178 lines
5.1 KiB
JSON
178 lines
5.1 KiB
JSON
{
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"plan_id": "multi_waypoint_interrupt_mission",
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"root": {
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"name": "FlyThroughAllWaypoints",
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"type": "Sequence",
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"children": [{
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"type": "action",
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"name": "arm",
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"params": {}
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},
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{
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"name": "preflight_checks",
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"params": {
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"check_level": "comprehensive"
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},
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"type": "action"
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},
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{
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"name": "takeoff",
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"params": {
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"altitude": 14.0
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},
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"type": "action"
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},
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{
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"name": "fly_to_waypoint",
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"params": {
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"acceptance_radius": 2,
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"x": -23.80,
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"y": 292.80,
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"z": 14.0
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},
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"type": "action"
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},
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{
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"name": "GoToWaypoint1",
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"type": "Selector",
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"children": [
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{
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"name": "at_waypoint",
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"type": "condition",
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"params": { "target_position": [-24.0, 241.80, 14.0]}
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},
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{
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"name": "ReactiveWork1",
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"type": "Selector",
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"children": [
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{
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"name": "SuccessIsFailure",
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"type": "decorator",
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"child": {
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"name": "DetectHoverPhoto",
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"type": "Sequence",
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"children": [
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{ "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
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{ "name": "loiter", "type": "action", "params": { "time": 2.0 } }
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]
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}
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},
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{
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"name": "fly_to_waypoint",
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"type": "action",
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"params": { "x": 24.0, "y": 241.80, "z": 14.0 }
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}
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]
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}
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]
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},
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{
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"name": "GoToWaypoint2",
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"type": "Selector",
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"children": [
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{
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"name": "at_waypoint",
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"type": "condition",
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"params": { "target_position": [-107.8, 289.8, 14.0] }
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},
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{
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"name": "ReactiveWork2",
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"type": "Selector",
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"children": [
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{
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"name": "SuccessIsFailure",
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"type": "decorator",
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"child": {
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"name": "DetectHoverPhoto",
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"type": "Sequence",
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"children": [
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{ "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
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{ "name": "loiter", "type": "action", "params": { "time": 2.0 } }
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]
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}
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},
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{
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"name": "fly_to_waypoint",
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"type": "action",
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"params": { "x": -107.8, "y": 289.8, "z": 14.0 }
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}
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]
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}
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]
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},
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{
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"name": "GoToWaypoint3",
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"type": "Selector",
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"children": [
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{
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"name": "at_waypoint",
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"type": "condition",
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"params": { "target_position": [-106.5, 241.3, 14.0] }
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},
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{
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"name": "ReactiveWork3",
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"type": "Selector",
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"children": [
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{
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"name": "SuccessIsFailure",
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"type": "decorator",
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"child": {
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"name": "DetectHoverPhoto",
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"type": "Sequence",
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"children": [
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{ "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
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{ "name": "loiter", "type": "action", "params": { "time": 2.0 } }
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]
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}
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},
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{
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"name": "fly_to_waypoint",
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"type": "action",
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"params": { "x": -106.5, "y": 241.3, "z": 14.0}
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}
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]
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}
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]
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},
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{
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"name": "GoToWaypoint4",
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"type": "Selector",
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"children": [
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{
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"name": "at_waypoint",
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"type": "condition",
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"params": { "target_position": [-23.80, 292.80, 14.0] }
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},
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{
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"name": "ReactiveWork4",
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"type": "Selector",
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"children": [
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{
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"name": "SuccessIsFailure",
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"type": "decorator",
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"child": {
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"name": "DetectHoverPhoto",
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"type": "Sequence",
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"children": [
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{ "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
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{ "name": "loiter", "type": "action", "params": { "time": 2.0 } }
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]
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}
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},
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{
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"name": "fly_to_waypoint",
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"type": "action",
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"params": { "x": -23.80,
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"y": 292.80,
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"z": 14.0 }
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}
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]
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}
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]
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}
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]
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}
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}
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