Course_ShadowHandInstructionManual_Unit0.ipynb

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   "source": [
    "# Mastering with ROS: Shadow Hand"
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   "source": [
    "## Unit 0: Introduction to the Course"
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   "source": [
    "<p style=\"background:green;color:white;\">SUMMARY</p>"
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    "Estimated time of completion: <b>10 min</b><br><br>\n",
    "This Unit is an introduction to the ROS-Industrial MicroCourse. You'll a have a quick preview of the contents you are going to cover during the Course, and you will also view a practical demo."
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   "source": [
    "<p style=\"background:green;color:white;\">END OF SUMMARY</p>"
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   "source": [
    "## What's this course about?"
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   "source": [
    "The **Shadow Robot Company** was founded in 1987 by a group of robotics enthusiasts in London. The group has since evolved into one of the longest running robotics companies in the UK, developing dexterous robotics manipulation technologies (‘hands for robots’) and using them to solve real world problems. They have also developed an **Smart Grasping System** for the manufacturing industry."
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   "source": [
    "Within this Course, you are going to learn how you can start working with one of the robotic hands developed by the Shadow Robot Company, as well as how to use their Smart Grasping System."
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   "source": [
    "## Do you want to have a taste?"
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    "With the proper introductions made, it is time to actually start. And... as we always do in the Robot Ignite academy, let's start with practice! In the following example you will be testing a pre-built motion planning application. So... let's go!"
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    "<p style=\"background:#EE9023;color:white;\">Demo 1.1</p>\n",
    "<br>\n",
    "\n",
    "a) Execute the following piece of code in order to start the control system.<br>"
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    "<b>Note:</b> You can execute a piece of Python code like this by clicking on it and then clicking on the play button on the top right-hand corner of the IPython notebook.<br> \n",
    "<div class='white_bg'><img src=\"img/font-awesome_step-forward.png\" style=\"float:left\"/><br><br></div>\n",
    "<br>\n",
    "You can also press <i>[CTRL]+[Enter]</i> to execute it."
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   "source": [
    "from smart_grasping_sandbox.smart_grasper import SmartGrasper\n",
    "from tf.transformations import quaternion_from_euler\n",
    "from math import pi\n",
    "import time\n",
    "\n",
    "sgs = SmartGrasper()"
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   "source": [
    "After executing the previous code and waiting for a few seconds, the robot should look like this:"
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   "source": [
    "<img src=\"img/start_pose.png\" width=\"600\" />"
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   "source": [
    "b) When the controllers are loaded, you can execute the following line of code in order to start the demo."
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    "sgs.pick()"
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   "source": [
    "<p style=\"background:#AE0202;color:white;\">**Expected Result for Demo 1.1**</p>"
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   "source": [
    "<img src=\"img/shadow_demo.gif\" width=600/>"
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   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Demo 1.1</p>"
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   "metadata": {},
   "source": [
    "## What will you learn with this Course?"
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   "source": [
    "Basically, during this Course you will adress the following topics:\n",
    "\n",
    "* Basic Usage and control of a Shadow Hand.\n",
    "* How to attach a robotic hand to a manipulated arm.\n",
    "* How to create a MoveIt package for a manipulated robot.\n",
    "* How to interact with the Smart Grasping System\n",
    "* How to integrate Perception with the Smart Grasping System"
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   "source": [
    "## How will you learn it?"
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   "source": [
    "You will learn through hands on experience from day one! Here you can see some of the simulations you are going to use during the Course:"
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   "source": [
    "**Shadow Hand**:"
   ]
  },
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    "<img src=\"img/hand_opened.png\" width=\"800\" />"
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   "source": [
    "**Shadow Hand with robot**:"
   ]
  },
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   "source": [
    "<img src=\"img/shadow_sim.png\" width=\"800\" />"
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   "source": [
    "## Minimum requirements for the Course"
   ]
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   "source": [
    "In order to be able to fully understand the contents of this Course, it is highly recommended to have the following knowledge:\n",
    "\n",
    "* Basic ROS. You can get this knowledge by following the **ROS in 5 Days** Course.\n",
    "* Basic Python.\n",
    "* Basic Unix shell knowledge.\n",
    "* Basic TF. You can get this knowledge by following the **TF ROS 101** Course.\n",
    "* Other Courses that are related to his one are the **ROS Perception in 5 Days** and the **ROS Manipulation in 5 Days** Courses."
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   "source": [
    "## Special Thanks"
   ]
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   "source": [
    "<li>This course wouldn't be possible without the amazing work done by the <a href=\"http://www.shadowrobot.com\" target=\"_blank\">Shadow Robot Company</a>."
   ]
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    "<img src=\"img/shadow-logo.jpg\" width=\"500\" />"
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   "source": [
    "* This course wouldn't have been possible without knowledge and work of the <a href=\"http://www.ros.org/\">ROS Community</a>, <a href=\"https://www.osrfoundation.org/\">OSRF</a> and <a href=\"http://gazebosim.org/\">Gazebo Team</a>."
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    "<img src=\"img/ros_logo.jpg\" width=\"300\"/>"
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