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robocup-at-work / atwork-commander

This repository hosts the completly new developed Refbox for the @Work RoboCup league.
MIT License
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Target field for objects #13

Open marcomasa opened 4 years ago

marcomasa commented 4 years ago

The target field for the object is a bit unclear for me. I do understand that the original intention is to make clear where an object should be put to.

But i have two concerns with that:

  1. how do i specify a workstation? simple enums won't do the job, as there are shelfs (top / bot), rtt, red/blue container etc.
  2. what if this changes during a run? Atm it is allowed to pick and place without strictly following the refbox task (transport task for a single object). If two objects are identical, i could just swap the target. In addition to that, if i fail to pick one of them, i can choose where i want to put the other one.

--> what needs to be put into this information field?

steup commented 4 years ago

The target field specifies an object type. Because currently only Workstations and object types are handled in the messages (at least in the task part)

In case of Workstation you just specify the type EMPTY

In case of multiple objects of the same type lying on the same workstation and these are targets, you are free to choose. E.g. multiple red containers, you may choose any you like.