tasks.yaml

tasks:
  waypoint_navigation:
    steps:
    - action: move
      params:
        location: waypoints.navigation_goal

  reposition_recovery_task:
    params:
    - origin_move_location
    - move_location

    steps:
    - action: reposition
      params:
        location: params.origin_move_location

    - action: reposition
      params:
        location: params.move_location

  demo_task:
    steps:
    - action: switch_mode
      params:
        mode: "navigation"
    - action: move
      params:
        location: waypoints.pick_point
    - action: switch_mode
      params:
        mode: "position"
    - action: reposition_cam
      params:
        pose: "grasp_pose"
    - action: segmentation
      params:
        object: "can"
      var:
        - segmented_object
    - action: grasp
      params:
        segmented_object: var.segmented_object
      var:
        - grasp
    - action: pick
      params:
        grasp: var.grasp
    - action: switch_mode
      params:
        mode: "navigation"
    - action: move
      params:
        location: waypoints.drop_point
    - action: switch_mode
      params:
        mode: "position"
    - action: place
      params:
        height: "placeholder"
    - action: switch_mode
      params:
        mode: "navigation"
    - action: move
      params:
        location: waypoints.origin_for_pick_point