Merge pull request cram2#170 from Tigul/new-robot-description

New robot description

doc/source/index.rst

@@ -52,13 +52,14 @@ The code for this plan can be seen below.
 
 .. code-block:: python
 
-    from pycram.bullet_world import BulletWorld, Object
+    from pycram.world.bullet_world import BulletWorld
+    from pycram.world_concepts.world_concepts import Object
     from pycram.process_module import simulated_robot
     from pycram.designators.motion_designator import *
     from pycram.designators.location_designator import *
     from pycram.designators.action_designator import *
     from pycram.designators.object_designator import *
-    from pycram.enums import ObjectType
+    from pycram.datastructures.enums import ObjectType, Arms, Grasps
 
     world = BulletWorld()
     kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
@@ -79,7 +80,7 @@ The code for this plan can be seen below.
 
         NavigateAction(target_locations=[pickup_pose.pose]).resolve().perform()
 
-        PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=["front"]).resolve().perform()
+        PickUpAction(object_designator_description=cereal_desig, arms=[pickup_arm], grasps=[Grasps.FRONT]).resolve().perform()
 
         ParkArmsAction([Arms.BOTH]).resolve().perform()
 
@@ -123,12 +124,14 @@ Authors
    installation
    designators
    resolvers
+   new_robot
    examples
    troubleshooting
    ros_utils
    remarks
 
 
+
 Indices and tables
 ==================
 

doc/source/new_robot.rst

@@ -0,0 +1,32 @@
+============================
+Adding a new robot to PyCRAM
+============================
+
+To add a new robot to PyCRAM, you need two things:
+    * A Robot description
+    * Process Modules to control the robot
+
+--------------------------------
+Robot Description
+--------------------------------
+The robot description defines certain semantic properties of the robot that can not be extracted from the robot's URDF automatically.
+This includes kinematic chains which the robot can move (like the arms), descriptions of the end-effectors as well as
+descriptions of the cameras mounted on the robot.
+
+An overview of the different components of the robot description as well as how these are created can be found in the
+following example:
+
+.. nbgallery::
+    notebooks/robot_description.ipynb
+
+
+--------------------------------
+Process Modules
+--------------------------------
+Process Modules are the components that actually control the robot. They are responsible for executing actions on the robot
+and are the only component of PyCRAM that interacts with the robot directly.
+
+If you want to use the robot in simulation then you can use the provided default process modules which will suffice to
+control the robot in simulation. However, should the provided process modules not be sufficient for your use case, you can
+implement them yourself. For examples how the process modules are designed please have a look at the already implemented
+process modules in :mod:`pycram.process_modules`.