Unattended Behavior

What we really want to do is leave the robot alone for long periods of time while interacts with the world, gathering data and eventually performing useful tasks.

Map and Pick Loop

A basic unattended behavior is mapping the environment, finding known objects, and trying to pick them.

endArgs "kr_dash2" setClassLabels createCachedClassifierFromClassLabels 

mapAndPickL

1 setRandomPositionAfterPick
0 setRandomPositionAfterPick

It is nice to close the gripper automatically during grasps when an effort is sensed, rather than rely on height or the range finder:

1 setSnapToFlushGrasp
0 setSnapToFlushGrasp

This command sets ein to use single-shot classification instead of histogram classification. If you are using a single classifier, this makes sense to use.

1 setMapServoMode

To save images directly above pick attempt, issue

enableDiskStreaming 1 setStreamPicks
disableDiskStreaming 0 setStreamPicks

See Reference for more details about streaming.