{
  "plan": {
    "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"
        ]
      }
    ]
  },
  "shelf": {
    "status": "SUCCEEDED",
    "shelf_id": "shelf_A",
    "side_id": "FRONT",
    "column_id": "1",
    "tier_id": "2",
    "confidence": 0.99
  },
  "localize3d": {
    "point": [
      0.5,
      0.2,
      0.8
    ]
  },
  "dense_feedback": {
    "progress": 0.8,
    "hop": 1
  }
}