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
@@ -0,0 +1,57 @@
+{
+  "schema_version": 1,
+  "registry_version": 1,
+  "simulation": true,
+  "locations": {
+    "observe_A": {
+      "frame_id": "map",
+      "x": 0.0,
+      "y": 0.0,
+      "z": 0.0,
+      "qx": 0.0,
+      "qy": 0.0,
+      "qz": 0.0,
+      "qw": 1.0
+    },
+    "shelf_A_stop": {
+      "frame_id": "map",
+      "x": 1.0,
+      "y": 0.0,
+      "z": 0.0,
+      "qx": 0.0,
+      "qy": 0.0,
+      "qz": 0.0,
+      "qw": 1.0
+    },
+    "tote_A_stop": {
+      "frame_id": "map",
+      "x": 2.0,
+      "y": 0.0,
+      "z": 0.0,
+      "qx": 0.0,
+      "qy": 0.0,
+      "qz": 0.0,
+      "qw": 1.0
+    }
+  },
+  "sources": {
+    "shelf_A": {
+      "observe_location": "observe_A",
+      "shelf_id": "shelf_A"
+    }
+  },
+  "destinations": {
+    "tote_A": {
+      "location": "tote_A_stop",
+      "region_ref": "tote_A"
+    }
+  },
+  "parking_locations": {
+    "shelf_A/FRONT/1": "shelf_A_stop"
+  },
+  "allowed_postures": [
+    "pregrasp",
+    "transport"
+  ],
+  "transport_posture": "transport"
+}