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tutorials:demo:fetch_and_place_edited [2020/06/19 11:45] – [Recovering from Failures] vanessatutorials:demo:fetch_and_place_edited [2020/06/19 11:49] – [Visualizing Coordinates] vanessa
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 FIXME //**Ending: Recovering from Failures**//  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**//