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robocup-at-work / rulebook

The Rulebook for the RoboCup@Work league.
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Manipulation Deduction at scanning/testing the object?? #90

Closed AlcatrAAz closed 1 month ago

AlcatrAAz commented 1 month ago

Is it a manipulation deduction if you pick a wrong object and then scan it with your camera. This method is written in the rulebook to avoid a wrong object manipulation. + Is it a manipulation deduction if you pick a wrong object and then check with your gripper information if the size is the correct and measure the weight of the object.

At the moment it is a Manipulation Deduction as you touch a wrong object while the grasping process. Should this be changed to No Manipulation Deduction if the robot does it in a controlled way. For example place the object again on the WS if it was the wrong object after scanning, gripper info, weight etc...??

marcomasa commented 1 month ago

I think this is covered with the manipulation zone and when penalties are applied. We even have such an inspection example somewhere.