[examples] added local transfomer to sphinx and new sym link

doc/source/examples.rst

@@ -29,13 +29,14 @@ Misc
     notebooks/pose
     notebooks/custom_resolver
     notebooks/language
+    notebooks/local_transformer
 
 Interface Examples
 ==================
 
 .. nbgallery::
-    notebooks/giskard
-    notebooks/robokudo
+    notebooks/interface_examples/giskard
+    notebooks/interface_examples/robokudo
 
 Object Relational Mapping
 =========================

examples/local_transformer.ipynb

@@ -5,6 +5,8 @@
    "id": "611b7e76",
    "metadata": {},
    "source": [
+    "# Local Transformer\n",
+    "The local transformer is used to handle transforms between different frames in PyCRAM. This is useful when you want to transform a pose from one frame to another, for example, from the map frame to the frame of an object. This example will introduce the Local Transformer and how to use it to transform poses between frames.\n",
     "\n",
     "## Setting up the Environment\n",
     "\n",
@@ -17,25 +19,11 @@
    "id": "615cb805",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:32.010116177Z",
-     "start_time": "2024-01-29T16:28:31.439191974Z"
+     "end_time": "2024-02-07T09:18:56.397119146Z",
+     "start_time": "2024-02-07T09:18:56.384091718Z"
     }
    },
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "pybullet build time: May 20 2022 19:44:17\n",
-      "Unknown attribute \"type\" in /robot[@name='pr2']/link[@name='base_laser_link']\n",
-      "Unknown attribute \"type\" in /robot[@name='pr2']/link[@name='wide_stereo_optical_frame']\n",
-      "Unknown attribute \"type\" in /robot[@name='pr2']/link[@name='narrow_stereo_optical_frame']\n",
-      "Unknown attribute \"type\" in /robot[@name='pr2']/link[@name='laser_tilt_link']\n",
-      "[WARN] [1706545711.997153]: Failed to import Giskard messages\n",
-      "[WARN] [1706545712.001630]: Could not import RoboKudo messages, RoboKudo interface could not be initialized\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from pycram.bullet_world import BulletWorld, Object\n",
     "from pycram.pose import Transform, Pose\n",
@@ -51,29 +39,17 @@
     "## Initializing the World\n",
     "\n",
     "Every robot simulation requires a world where it can interact. This world serves as the playground where the robot performs tasks. \n",
-    "Let's start by creating this world.\n"
+    "Let's start by creating this world.\n",
+    "\n",
+    "Since the local transformer can only transform between frames of objects which are in the world, we need to create a world first.\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "id": "7a3222c2",
-   "metadata": {
-    "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:32.323570586Z",
-     "start_time": "2024-01-29T16:28:32.085550201Z"
-    }
-   },
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "Unknown tag \"material\" in /robot[@name='plane']/link[@name='planeLink']/collision[1]\n",
-      "Unknown tag \"contact\" in /robot[@name='plane']/link[@name='planeLink']\n"
-     ]
-    }
-   ],
+   "metadata": {},
+   "outputs": [],
    "source": [
     "# Create an instance of the BulletWorld\n",
     "world = BulletWorld()\n"
@@ -89,12 +65,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 9,
    "id": "c019c259",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:32.326842316Z",
-     "start_time": "2024-01-29T16:28:32.324154465Z"
+     "end_time": "2024-02-07T09:20:31.566964425Z",
+     "start_time": "2024-02-07T09:20:31.309671668Z"
     }
    },
    "outputs": [],
@@ -112,31 +88,24 @@
     "\n",
     "For our robot to perform meaningful tasks, we need to populate its world with objects. \n",
     "In this section, we'll add a variety of objects, from a simple floor plane to kitchen setups and items like milk and bowls. \n",
-    "These objects will be used in subsequent tasks.\n"
+    "These objects will be used in subsequent tasks, to provide the frames to which we will transform poses.\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 3,
    "id": "14494539",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.474604282Z",
-     "start_time": "2024-01-29T16:28:32.329041645Z"
+     "end_time": "2024-02-07T09:19:12.883651520Z",
+     "start_time": "2024-02-07T09:19:09.027873229Z"
     }
    },
    "outputs": [
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "Unknown tag \"material\" in /robot[@name='plane']/link[@name='planeLink']/collision[1]\n",
-      "Unknown tag \"contact\" in /robot[@name='plane']/link[@name='planeLink']\n",
-      "Unknown tag \"material\" in /robot[@name='plane']/link[@name='planeLink']/collision[1]\n",
-      "Unknown tag \"contact\" in /robot[@name='plane']/link[@name='planeLink']\n",
