91 lines
1.5 KiB
JSON
91 lines
1.5 KiB
JSON
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{
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"schema_version": 1,
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"registry_version": 1,
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"simulation": true,
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"locations": {
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"observe_A": {
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"frame_id": "map",
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"qx": 0.0,
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"qy": 0.0,
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"qz": 0.0,
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"qw": 1.0
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},
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"shelf_A_stop": {
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"frame_id": "map",
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"x": 1.0,
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"y": 0.0,
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"z": 0.0,
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"qx": 0.0,
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"qy": 0.0,
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"qz": 0.0,
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"qw": 1.0
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},
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"tote_A_stop": {
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"frame_id": "map",
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"x": 2.0,
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"y": 0.0,
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"z": 0.0,
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"qx": 0.0,
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"qy": 0.0,
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"qz": 0.0,
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"qw": 1.0
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}
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},
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"sources": {
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"shelf_A": {
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"observe_location": "observe_A",
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"shelf_id": "shelf_A"
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}
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},
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"destinations": {
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"tote_A": {
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"location": "tote_A_stop",
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"region_ref": "tote_A"
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}
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},
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"parking_locations": {
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"shelf_A/FRONT/1": "shelf_A_stop"
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},
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"allowed_postures": [
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"pregrasp",
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"transport"
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],
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"transport_posture": "transport",
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"object_locations": {
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"water": "shelf_A_stop",
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"doll": "shelf_A_stop"
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},
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"object_postures": {
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"water": "pregrasp",
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"doll": "pregrasp"
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},
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"cell_locations": {
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"shelf_A/FRONT/1/2": "shelf_A_stop"
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},
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"cell_postures": {
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"shelf_A/FRONT/1/2": "pregrasp"
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},
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"execution_route": "OBJECT_TABLE",
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"object_aliases": {
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"water": [
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"矿泉水",
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"水"
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],
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"doll": [
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"玩偶"
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]
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},
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"source_aliases": {
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"shelf_A": [
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"货架A"
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]
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},
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"destination_aliases": {
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"tote_A": [
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"周转箱A"
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]
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}
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}
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