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tutorials:demo:fetch_and_place_edited [2020/06/19 11:34] – [Placing the object] vanessa | tutorials:demo:fetch_and_place_edited [2020/06/19 11:52] – [Exercise 1] vanessa | ||
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==== Picking up Objects ==== | ==== Picking up Objects ==== | ||
- | 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. | + | 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. |
Once the object has been found, picking up is very straightforward: | Once the object has been found, picking up is very straightforward: | ||
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FIXME //**Ending: Picking and Placing the object**// | FIXME //**Ending: Picking and Placing the object**// | ||
==== Simple Plan ==== | ==== Simple Plan ==== | ||
+ | FIXME //** Begin: Simple Plan**// | ||
+ | Now for the Chapter ' | ||
- | 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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{{: | {{: | ||
+ | |||
+ | 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 ===== | ||