145 lines
3.3 KiB
JSON
145 lines
3.3 KiB
JSON
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"title": "TaskPlan v2",
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"type": "object",
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"additionalProperties": false,
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"required": [
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"schema_version",
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"plan_version",
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"task_type",
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"goal",
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"route",
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"slots",
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"missing_information",
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"subtasks"
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],
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"properties": {
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"schema_version": {
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"const": 2
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},
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"plan_version": {
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"type": "integer",
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"minimum": 1,
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"maximum": 4294967295
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},
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"task_type": {
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"enum": [
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"pick_transport_place",
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"multi_item_pick_transport_place"
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]
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},
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"goal": {
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"type": "string",
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"minLength": 1,
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"maxLength": 1000
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},
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"route": {
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"enum": [
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"OBJECT_TABLE",
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"SHELF_CELL"
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]
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},
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"slots": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"items",
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"destination"
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],
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"properties": {
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"items": {
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"type": "array",
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"minItems": 1,
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"maxItems": 20,
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"items": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"target_name",
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"quantity",
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"source_location"
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],
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"properties": {
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"target_name": {
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"type": "string",
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"minLength": 1,
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"maxLength": 200
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},
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"source_location": {
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"type": "string",
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"minLength": 1,
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"maxLength": 200
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},
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"quantity": {
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"type": "integer",
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"minimum": 1,
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"maximum": 20
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}
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}
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}
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},
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"destination": {
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"type": "string",
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"minLength": 1,
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"maxLength": 200
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}
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},
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"description": "Ordered items; sum(quantity)<=20 is also checked in code."
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},
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"missing_information": {
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"type": "array",
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"maxItems": 0
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},
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"subtasks": {
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"type": "array",
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"minItems": 4,
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"maxItems": 120,
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"items": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"id",
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"skill",
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"arguments",
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"depends_on"
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],
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"properties": {
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"id": {
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"type": "string",
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"minLength": 1,
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"maxLength": 80
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},
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"skill": {
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"enum": [
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"NAVIGATE",
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"ROBOBRAIN_SHELF_LOCALIZE",
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"PICK",
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"PLACE"
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]
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},
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"arguments": {
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"type": "object",
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"required": [
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"item_index"
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],
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"properties": {
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"item_index": {
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"type": "integer",
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"minimum": 0,
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"maximum": 19
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}
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}
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},
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"depends_on": {
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"type": "array",
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"maxItems": 1,
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"items": {
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"type": "string"
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}
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}
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}
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}
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}
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},
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"description": "Runtime validator plan_v2.validate_v2 additionally enforces exact per-route argument fields, count/order, predecessor dependencies and matching slots. JSON Schema alone does not approve execution."
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}
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