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tutorials:intermediate:simple_mobile_manipulation_plan [2019/08/02 13:19] – Added details about the reachability costmap in the end amartutorials:intermediate:simple_mobile_manipulation_plan [2019/08/02 14:05] – [Expanding Failure Management Capabilities] Added information about grasps amar
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                                (object ?perceived-bottle)))                                (object ?perceived-bottle)))
 </code> </code>
-We see that the robot defaults the right arm when the object is in the center and will always try to grasp the left side of the bottle, even when the object is slightly favoring the left side under it (Refer the figure below).+We see that the robot defaults the right arm when the object is in the center and will always try to grasp the left side of the bottle, even when the object is slightly favoring the left side under it (Refer the figure below).  
 + 
 +Note: ''We have been using left-side here a lot. In the context of (grasp left-side), it refers to the left-side of the bottle. But what defines the "left-side"?'' 
 + 
 +''Before we understand it, we have to acknowledge that every object spawned in the bullet world has its own coordinate axes - even rotationally symmetric objects like the bottle here. And the definition for left-side is the side of the -ve Y-axis in the bottle coordinate frame. Similarly right-side is +ve Y-axis, front is denoted by +ve X-axis and the back by -ve X-axis. '' 
 +''With this the "left-side" grasp can change based on how the object is oriented in the world. But it remains the w.r.t the object coordinate frame.'' 
 + 
 +''The file at <your workspace>/cram/cram_common/cram_object_knowledge/src/household.lisp holds some definitions for grasps supported by the household objects supporte in CRAM.''
  
 {{:tutorials:intermediate:btw-tut-grasp-config-fail.png?800|}} {{:tutorials:intermediate:btw-tut-grasp-config-fail.png?800|}}