504 add properly antennas

setup.cfg

@@ -20,7 +20,7 @@ install_requires =
     grpcio>=1.59.0, <=1.62.2
     pyquaternion==0.9.9
     opencv-python>=4.8.0, <4.9.0
-    reachy2-sdk-api>=1.0.16,  <1.1.0
+    reachy2-sdk-api>=1.0.17,  <1.1.0
 
 [options.packages.find]
 where = src

src/examples/3_arm_and_gripper.ipynb

@@ -105,7 +105,7 @@
    "id": "10",
    "metadata": {},
    "source": [
-    "### Joint space"
+    "### Joint space goal"
    ]
   },
   {
@@ -433,7 +433,7 @@
    "id": "43",
    "metadata": {},
    "source": [
-    "### Cartesian space"
+    "### Cartesian space goal"
    ]
   },
   {
@@ -540,7 +540,8 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "reachy.l_arm.goto(new_pose)"
+    "reachy.l_arm.goto(new_pose)\n",
+    "reachy.l_arm.goto_posture()"
    ]
   },
   {
@@ -549,6 +550,151 @@
    "metadata": {},
    "source": [
     "To simplify your life, you have access to functions to easily compute translation or rotation.  \n",
+    "But first, have a look the interpolation space!"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "884dfc68",
+   "metadata": {},
+   "source": [
+    "### Interpolation space"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "7a4f0d79",
+   "metadata": {},
+   "source": [
+    "Let's make things a little more complicated now.  \n",
+    "Sending a command in a space (joint or cartesian) does not mean the interpolation to reach the goal position is made in the same space.  \n",
+    "\n",
+    "***What does that mean?***  \n",
+    "By default, the interpolation (all the intermediate positions the arm is going to take before reaching the goal position) is made in joint space: if the initial position of the `r_arm.shoulder.pitch` is `30` and we want to reach a position so that `r_arm.shoulder.pitch` is `15`, the goto will calculate the interpolation from 30 to 15 for the joint, **even if the goal position was given in cartesian_space**. The movement will be made regardless the intermediate positions of the end-effector in the cartesian space, only the intermediate positions of the joints are considered.\n",
+    "\n",
+    "> **Default interpolation space is `joint_space`**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "0572d110",
+   "metadata": {},
+   "source": [
+    "Here is an example to go through this.  \n",
+    "From the `elbow_90` posture, we calculate a new pose that is 20cm ahead:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "ac548ed0",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "from reachy2_sdk.utils.utils import get_pose_matrix\n",
+    "\n",
+    "initial_pose = get_pose_matrix([0.25, -0.3, -0.3], [0, -90, 0])\n",
+    "modified_pose = np.copy(initial_pose)\n",
+    "modified_pose[0, 3] += 0.25"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "81b47732",
+   "metadata": {},
+   "source": [
+    "We send the arm to the `elbow_90` posture first:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "132db3d7",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "reachy.r_arm.goto(initial_pose)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "2a5f57e9",
+   "metadata": {},
+   "source": [
+    "Then we send the arm to the new position, 20cm ahead. Watch carefully the trajectory of the gripper when moving to the new goal position:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "95fed794",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "reachy.r_arm.goto(modified_pose)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "cec15f4e",
+   "metadata": {},
+   "source": [
+    "The gripper is going slightly down before reaching the target. This is because the movement was interpolated in joint space.  \n",
+    "\n",
+    "Put back the robot in the initial_pose, and set the `interpolation_space` argument to `cartesian_space` to reach the modified goal:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "07c84f62",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "reachy.r_arm.goto(initial_pose)\n",
+    "reachy.r_arm.goto(modified_pose, interpolation_space=\"cartesian_space\")"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "f99a2c13",
+   "metadata": {},
+   "source": [
+    "The gripper is not following the same trajectory as previsouly, as the interpolation is now made in cartesian space."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "0a296552",
+   "metadata": {},
+   "source": [
+    "### Relative moves: translate_by / rotate_by"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "9bb293a9",
+   "metadata": {},
+   "source": [
+    "The `translate_by` and `rotate_by` methods are here to simplify simple translations and rotations. \n",
+    "\n",
+    "Note that if you use the `translate_by` method, which is a goto-based method, the interpolation space will be set bu default to cartesian_space."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "323cf49c",
+   "metadata": {},
+   "source": [
+    "> **Default interpolation space for translate_by is `cartesian_space`**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "1e7bbced",
+   "metadata": {},
+   "source": [
     "Use the `translate_by(...)` method to send the gripper back to the previous pose, asking for a translation 10cm back (-10cm on Reachy's x axis):"
    ]
   },
@@ -559,7 +705,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "reachy.l_arm.translate_by(-0.1, 0, 0, frame='robot')"
+    "reachy.r_arm.translate_by(-0.25, 0, 0, frame='robot')"
    ]
   },
   {
@@ -577,7 +723,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "reachy.l_arm.rotate_by(10, 0, 0, frame='gripper')"
+    "reachy.r_arm.rotate_by(10, 0, 0, frame='gripper')"
    ]
   },
   {
@@ -606,7 +752,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "reachy.l_arm.get_translation_by(-0.1, 0.2, -0.1, frame='gripper')"
+    "reachy.r_arm.get_translation_by(-0.1, 0.2, -0.1, frame='gripper')"
    ]
   },
   {
@@ -616,7 +762,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "reachy.l_arm.get_rotation_by(-10, 20, 0, frame='gripper')"
+    "reachy.r_arm.get_rotation_by(-10, 20, 0, frame='gripper')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "6d777afc",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "reachy.r_arm.goto_posture()"
    ]
   },
   {