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| {
"task_id": [
{
"key_word": "start"
},
{
"key_word": "task_dynamic_catch",
"argument_robot_id": "10752341407161439024",
"argument_camera_id": "9594966076229215493",
"argument_tool_id": "9731621822652897745",
"argument_vision_algorithm_id": "16096425151749075727",
"counter_condition": 10,
"argument_dynamic_catch_catch_speed_percent": 80,
"argument_dynamic_catch_z_offset": 0.03,
"argument_dynamic_catch_catch_distance": 0.26,
"argument_dynamic_catch_relative_velocity": 20,
"argument_dynamic_catch_target_velocity": 0.0912,
"argument_dynamic_catch_must_in_pause_if_no_target":false,
"argument_dynamic_catch_must_in_pause_if_no_place":true,
"argument_dynamic_catch_detect_area": [
[
-0.5,
-0.2,
0
],
[
-0.5,
-0.7,
0
],
[
0.1,
-0.2,
0.1
],
[
0.1,
-0.7,
0.1
]
],
"argument_dynamic_catch_grap_area": [
[
-0.15,
-0.2,
0
],
[
-0.15,
-0.6,
0
],
[
0.45,
-0.2,
0.1
],
[
0.45,
-0.6,
0.1
]
],
"argument_dynamic_catch_home_point_target": [
0,
0,
0,
0,
0,
0
],
"argument_dynamic_catch_place_point_target": [
1.57,
0,
1.57,
0,
1.57,
0
],
"argument_dynamic_catch_joint_reference_target": [
0,
0,
1.57,
0,
1.57,
0
],
"argument_dynamic_catch_place_point_target_array": [
[
1.7638,
-0.689,
0.7514,
-0.129,
1.5698,
0.1938
],
[
1.7638,
-0.689,
0.7514,
-0.129,
1.5698,
0.1938
],
[
1.7638,
-0.689,
0.7514,
-0.129,
1.5698,
0.1938
]
]
},
{
"key_word": "stop"
}
]
}
|
