.. _examples:

Examples
========

These examples build on the Oncilla API Level 1 and API Level 2, which allow
access to the robot through the :ref:`Compliant Control Architecture <cca>`
(CCA).
Examples show both local (in-process) and remote access, as well as remote
access with different languages (eg. Python) and tool usage.

All examples are delivered and properly installed with the
:ref:`Oncilla-Sim Project Wizard <oncillasim:wizard>` for convenience and easy trial.

The examples were written for the
:ref:`Oncilla Simulation <oncillasim>`, but should work exactly the same later
on the real hardware platform.

Simple Sine Movement Component
------------------------------

To show basic movement using the local CCA interface, we provide a simple example
performing a sine-movement on the Oncilla joint in position control, to
generate a simple walking movement. See :ref:`ccaexample`.

Simple Sine Movement in Python
------------------------------

To show the remote access to Oncilla API Level 2 we provide an example written
in Python that performs an simple sine movement, by sending commands to the
Simulation over the :ref:`Robotics Service Bus <rsb>` (RSB), which is available
in Python, C++, Java and Common Lisp. See :ref:`pythonexample`.

Recording and Replaying Simple Sine Movement
--------------------------------------------

To show an example of the tool support that comes with the
:ref:`Robotics Service Bus <rsb>` (RSB) middleware that is used by CCA, this
example shows recording and replaying of movements using the
:ref:`RSBag Tools <rsbag>`. See :ref:`rsbagexample`.