feat: add documentation to the examples

examples/01_basic.py

@@ -1,6 +1,12 @@
 import asyncio
 from nova import Nova
 
+"""
+Example: Getting the current state of a robot.
+
+Prerequisites:
+- At least one robot added to the cell.
+"""
 
 async def main():
     nova = Nova()

examples/02_plan_and_execute.py

@@ -3,6 +3,12 @@
 from nova.types import Pose
 import asyncio
 
+"""
+Example: Perform relative movements with a robot.
+
+Prerequisites:
+- At least one robot added to the cell.
+"""
 
 async def main():
     nova = Nova()

examples/03_move_and_set_ios.py

@@ -6,6 +6,14 @@
 import asyncio
 
 
+"""
+Example: Move the robot and set I/Os on the path.
+
+Prerequisites:
+- At least one robot added to the cell.
+- The robot must have a digital output named "digital_out[0]".
+"""
+
 async def main():
     nova = Nova()
     cell = nova.cell()
@@ -23,7 +31,6 @@ async def main():
         target_pose = current_pose @ Pose((100, 0, 0, 0, 0, 0))
         actions = [
             jnt(home_joints),
-            # TODO: controller.write_on_path("digital_out[0]", value=False),
             WriteAction(device_id="ur", key="digital_out[0]", value=False),
             ptp(target_pose),
             jnt(home_joints),

examples/04_move_multiple_robots.py

@@ -2,6 +2,12 @@
 from nova.actions import ptp, jnt
 import asyncio
 
+"""
+Example: Move multiple robots simultaneously.
+
+Prerequisites:
+- A cell with two robots: one named "ur" and another named "kuka".
+"""
 
 async def move_robot(controller: Controller):
     async with controller[0] as motion_group:

examples/05_selection_motion_group_activation.py

@@ -1,20 +1,15 @@
-"""
-This example demonstrates how to activate specific motion groups for two robot controllers
-and execute simultaneous movements for both robots.
-
-The robots used in this example are:
-- A Universal Robots (UR) controller
-- A KUKA controller
-
-Each robot moves between a predefined home pose and a target pose sequentially.
-"""
-
 from math import pi
 from nova import Nova, MotionGroup
 from nova.types import Pose
 from nova.actions import ptp
 import asyncio
 
+"""
+Example: Move multiple robots to perform coordinated movements.
+
+Prerequisites:
+- A cell with two robots named "ur" and "kuka".
+"""
 
 async def move_robot(motion_group: MotionGroup, tcp: str):
     home_pose = Pose((200, 200, 600, 0, pi, 0))
@@ -42,7 +37,7 @@ async def main():
 
     # activate all motion groups
     async with ur:
-        await move_robot(ur.motion_group(0))
+        await move_robot(ur.motion_group(0), tcp)
 
     # activate motion group 0
     async with ur.motion_group(0) as mg_0:

examples/06_api_usage.py

@@ -1,5 +1,8 @@
 from nova.api import models
 
+"""
+Example: Demonstrates how to use and access API models in the Nova SDK.
+"""
 
 def main():
     pose = models.Pose2(position=[10, 20, 30], orientation=[1, 2, 3])