Support piper grasp by camera

[AuYang261]

No description provided.

[KouweiLee]

See my issue #23

[KouweiLee]

I think if one capability does not have an api, it should be capablity?

[AuYang261]

It can be regarded as a part of frame_transform capability.

[ken4647]

Another point to consider is that this package requires a depth camera as input, which means it needs a capability as input. According to the rules we discussed earlier, a capability cannot depend on another capability, so I think it should be at the skill layer. ... Even setting aside the rules mentioned above, from the perspective of interface generality, it should also be at the skill layer. @KouweiLee @AuYang261

[AuYang261]

Another point to consider is that this package requires a depth camera as input, which means it needs a capability as input. According to the rules we discussed earlier, a capability cannot depend on another capability, so I think it should be at the skill layer. ... Even setting aside the rules mentioned above, from the perspective of interface generality, it should also be at the skill layer. @KouweiLee @AuYang261

You mean that frame_transform should be a skill? But Its output is the input of robotic_arm(driver) to move arm. Does it mean a driver depending on a skill? Or the dependencies is not determined by input-output relationship?

[ken4647]

Another point to consider is that this package requires a depth camera as input, which means it needs a capability as input. According to the rules we discussed earlier, a capability cannot depend on another capability, so I think it should be at the skill layer. ... Even setting aside the rules mentioned above, from the perspective of interface generality, it should also be at the skill layer. @KouweiLee @AuYang261

You mean that frame_transform should be a skill? But Its output is the input of robotic_arm(driver) to move arm. Does it mean a driver depending on a skill? Or the dependencies is not determined by input-output relationship?

As you mentioned, this package outputs the actions of the robotic arm, so essentially it needs to call the robotic arm. Input or output does not indicate dependencies. When you depend on an API, you definitely need to call the API you depend on.The operation of the robotic arm itself does not necessarily depend on your package.