251 lines
4.8 KiB
JSON
251 lines
4.8 KiB
JSON
{
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"plan": {
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"schema_version": 2,
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"plan_version": 1,
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"task_type": "multi_item_pick_transport_place",
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"goal": "从货架A取两瓶water，再取一个doll，逐件放入tote_A",
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"route": "SHELF_CELL",
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"slots": {
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"items": [
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{
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"target_name": "water",
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"quantity": 2,
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"source_location": "shelf_A"
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},
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{
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"target_name": "doll",
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"quantity": 1,
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"source_location": "shelf_A"
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}
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],
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"destination": "tote_A"
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},
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"missing_information": [],
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"subtasks": [
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{
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"id": "S1",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "observation",
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"item_index": 0
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},
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"depends_on": []
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},
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{
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"id": "S2",
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"skill": "ROBOBRAIN_SHELF_LOCALIZE",
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"arguments": {
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"target": "water",
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"item_index": 0
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},
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"depends_on": [
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"S1"
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]
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},
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{
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"id": "S3",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "shelf_cell",
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"item_index": 0
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},
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"depends_on": [
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"S2"
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]
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},
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{
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"id": "S4",
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"skill": "PICK",
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"arguments": {
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"target": "water",
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"item_index": 0
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},
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"depends_on": [
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"S3"
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]
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},
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{
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"id": "S5",
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"skill": "NAVIGATE",
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"arguments": {
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"destination": "tote_A",
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"item_index": 0
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},
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"depends_on": [
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"S4"
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]
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},
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{
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"id": "S6",
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"skill": "PLACE",
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"arguments": {
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"target": "water",
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"destination": "tote_A",
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"item_index": 0
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},
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"depends_on": [
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"S5"
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]
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},
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{
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"id": "S7",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "observation",
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"item_index": 1
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},
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"depends_on": [
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"S6"
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]
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},
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{
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"id": "S8",
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"skill": "ROBOBRAIN_SHELF_LOCALIZE",
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"arguments": {
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"target": "water",
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"item_index": 1
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},
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"depends_on": [
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"S7"
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]
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},
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{
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"id": "S9",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "shelf_cell",
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"item_index": 1
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},
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"depends_on": [
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"S8"
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]
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},
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{
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"id": "S10",
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"skill": "PICK",
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"arguments": {
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"target": "water",
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"item_index": 1
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},
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"depends_on": [
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"S9"
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]
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},
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{
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"id": "S11",
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"skill": "NAVIGATE",
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"arguments": {
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"destination": "tote_A",
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"item_index": 1
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},
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"depends_on": [
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"S10"
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]
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},
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{
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"id": "S12",
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"skill": "PLACE",
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"arguments": {
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"target": "water",
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"destination": "tote_A",
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"item_index": 1
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},
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"depends_on": [
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"S11"
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]
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},
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{
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"id": "S13",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "observation",
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"item_index": 2
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},
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"depends_on": [
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"S12"
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]
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},
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{
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"id": "S14",
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"skill": "ROBOBRAIN_SHELF_LOCALIZE",
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"arguments": {
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"target": "doll",
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"item_index": 2
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},
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"depends_on": [
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"S13"
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]
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},
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{
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"id": "S15",
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"skill": "NAVIGATE",
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"arguments": {
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"source_location": "shelf_A",
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"mode": "shelf_cell",
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"item_index": 2
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},
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"depends_on": [
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"S14"
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]
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},
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{
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"id": "S16",
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"skill": "PICK",
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"arguments": {
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"target": "doll",
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"item_index": 2
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},
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"depends_on": [
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"S15"
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]
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},
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{
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"id": "S17",
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"skill": "NAVIGATE",
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"arguments": {
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"destination": "tote_A",
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"item_index": 2
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},
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"depends_on": [
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"S16"
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]
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},
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{
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"id": "S18",
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"skill": "PLACE",
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"arguments": {
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"target": "doll",
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"destination": "tote_A",
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"item_index": 2
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},
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"depends_on": [
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"S17"
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]
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}
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]
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},
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"shelf": {
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"status": "SUCCEEDED",
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"shelf_id": "shelf_A",
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"side_id": "FRONT",
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"column_id": "1",
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"tier_id": "2",
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"confidence": 0.99
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},
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"localize3d": {
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"point": [
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0.5,
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0.2,
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0.8
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]
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},
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"dense_feedback": {
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"progress": 0.8,
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"hop": 1
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}
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} |