实现行为树执行器、任务协调和技能接口

2026-09-20 12:18:52 +08:00
commit 492676344a
143 changed files with 13010 additions and 0 deletions
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+{
+  "schema_version": 2,
+  "plan_version": 1,
+  "task_type": "multi_item_pick_transport_place",
+  "goal": "从货架A取两瓶water，再取一个doll，逐件放入tote_A",
+  "route": "OBJECT_TABLE",
+  "slots": {
+    "items": [
+      {
+        "target_name": "water",
+        "quantity": 2,
+        "source_location": "shelf_A"
+      },
+      {
+        "target_name": "doll",
+        "quantity": 1,
+        "source_location": "shelf_A"
+      }
+    ],
+    "destination": "tote_A"
+  },
+  "missing_information": [],
+  "subtasks": [
+    {
+      "id": "S1",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "target": "water",
+        "item_index": 0
+      },
+      "depends_on": []
+    },
+    {
+      "id": "S2",
+      "skill": "PICK",
+      "arguments": {
+        "target": "water",
+        "item_index": 0
+      },
+      "depends_on": [
+        "S1"
+      ]
+    },
+    {
+      "id": "S3",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "destination": "tote_A",
+        "item_index": 0
+      },
+      "depends_on": [
+        "S2"
+      ]
+    },
+    {
+      "id": "S4",
+      "skill": "PLACE",
+      "arguments": {
+        "target": "water",
+        "destination": "tote_A",
+        "item_index": 0
+      },
+      "depends_on": [
+        "S3"
+      ]
+    },
+    {
+      "id": "S5",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "target": "water",
+        "item_index": 1
+      },
+      "depends_on": [
+        "S4"
+      ]
+    },
+    {
+      "id": "S6",
+      "skill": "PICK",
+      "arguments": {
+        "target": "water",
+        "item_index": 1
+      },
+      "depends_on": [
+        "S5"
+      ]
+    },
+    {
+      "id": "S7",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "destination": "tote_A",
+        "item_index": 1
+      },
+      "depends_on": [
+        "S6"
+      ]
+    },
+    {
+      "id": "S8",
+      "skill": "PLACE",
+      "arguments": {
+        "target": "water",
+        "destination": "tote_A",
+        "item_index": 1
+      },
+      "depends_on": [
+        "S7"
+      ]
+    },
+    {
+      "id": "S9",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "target": "doll",
+        "item_index": 2
+      },
+      "depends_on": [
+        "S8"
+      ]
+    },
+    {
+      "id": "S10",
+      "skill": "PICK",
+      "arguments": {
+        "target": "doll",
+        "item_index": 2
+      },
+      "depends_on": [
+        "S9"
+      ]
+    },
+    {
+      "id": "S11",
+      "skill": "NAVIGATE",
+      "arguments": {
+        "destination": "tote_A",
+        "item_index": 2
+      },
+      "depends_on": [
+        "S10"
+      ]
+    },
+    {
+      "id": "S12",
+      "skill": "PLACE",
+      "arguments": {
+        "target": "doll",
+        "destination": "tote_A",
+        "item_index": 2
+      },
+      "depends_on": [
+        "S11"
+      ]
+    }
+  ]
+}