How to mix perform_action with dispatcher/ingestor steps (open machine door → robot picks/place part)?

Open-RMF Open-RMF General
1

Hi RMF devs,

I’m triggering material transfers with the REST dispatch_task endpoint. A plain delivery task works, but I need an extra step right before the robot picks the object:

Robot reaches the machine front.

Open the CNC door (dispatcher/ingestor).

Robot’s top module performs its normal pick-and-place cycle. ← this is my perform_action

I’d like to keep the existing dispatcher/ingestor flow to open the machine door but insert that perform_action between them.

Is it possible to extend a delivery task with perform_action?

Any example JSON or demo repo that mixes dispatcher + ingestor + perform_action would be very helpful.

Thanks a lot!

2

Hi @alex-roba! You can use a composed task for that, we don’t have an exact example script for it, but you should be able to put together a composed task request json in the form of dispenser/ingestor + perform action, by referencing what was done in these 2 separate scripts,