performed in a ```simulated_robot``` environment. "
    ]
   },
   {
@@ -216,9 +216,9 @@
    "metadata": {},
    "source": [
     "## Pick Up and Place\n",
-    "Since these are depending on each other, meaning you can only place something when you picked it up beforehand, they will be shown together. \n",
+    "Since these two are dependent on each other, meaning you can only place something when you picked it up beforehand, they will be shown together. \n",
     "\n",
-    "These action designators use object designators, which will not be further explained so please check the example on object designators for more details. \n",
+    "These action designators use object designators, which will not be further explained in this tutorial so please check the example on object designators for more details. \n",
     "\n",
     "To start we need an environment in which we can pick up and place things as well as an object to pick up."
    ]
@@ -552,7 +552,7 @@
    "metadata": {},
    "source": [
     "## Transporting\n",
-    "Transporting can transport an object from its current position to another target position. It is similar to the Pick and Place plan used in the Pick-up and Place example. Since we need an Object which we can transport we spawn a milk, you don't need to do this if you alredy spawned it in a previous example."
+    "Transporting can transport an object from its current position to another target position. It is similar to the Pick and Place plan used in the Pick-up and Place example. Since we need an Object which we can transport we spawn a milk, you don't need to do this if you already have spawned it in a previous example."
    ]
   },
   {

examples/bullet_world.ipynb

@@ -96,15 +96,15 @@
    "source": [
     "As you can see this spawns a milk floating in the air. What we did here was create a new Object which has the name \"milk\" as well as the type ```ObjectType.MILK ``` , is spawned from the file \"milk.stl\" and is at the position [0, 0, 1]. \n",
     "\n",
-    "The type of an Object can either be from the enum ObjectType or a string. However, it is recommended to use the enum since this would make for a more consistent naming of types which makes it easiert to work with types. But since the types of the enum might not fit your case you can also use strings. \n",
+    "The type of an Object can either be from the enum ObjectType or a string. However, it is recommended to use the enum since this would make for a more consistent naming of types which makes it easier to work with types. But since the types of the enum might not fit your case you can also use strings. \n",
     "\n",
-    "The first three of these parameters are required while the position is optional. As you can see it was sufficent to only specify the filename for PyCRAM to spawn the milk mesh. When only providing a filename PyCRAM will search in its resource directory for a matching file and use it. \n",
+    "The first three of these parameters are required while the position is optional. As you can see it was sufficient to only specify the filename for PyCRAM to spawn the milk mesh. When only providing a filename, PyCRAM will search in its resource directory for a matching file and use it. \n",
     "\n",
     "For a complete list of all parameters that can be used to crate an Object please check the documentation. \n",
     "\n",
     "\n",
     "\n",
-    "Since the Object is spawned we can now interact with it. First we want to move it around and change it's orientation"
+    "Since the Object is spawned, we can now interact with it. First we want to move it around and change its orientation"
    ]
   },
   {
@@ -142,7 +142,7 @@
    "id": "5805be38",
    "metadata": {},
    "source": [
-    "In the same sense as setting the position or orientation you can also get the position and orientation."
+    "In the same sense as setting the position or orientation, you can also get the position and orientation."
    ]
   },
   {
@@ -200,7 +200,7 @@
     "## Attachments\n",
     "You can attach Objects to each other simply by calling the attach method on one of them and providing the other as parameter. Since attachments are bi-directional it doesn't matter on which Object you call the method. \n",
     "\n",
-    "First we neeed another Object"
+    "First we need another Object"
    ]
   },
   {
@@ -265,9 +265,9 @@
    "metadata": {},
    "source": [
     "## Links and Joints\n",
-    "Objects spawned from mesh files do not have links or joints, but if you spawn things from a URDF like a robot they will have a lot of links and joints. Every Object has two dictionaries as attributes namley ```links``` and ```joints``` which contain every link or joint as key and a unique id, used by PyBullet, as value. \n",
+    "Objects spawned from mesh files do not have links or joints, but if you spawn things from a URDF like a robot they will have a lot of links and joints. Every Object has two dictionaries as attributes, namely ```links``` and ```joints``` which contain every link or joint as key and a unique id, used by PyBullet, as value. \n",
     "\n",
-    "We will see this at the example of the PR2"
+    "We will see this at the example of the PR2:"
    ]
   },
   {
@@ -369,7 +369,7 @@
     "  * ```set_joint_state```\n",
     "  * ```get_joint_limits```\n",
     "  \n",
-    "We will see how these methods work at the example of the torso_lift_joint"
+    "We will see how these methods work at the example of the torso_lift_joint:"
    ]
   },
   {
@@ -404,7 +404,7 @@
    "metadata": {},
    "source": [
     "## Misc Methods\n",
-    "There are a few methods that don't fit any category but could be helpful anyways. The first two are ```get_color``` and ```set_color```, as the name implies they can be used to get or set the color for specific links or the whole Object. "
+    "There are a few methods that don't fit any category but could be helpful anyway. The first two are ```get_color``` and ```set_color```, as the name implies they can be used to get or set the color for specific links or the whole Object. "
    ]
   },
   {
@@ -440,7 +440,7 @@
    "id": "ce5d910b",
    "metadata": {},
    "source": [
-    "Lastly, there is ```get_AABB``` AABB stands for axis aligned bounding box. This method returns two points in world coordinates which span a rectangle representing the AABB."
+    "Lastly, there is ```get_AABB```, AABB stands for *A*xis *A*ligned *B*ounding *B*ox. This method returns two points in world coordinates which span a rectangle representing the AABB."
    ]
   },
   {

examples/cram_plan_tutorial.ipynb

@@ -489,7 +489,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "Task tree can be manipulated with ordinary anytree manipulation. If we for example want to discard the second plan, we would write"
+    "Task tree can be manipulated with ordinary anytree manipulation. If we for example want to discard the second plan, we would write:"
    ]
   },
   {
@@ -613,7 +613,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "The task tree can also be reset to an empty one by invoking"
+    "The task tree can also be reset to an empty one by invoking:"
    ]
   },
   {
@@ -720,10 +720,10 @@
      "evalue": "name 'world' is not defined",
      "output_type": "error",
      "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
-      "Cell \u001b[0;32mIn[1], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43mworld\u001b[49m\u001b[38;5;241m.\u001b[39mexit()\n",
-      "\u001b[0;31mNameError\u001b[0m: name 'world' is not defined"
+      "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
+      "\u001B[0;31mNameError\u001B[0m                                 Traceback (most recent call last)",
+      "Cell \u001B[0;32mIn[1], line 1\u001B[0m\n\u001B[0;32m----> 1\u001B[0m \u001B[43mworld\u001B[49m\u001B[38;5;241m.\u001B[39mexit()\n",
+      "\u001B[0;31mNameError\u001B[0m: name 'world' is not defined"
      ]
     }
    ],