-      "Scalar element defined multiple times: limit\n",
-      "Unknown tag \"material\" in /robot[@name='plane']/link[@name='planeLink']/collision[1]\n",
-      "Unknown tag \"contact\" in /robot[@name='plane']/link[@name='planeLink']\n",
       "Scalar element defined multiple times: limit\n"
      ]
     }
@@ -145,8 +114,6 @@
     "from pycram.bullet_world import Object\n",
     "from pycram.enums import ObjectType\n",
     "\n",
-    "plane = Object(\"floor\", ObjectType.ENVIRONMENT, \"plane.urdf\", world=world)\n",
-    "\n",
     "kitchen = Object(\"kitchen\", ObjectType.ENVIRONMENT, \"kitchen.urdf\")\n",
     "milk = Object(\"milk\", ObjectType.MILK, \"milk.stl\", Pose([0.9, 1, 0.95]))\n",
     "bowl = Object(\"bowl\", ObjectType.BOWL, \"bowl.stl\", Pose([1.6, 1, 0.90]))"
@@ -163,21 +130,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 4,
    "id": "708606eb",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.481284612Z",
-     "start_time": "2024-01-29T16:28:35.472994214Z"
+     "end_time": "2024-02-07T09:19:17.445812011Z",
+     "start_time": "2024-02-07T09:19:17.433695422Z"
     }
    },
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "<pycram.local_transformer.LocalTransformer object at 0x7ff688f4e1f0>\n",
-      "<pycram.local_transformer.LocalTransformer object at 0x7ff688f4e1f0>\n"
+      "<pycram.local_transformer.LocalTransformer object at 0x7fbc5a24c6d0>\n",
+      "<pycram.local_transformer.LocalTransformer object at 0x7fbc5a24c6d0>\n"
      ]
     }
    ],
@@ -202,12 +169,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 5,
    "id": "988ffda1",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.509096003Z",
-     "start_time": "2024-01-29T16:28:35.483520847Z"
+     "end_time": "2024-02-07T09:19:19.412829961Z",
+     "start_time": "2024-02-07T09:19:19.398278560Z"
     }
    },
    "outputs": [
@@ -218,9 +185,9 @@
       "header: \n",
       "  seq: 0\n",
       "  stamp: \n",
-      "    secs: 1706545715\n",
-      "    nsecs: 495329141\n",
-      "  frame_id: \"milk_4\"\n",
+      "    secs: 1707297559\n",
+      "    nsecs: 407153367\n",
+      "  frame_id: \"milk_3\"\n",
       "pose: \n",
       "  position: \n",
       "    x: 0.09999999999999998\n",
@@ -231,11 +198,12 @@
       "    y: 0.0\n",
       "    z: 0.0\n",
       "    w: 1.0\n",
+      "-------------------\n",
       "header: \n",
       "  seq: 0\n",
       "  stamp: \n",
-      "    secs: 1706545715\n",
-      "    nsecs: 496921062\n",
+      "    secs: 1707297559\n",
+      "    nsecs: 407913208\n",
       "  frame_id: \"map\"\n",
       "pose: \n",
       "  position: \n",
@@ -259,6 +227,7 @@
     "transformed_pose = l.transform_to_object_frame(test_pose, milk)\n",
     "print(transformed_pose)\n",
     "\n",
+    "print(\"-------------------\")\n",
     "new_pose = l.transform_pose(transformed_pose, \"map\")\n",
     "print(new_pose)"
    ]
@@ -269,17 +238,17 @@
    "metadata": {},
    "source": [
     "In the above code, we first transformed a pose to the object frame of the milk object, and then we transformed it back to the map frame. This demonstrates how we can easily manipulate poses relative to objects in our environment.\n",
-    "You can also transform poses relative to other poses. by using the transform_pose method. Further u can set a Transform."
+    "You can also transform poses relative to other poses. by using the transform_pose method. Further you can set a Transform."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 6,
    "id": "dd2bafc5",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.509520802Z",
-     "start_time": "2024-01-29T16:28:35.500190623Z"
+     "end_time": "2024-02-07T09:19:24.941756539Z",
+     "start_time": "2024-02-07T09:19:24.929728567Z"
     }
    },
    "outputs": [],
@@ -302,12 +271,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 7,
    "id": "6b23f540",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.509787045Z",
-     "start_time": "2024-01-29T16:28:35.504069535Z"
+     "end_time": "2024-02-07T09:19:26.995686220Z",
+     "start_time": "2024-02-07T09:19:26.983125610Z"
     }
    },
    "outputs": [],
@@ -331,21 +300,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 8,
    "id": "bd619710",
    "metadata": {
     "ExecuteTime": {
-     "end_time": "2024-01-29T16:28:35.552242116Z",
-     "start_time": "2024-01-29T16:28:35.508694526Z"
+     "end_time": "2024-02-07T09:20:26.251771677Z",
+     "start_time": "2024-02-07T09:20:26.240730107Z"
     }
    },
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "milk_4\n",
-      "kitchen_3/kitchen_island_surface\n"
+      "milk_3\n",
+      "kitchen_2/kitchen_island_surface\n"
      ]
     }
    ],