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tutorials:demo:fetch_and_place [2019/10/07 18:01] – gkazhoya | tutorials:demo:fetch_and_place [2020/06/26 10:52] – Added motivation section gkazhoya | ||
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+ | ===== Motivation ===== | ||
+ | The aim of the tutorial is to give an intuition about the complexity of robot mobile manipulation tasks and about the knowledge that is required to execute actions successfully. | ||
+ | The tutorial: | ||
+ | - Gives an intuition of what knowledge does the robot need (and how much knowledge) to execute even a simple fetch and place, e.g., robot needs to answer questions such as "where should I stand?", | ||
+ | - Teaches how to call existing actions from the CRAM framework, i.e. how to use designators (but not program new ones). | ||
+ | - Shows how many different things can go wrong, and teaches writing simple failure handling strategies. | ||
===== Setting Up ===== | ===== Setting Up ===== | ||
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</ | </ | ||
- | You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined. | + | You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined. Another useful documentation on this point is [[http:// |
{{: | {{: | ||
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===== FEEDBACK ===== | ===== FEEDBACK ===== | ||
+ | Arthur got the following feedback from students: 3h isn't enough to complete the tasks, the intro of the tutorial was too long, designators should be explained. Maybe put a link to those topics at appropriate position. | ||
+ | |||
+ | Alina got the following feedback from students: | ||
+ | - an introduction to how to navigate and handle Emacs would have been nice at the start | ||
+ | - VM is too slow for some. Laptops' | ||
+ | - Too little time. Nobody finished Exercise 1 | ||
+ | - visualization of poses could be done better (we used Rviz and "point clicked", | ||
+ | - Someone also suggested to do the following: Emacs crash course + basic shortcuts introduction, | ||
+ | |||
+ | Some questions the students had and some answers we weren' | ||
+ | - What licence is cram uder (bsd?) | ||
+ | - Can it be used without ROS? -> no. unless someone writes something for it since it's open source | ||
+ | - How does the PR2 know that he dropped something | ||
+ | - Would the belief state work with multiple robots at the same time? -> yes? | ||
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