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 +1,91 @@
+{
+  "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",
+  "object_locations": {
+    "water": "shelf_A_stop",
+    "doll": "shelf_A_stop"
+  },
+  "object_postures": {
+    "water": "pregrasp",
+    "doll": "pregrasp"
+  },
+  "cell_locations": {
+    "shelf_A/FRONT/1/2": "shelf_A_stop"
+  },
+  "cell_postures": {
+    "shelf_A/FRONT/1/2": "pregrasp"
+  },
+  "execution_route": "OBJECT_TABLE",
+  "object_aliases": {
+    "water": [
+      "矿泉水",
+      "水"
+    ],
+    "doll": [
+      "玩偶"
+    ]
+  },
+  "source_aliases": {
+    "shelf_A": [
+      "货架A"
+    ]
+  },
+  "destination_aliases": {
+    "tote_A": [
+      "周转箱A"
+    ]
+  }
+}