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tutorials:demo:fetch_and_place_edited [2020/06/19 11:25] – [Perceiving Objects] vanessa | tutorials:demo:fetch_and_place_edited [2020/06/19 11:52] – [Exercise 1] vanessa | ||
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FIXME //**Ending: Perceiving Objects**// | FIXME //**Ending: Perceiving Objects**// | ||
==== Picking up Objects ==== | ==== Picking up Objects ==== | ||
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+ | FIXME //**Begin: Picking up and Placing Objects**// Next task. Picking and Placing chapter is one Tutorial itself. Don't seperate those two, since they work only together. Add more explanation to the describing text for this chapter. Exercise: Pick up your spawned object and try it with the other hand as well. If Placing does not work, provide a way to release the object from the gripper and maybe also despawning the object. Exercise: Pick up your spawned object and try it with the other hand as well. | ||
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Once the object has been found, picking up is very straightforward: | Once the object has been found, picking up is very straightforward: | ||
<code lisp> | <code lisp> | ||
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==== Placing the object ==== | ==== Placing the object ==== | ||
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Now that the robot has the object in its gripper, the next task is to place the object in the destination. Let us use the dining area counter on the left side as our destination. So, to place the bottle the robot has to do two things - drive with the base to a location from where it can place the bottle on the dining table, and move the arm to place the object down. | Now that the robot has the object in its gripper, the next task is to place the object in the destination. Let us use the dining area counter on the left side as our destination. So, to place the bottle the robot has to do two things - drive with the base to a location from where it can place the bottle on the dining table, and move the arm to place the object down. | ||
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The robot has finally placed the object in the destination. | The robot has finally placed the object in the destination. | ||
{{ : | {{ : | ||
+ | FIXME //**Ending: Picking and Placing the object**// | ||
==== Simple Plan ==== | ==== Simple Plan ==== | ||
+ | FIXME //** Begin: Simple Plan**// | ||
+ | Now for the Chapter ' | ||
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- | Even though we have achieved the goal we had set, the entire process would have felt a little tedious, especially if you want to perform it multiple times, when you have made a mistake, etc. So let's bundle what we have done so far into a single method called, '' | + | Even though we have achieved the goal we had set, the entire process would have felt a little tedious, especially if you want to perform it multiple times, when you have made a mistake, etc. So let's bundle what we have done so far into a single method called, '' |
First let's open the file which we will write into. Press '' | First let's open the file which we will write into. Press '' | ||
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Congratulations! You have just written your first rudimentary plan to pick and place a bottle. | Congratulations! You have just written your first rudimentary plan to pick and place a bottle. | ||
+ | |||
+ | FIXME //** Ending: Simple Plan**// | ||
===== Recovering from Failures ===== | ===== Recovering from Failures ===== | ||
+ | FIXME //** Begin: Recovering from Failures**// | ||
+ | |||
The previous example worked perfectly because we knew and provided the exact coordinates to look for the bottle. This is hardly true for the real-life scenario, especially since we are dealing with a kitchen environment, | The previous example worked perfectly because we knew and provided the exact coordinates to look for the bottle. This is hardly true for the real-life scenario, especially since we are dealing with a kitchen environment, | ||
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{{: | {{: | ||
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+ | FIXME //**Ending: Recovering from Failures**// | ||
==== Handling More Failures ==== | ==== Handling More Failures ==== | ||
+ | |||
+ | FIXME //** Begin: Handling More Failures**// | ||
Everything is good so far, even though by design, let's call this a lucky coincidence. For the robot, knowing which arm to use to pick up the bottle is not always enough. There are many positions with which we can grasp objects - from the object' | Everything is good so far, even though by design, let's call this a lucky coincidence. For the robot, knowing which arm to use to pick up the bottle is not always enough. There are many positions with which we can grasp objects - from the object' | ||
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+ | FIXME //** Ending: Handling More Failures**// | ||
===== Visualizing Coordinates ===== | ===== Visualizing Coordinates ===== | ||
+ | FIXME //** Begin: Visualizing Coordinates**// | ||
If you want to know if a coordinate you defined is correct, you can visualize the axis of the coordinate frame in the Bullet World and see for yourself. | If you want to know if a coordinate you defined is correct, you can visualize the axis of the coordinate frame in the Bullet World and see for yourself. | ||
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+ | FIXME //** Ending: Visualizing Coordinates**// | ||
===== Exercise 1 ===== | ===== Exercise 1 ===== | ||
+ | FIXME //** Begin: Exercise 1**// !For all following exercises: Add some tips, but make sure people have to click on them (so they dont appear directly). | ||
+ | |||
Difficulty level: Easy. | Difficulty level: Easy. | ||
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With that the robot should be able to grasp the object from any location on any of the two tables. | With that the robot should be able to grasp the object from any location on any of the two tables. | ||
+ | FIXME //** Ending: Exercise 1**// | ||
===== Exercise 2 ===== | ===== Exercise 2 ===== | ||