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tutorials:demo:fetch_and_place_edited [2020/06/19 11:39]
vanessa [Simple Plan]
tutorials:demo:fetch_and_place_edited [2020/06/19 11:54] (current)
vanessa [Credits]
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 ===== Recovering from Failures ===== ===== Recovering from Failures =====
 +FIXME //** Begin: Recovering from Failures**//​ Next Lecture. Make an explanation video (How To). 
 +
  
 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,​ which is far from being precise compared to a factory floor. What would happen if the bottle was moved a little bit to the right of its previous spawn position? For this, let's change the arguments to reflect this on our method, and let's see what happens. 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,​ which is far from being precise compared to a factory floor. What would happen if the bottle was moved a little bit to the right of its previous spawn position? For this, let's change the arguments to reflect this on our method, and let's see what happens.
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 {{:​tutorials:​intermediate:​btw-tut-found-bottle-again.png?​800|}} {{:​tutorials:​intermediate:​btw-tut-found-bottle-again.png?​800|}}
  
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 +FIXME //**Ending: Recovering from Failures**// ​
 ==== Handling More Failures ==== ==== Handling More Failures ====
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 +FIXME //** Begin: Handling More Failures**//​ Next Exercise Motivation. ​
  
 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'​s front, back, left, right, etc. So what decides the "​side"​ (left, right, top, bottom) of the object? As you might have guessed, these are defined for objects according to the coordinate reference frame of each object. Every object spawned in the bullet world has its own coordinate axes - even rotationally symmetric objects like the bottle here. (Red:+ve x, Green: +ve y, Blue: +ve z axes)  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'​s front, back, left, right, etc. So what decides the "​side"​ (left, right, top, bottom) of the object? As you might have guessed, these are defined for objects according to the coordinate reference frame of each object. Every object spawned in the bullet world has its own coordinate axes - even rotationally symmetric objects like the bottle here. (Red:+ve x, Green: +ve y, Blue: +ve z axes) 
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 +FIXME //** Ending: Handling More Failures**// ​
 ===== Visualizing Coordinates ===== ===== Visualizing Coordinates =====
 +FIXME //** Begin: Visualizing Coordinates**//​ Move this section up. The best place would be after spawning the object. ​
  
 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).
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 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 =====
  
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 ===== Credits ===== ===== Credits =====
 +FIXME //** Begin: Credits**// Add Vanessa and Jörn
  
 This tutorial was created with the combined efforts of Amar Fayaz, Arthur Niedzwiecki and Gayane Kazhoyan. This tutorial was created with the combined efforts of Amar Fayaz, Arthur Niedzwiecki and Gayane Kazhoyan.
  
  
 +FIXME //** Ending: Credits**//