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In Short: TaskCompleted
TaskCompletedA boolean value that Pally updates based on the vacuum levels detected in the gripper. The variable is used to verify that the gripper has gripped the box(es) in the current task. If TaskCompleted = False after the beforeRelease-callback, Pally will assume that no boxes were carried from the pickup to the target position on the pallet, leading Pally to try this same position in the next run. The user can override the value for TaskCompleted in the beforeRelease-callback. It is however recommend to let Pally handle the logic for this. See the ‘In Detail: TaskCompleted’ section on how to configure the gripper such that Pally gets reliable input to set TaskCompleted. Possible valuesTrue - Sufficient vacuum level has been detected in the gripper, i.e the box(es) have been gripped; or the gripper does not have a vacuum sensor.
False - Insufficient vacuum level has been detected in the gripper, i.e the box(es) have not been gripped.
ExampleThere are two cases for TaskCompleted: If a Schmalz FXCB Foam gripper is used, and the Vacuum lost signal is tool_input[1] - then Pally will verify that the vacuum is present by checking if the vacuum is not lost. Pally will use this information to set the value for TaskCompleted. If another gripper, that has no vacuum sensor is used, then leave the Vacuum lost signal at -Always-LOW. Pally will then always set TaskCompleted to True.
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Regarding example 2, this may cause Pally to believe that a box has been placed on the pallet, even though the box was lost on the way due to insufficient vacuum |
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In Detail: TaskCompleted
The boolean variable TaskCompleted is used to verify that the robot has placed box(es) on the pallet, such that empty runs are not counted as successful runs. Even though it is possible to manually set the value for this variable, which should then be done in the beforeRelease-callback, it is recommended to let Pally handle the logic to set the value of TaskCompleted.
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