To generate the context you will only need to call the function “generate-context” with a mandatory parameter 'action', which should be a string and some optional keyword you would like to have inside your context. Currently the only optional keyword supported is :from-above, which should be set to 't' if needed. This could look as follows:

(su-real::generate-context "grasping" :from-above t)
>> (("action" . "grasp") ("from_above" . T))