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.

createCachedClassifierFromClassLabels endArgs "kr_dash2" setClassLabels ;
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 ;