{
  "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": "SHELF_CELL",
  "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"
    ]
  }
}