75 lines
1.3 KiB
JSON
75 lines
1.3 KiB
JSON
{
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"schema_version": 1,
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"plan_version": 1,
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"task_type": "pick_transport_place",
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"goal": "Move water from shelf_A to tote_A",
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"slots": {
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"target_name": "water",
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"quantity": 1,
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"source_location": "shelf_A",
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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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"destination": "shelf_A"
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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": "GROUND_TARGET",
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"arguments": {
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"target": "water"
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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": "PICK",
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"arguments": {
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"target": "water"
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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": "NAVIGATE",
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"arguments": {
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"destination": "tote_A"
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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": "CHECK_FREE_SPACE",
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"arguments": {
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"destination": "tote_A"
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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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},
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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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}
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