.. _tutorial_parkour:

================
Tutorial Parkour
================

.. toctree::
   :maxdepth: 1
   :hidden:

   tutorial_parkour_0
   tutorial_parkour_1

.. admonition:: About this parkour
   :class: tip

   Four hands-on tutorials of increasing complexity. Each one introduces new
   force-controlled skills in **pitasc** - from a simple slotted maze up to
   spherical motions on a curved surface.


Choose a tutorial
=================

.. grid:: 1 2 2 2
   :gutter: 3

   .. grid-item-card:: 0 · Simple maze
      :link: tutorial_parkour_0
      :link-type: doc
      :img-top: /_images/real_world_tutorial/tutorial_0_example_configuration.jpeg
      :class-card: sd-shadow-sm

      Move a cylindrical peg through a slotted maze, guided purely by
      force feedback.

      +++
      :bdg-primary:`force feedback` :bdg-secondary:`gripper`

   .. grid-item-card:: 1 · T-piece insertion
      :link: tutorial_parkour_1
      :link-type: doc
      :img-top: /_images/real_world_tutorial/tutorial_1_example_configuration.PNG
      :class-card: sd-shadow-sm

      Insert a T-piece into a fixture with chamfered and non-chamfered
      guides.

      +++
      :bdg-primary:`guided insertion` :bdg-secondary:`gripper`


At a glance
===========

.. list-table::
   :header-rows: 1
   :widths: 8 28 64
   :class: longtable

   * - #
     - Tutorial
     - Focus
   * - 0
     - :doc:`tutorial_parkour_0`
     - Simple maze, cylindrical peg, force-feedback guidance
   * - 1
     - :doc:`tutorial_parkour_1`
     - T-piece insertion into a guided fixture (chamfered / non-chamfered)


Tutorial details
================

.. rubric:: 0 - Simple maze with a cylindrical peg

:doc:`tutorial_parkour_0`

This tutorial focuses on a very simple maze, solved by moving a cylindrical peg
from start to finish. The peg is held by a gripper on a manipulator arm, and its
motion is governed by the force feedback that the force-torque sensor receives
from the interaction of the peg with the maze walls.

.. figure:: /_images/real_world_tutorial/tutorial_0_example_configuration.jpeg
   :alt: Cylindrical peg and simple maze with guiding slot
   :align: center

   Parts used in tutorial 0: a cylindrical peg and a simple maze with a
   guiding slot.

.. rubric:: 1 - T-piece insertion into a guided fixture

:doc:`tutorial_parkour_1`

This tutorial focuses on the operation of inserting a T-piece into a fixture
with guides. The fixture used here has two guides, one on each side. One side
contains chamfered edges and the other does not, which increases the complexity
of the operation.

.. figure:: /_images/real_world_tutorial/tutorial_1_example_configuration.PNG
   :alt: T-piece and fixture with guides on the top and bottom side
   :align: center

   Parts used in tutorial 1: a T-piece and a fixture with guides on the top
   and bottom side.

.. .. rubric:: 2 - Multi-section maze with door, sliding and spiral search
   :doc:`tutorial_parkour_2`
   This tutorial provides pitasc implementation code for solving a maze with
   multiple sections, such as door opening, sliding and spiral search.
   .. figure:: /_images/real_world_tutorial/tutorial_2_example_configuration.png
      :alt: Cylindrical peg and maze with a hatch door
      :align: center
      Parts used in tutorial 2: a cylindrical peg and a maze with a hatch door
      that has to be opened before solving the maze.
   .. rubric:: 3 - Stylus on a dome-like maze
   :doc:`tutorial_parkour_3`
   This tutorial provides pitasc-based robot motion for moving a stylus with
   spherical and cylindrical motions on a dome-like maze, demonstrating the
   capabilities of pitasc.