Example of Task Application Scenarios

Provide task examples for the following scenarios:

Open the cabin door to B:

  const task1 = {
    "name": "<taskName>",
    "robotId": "<robotId>",
    "runNum": runNum,
    "taskType": taskType,
    "runType": runType,
    "routeMode": 1,
    "runMode": 1,
    "ignorePublicSite": false,
    "speed": -1,
    "curPt": { // current point info (unnecessary)
      "x": 2.13,
      "y": 19.3725,
      "yaw": 1.67,
      "areaId": "<areaId>",
      "type": -1,
      "stopRadius": 1
    },
    "pts": [{ // point B info
      "x": 2.583684539558817,
      "y": 16.177015024538832,
      "yaw": 0,
      "stopRadius": 1,
      "areaId": "<areaId>",
      "type": -1,
      "ext": {
        "id": "<poiId>",
        "name": "<poiName>"
      },
      "stepActs": [{
        "type": 6,
        "data": {
          "mode": 1,
          "doorIds": [1, 2, 3, 4]
        }
      }]
    }]
  }
  const success = axRobot.startTask(task1)

(Waiting in the middle for items to be placed) Close the cabin door (wait for 10 seconds)

    const task2 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": 1,
        "taskType": 6,
        "runType": 21,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
            "x": 2.58,
            "y": 16.19,
            "yaw": 0,
            "areaId": "<areaId>",
            "type": -1,
            "stopRadius": 1
        },
        "pts": [{ // point B info
            "x": 2.583684539558817,
            "y": 16.177015024538832,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            "stepActs": [{
                "type": 28,
                "data": {
                    "mode": 1,
                    "doorIds": [1, 2, 3, 4]
                }
            }, {
                "type": 18,
                "data": {
                    "pauseTime": 10
                }
            }]
        }]
    }
    const success = axRobot.startTask(task2)

to C:

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": 1,
        "taskType": 6,
        "runType": 21,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
            "x": 2.58,
            "y": 16.1875,
            "yaw": 0,
            "areaId": "<areaId>",
            "type": -1,
            "stopRadius": 1
        },
        "pts": [{ // point C info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            }
        }]
    }
    const success = axRobot.startTask(task3)

Operation lifting: Lift up point A (requires point A to be a shelf point):

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": <runNum>,
        "taskType": <taskType>,
        "runType": <runType>,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
        },
        "pts": [{ // point A info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            stepActs: [{
                type: 47 // Raise the top up
            }]
        }]
    }
    const success = axRobot.startTask(task3)

Place the top lift at point A (the type of point A must be a shelf point):

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": <runNum>,
        "taskType": <taskType>,
        "runType": <runType>,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
        },
        "pts": [{ // point A info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            stepActs: [{
                type: 48 // Put down the top lift
            }]
        }]
    }
    const success = axRobot.startTask(task3)

Pause waiting for interaction after multiple tasks arrive:

const task4 = {
    "name": "Multiple tasks",
    "runMode": <runMode>,
    "runNum": <runNum>,
    "taskType": <taskType>,
    "runType": <runType>,
    "curPt": {},
    "pts": [
        {
            "x": 6.7925255925160855,
            "y": 1.2596787664165277,
            "yaw": 268,
            "areaId": "66879695c207ce62f87991c7",
            "dockingRadius": "1",
            "ext": {
                "name": "point1",
                "id": "668796861f783f4b11c89ddc"
            },
            "stepActs": [
                {
                    "type": 40
                },
            ]
        },
        {
            "x": 9.005738806990848,
            "y": 1.2387888340015252,
            "yaw": 268,
            "areaId": "66879695c207ce62f87991c7",
            "dockingRadius": "1",
            "ext": {
                "name": "point2",
                "id": "668796861f783f4b11c89dde"
            },
            "stepActs": [
                {
                    "type": 40
                },
            ]
        }
    ],
    "backPt": {},
    "ignorePublicSite": true,
    "ext": {
        "checkItems": [
            "elevator"
        ]
    },
    "soureceType": 1,
    "detourRadius": 1
}
const success = axRobot.startTask(task4)