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 +1,145 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "title": "TaskPlan v2",
+  "type": "object",
+  "additionalProperties": false,
+  "required": [
+    "schema_version",
+    "plan_version",
+    "task_type",
+    "goal",
+    "route",
+    "slots",
+    "missing_information",
+    "subtasks"
+  ],
+  "properties": {
+    "schema_version": {
+      "const": 2
+    },
+    "plan_version": {
+      "type": "integer",
+      "minimum": 1,
+      "maximum": 4294967295
+    },
+    "task_type": {
+      "enum": [
+        "pick_transport_place",
+        "multi_item_pick_transport_place"
+      ]
+    },
+    "goal": {
+      "type": "string",
+      "minLength": 1,
+      "maxLength": 1000
+    },
+    "route": {
+      "enum": [
+        "OBJECT_TABLE",
+        "SHELF_CELL"
+      ]
+    },
+    "slots": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": [
+        "items",
+        "destination"
+      ],
+      "properties": {
+        "items": {
+          "type": "array",
+          "minItems": 1,
+          "maxItems": 20,
+          "items": {
+            "type": "object",
+            "additionalProperties": false,
+            "required": [
+              "target_name",
+              "quantity",
+              "source_location"
+            ],
+            "properties": {
+              "target_name": {
+                "type": "string",
+                "minLength": 1,
+                "maxLength": 200
+              },
+              "source_location": {
+                "type": "string",
+                "minLength": 1,
+                "maxLength": 200
+              },
+              "quantity": {
+                "type": "integer",
+                "minimum": 1,
+                "maximum": 20
+              }
+            }
+          }
+        },
+        "destination": {
+          "type": "string",
+          "minLength": 1,
+          "maxLength": 200
+        }
+      },
+      "description": "Ordered items; sum(quantity)<=20 is also checked in code."
+    },
+    "missing_information": {
+      "type": "array",
+      "maxItems": 0
+    },
+    "subtasks": {
+      "type": "array",
+      "minItems": 4,
+      "maxItems": 120,
+      "items": {
+        "type": "object",
+        "additionalProperties": false,
+        "required": [
+          "id",
+          "skill",
+          "arguments",
+          "depends_on"
+        ],
+        "properties": {
+          "id": {
+            "type": "string",
+            "minLength": 1,
+            "maxLength": 80
+          },
+          "skill": {
+            "enum": [
+              "NAVIGATE",
+              "ROBOBRAIN_SHELF_LOCALIZE",
+              "PICK",
+              "PLACE"
+            ]
+          },
+          "arguments": {
+            "type": "object",
+            "required": [
+              "item_index"
+            ],
+            "properties": {
+              "item_index": {
+                "type": "integer",
+                "minimum": 0,
+                "maximum": 19
+              }
+            }
+          },
+          "depends_on": {
+            "type": "array",
+            "maxItems": 1,
+            "items": {
+              "type": "string"
+            }
+          }
+        }
+      }
+    }
+  },
+  "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."
+}