Open seba90 opened 3 years ago
There is already a Transporting task.
I see lots of GetX tasks. This suggests to me the following approach: how about we have a reasoning task called GetParameter which we define in SOMA, and any other GetX tasks as required in the table get defined somewhere else (e.g. in a CRAM-specific owl) as subclasses of GetParameter?
Can you give me a definition/description for Accessing and Sealing? Likewise for SettingGripper?
Finally, is Detecting an action/task or an event? To me it seems detecting is what might happen while performing a search or monitoring task, rather than a task itself.
Accessing and Sealing and silly names for "achieving a container opened or closed state", which includes navigating, finding the container, (one day it should also include detecting the handle) doing failure handling, and executing the actual opening and closing trajectories.
SettingGripper is setting gripper joint to the given joint value. It usually is used to open the gripper to a specific value (not completely) to grasp things in tight spaces. But one can also use it to close the gripper when grasping, but typically closing the gripper assumes completely going to 0 joint angle, and SettingGripper can be used to close the gripper to a specific value. Shortly said, it's a moving a gripper joint action.
Detecting is an action because our perception works on demand.
Ok, that's clarifying most of my questions. About detecting: so how is it supposed to work? You make a query to the perception system of the form "can you see a cup here?"
Yes.
What is the state of this issue? Is it still open or do all CRAM actions now have a corresponding mapping (or are not planned to be added)?
Hi guys,
I created a table with the current CRAM actions which the robot is executes while setting up a breakfast table. It would be great if we can find official SOMA label for the corresponding CRAM actions which I can later use for the NEEM recording. The table is structured as follows: