Merge pull request #120 from Open-STEM/GettingBasket

Getting basket

Author: AnselChang

course/manipulation/custom_functions.rst

@@ -2,27 +2,28 @@ Picking up a Basket
 ===================
 
 Now that we've covered how to move the XRP arm to specific angles, we can start to think about how to use the arm 
-to pick up objects. In this section, we'll cover how to use the arm to pick up a basket used for your final project.
+to pick up objects. In this section, we'll cover how to use the arm to pick up a basket which is one of the challenges for your final project described in detail in the next module.
 
 The Process 
 -----------
 
-Let's first think about what the process of picking up a basket would look like. 
+Let's first think about what the process of picking up a basket would look like. Imagine the a small paper
+cup with a bail attached over the top to that you can hook with the servo arm. An example of a basket is
+shown in the video below.
 
-First, we can assume that the robot is right in front of the basket. We can also assume that the basket is on the ground,
-and that the robot is able to move its arm to a position where it can reach the basket.
+An example of the steps required to aquire the basket are:
 
-Then, we can back up until the robot is a safe distance away from the basket. We can then move the arm down until the arm is at the right height. 
 
-Finally, we can move the arm forward until the basket is in the robot's grasp and then raise the arm back up to gain control of the basket. 
+#. Lower the arm to a height where it will be inside the bail.
+#. Back up the robot so that the arm goes inside the bail.
+#. Raise the arm to lift the bucket off the ground.
+#. Drive away carying the bucket.
 
+Now the robot can drive away while carrying the basket. 
 
-.. admonition:: Try it out
+Try placing your robot in front of a basket and then writing a program to pick it up as shown in the
+following video.
 
-    Try placing your robot in front of a basket and then writing a program to pick up the basket.
-
-
-Here is a video of the robot picking up a basket:
 
 .. image:: 
     RobotGrab.gif
@@ -33,4 +34,4 @@ Integrating Locating and Pickup
 
 Now that we've covered how to pick up a basket, we can start to think about how to integrate this with code that we have previously written to locate a nearby object. 
 
-To do this, you will essentially re-use the code that you have written to how execute the pickup process when the robot is in front of the basket.
+To do this, you will re-use the code that you have written to how execute the pickup process when the robot is in front of the basket.