| { |
| "asset_id": "GC7890B", |
| "coordinate_system": "SI, right-handed, +X right, +Y rear, +Z up; origin centered on bench", |
| "configuration": "single S/SL and single capillary FID; no ALS, MS or gas cylinders", |
| "dimensions_m": [ |
| 0.58, |
| 0.51, |
| 0.49 |
| ], |
| "mass_kg": 49, |
| "dimensions_source": "GC_SPECS", |
| "oven_cavity_m": { |
| "width": 0.28, |
| "height": 0.31, |
| "depth": 0.16, |
| "axis_assignment": "photo_inference" |
| }, |
| "limitations": [ |
| "Internal geometry is functional schematic, not manufacturer CAD", |
| "Kinematic joint limits and per-part inertia are engineering assumptions", |
| "Collision-free robot motion and physics-engine import require host validation", |
| "Coil is LOD geometry, analytical column length is separate", |
| "Accessories are independent objects; not supplied instrument components" |
| ], |
| "components": [ |
| { |
| "id": "chassis", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 22.106925332731794, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.58, |
| 0.51, |
| 0.022 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.022 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.012, |
| 0.5, |
| 0.444 |
| ], |
| "origin_m": [ |
| -0.284, |
| 0, |
| 0.255 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.012, |
| 0.5, |
| 0.444 |
| ], |
| "origin_m": [ |
| 0.284, |
| 0, |
| 0.255 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.557, |
| 0.012, |
| 0.438 |
| ], |
| "origin_m": [ |
| 0, |
| 0.249, |
| 0.252 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.134, |
| 0.018, |
| 0.422 |
| ], |
| "origin_m": [ |
| -0.222, |
| -0.246, |
| 0.247 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.556, |
| 0.204, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0.145, |
| 0.473 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.176, |
| 0.29, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.196, |
| -0.098, |
| 0.474 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.064, |
| 0.045, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.075, |
| -0.228, |
| 0.474 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.064, |
| 0.166, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.075, |
| -0.043, |
| 0.474 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.016, |
| 0.098, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.11, |
| -0.158, |
| 0.474 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.012, |
| 0.098, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.043, |
| -0.158, |
| 0.474 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.126, |
| 0.293, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0.222, |
| -0.097, |
| 0.476 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "chassis", |
| "name_zh": "机壳与底盘", |
| "subsystem": "structure", |
| "function_zh": "承载柱箱、进样口、检测器和电子模块。", |
| "physical_meaning_zh": "把组件载荷传递到支脚，限定碰撞边界；外壳不是样品容器。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "mass", |
| "label_zh": "mass", |
| "si_unit": "kg", |
| "state_key": "chassis.mass", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "chassis.mass", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.5803000330924988, |
| 0.5115000009536743, |
| 0.4710000231862068 |
| ], |
| "center_of_mass_m": [ |
| 0.0001499950885772705, |
| 0.0007500052452087402, |
| 0.24650001153349876 |
| ], |
| "blender_object": "GC7890B__chassis", |
| "mesh_file": "meshes/chassis.obj", |
| "mesh_objects": [ |
| "GC7890B__chassis__base", |
| "GC7890B__chassis__left_side", |
| "GC7890B__chassis__right_side", |
| "GC7890B__chassis__rear", |
| "GC7890B__chassis__inlet_front_cover", |
| "GC7890B__chassis__rear_roof", |
| "GC7890B__chassis__inlet_top", |
| "GC7890B__chassis__inlet_bridge_front", |
| "GC7890B__chassis__inlet_bridge_back", |
| "GC7890B__chassis__inlet_bridge_left", |
| "GC7890B__chassis__inlet_bridge_right", |
| "GC7890B__chassis__electronics_top", |
| "GC7890B__chassis__side_vent", |
| "GC7890B__chassis__side_vent.001", |
| "GC7890B__chassis__side_vent.002", |
| "GC7890B__chassis__side_vent.003", |
| "GC7890B__chassis__side_vent.004", |
| "GC7890B__chassis__side_vent.005", |
| "GC7890B__chassis__side_vent.006", |
| "GC7890B__chassis__side_vent.007", |
| "GC7890B__chassis__side_vent.008", |
| "GC7890B__chassis__side_vent.009", |
| "GC7890B__chassis__side_vent.010", |
| "GC7890B__chassis__side_vent.011", |
| "GC7890B__chassis__side_vent.012", |
| "GC7890B__chassis__side_vent.013", |
| "GC7890B__chassis__side_vent.014", |
| "GC7890B__chassis__side_vent.015", |
| "GC7890B__chassis__side_vent.016", |
| "GC7890B__chassis__side_vent.017", |
| "GC7890B__chassis__side_vent.018", |
| "GC7890B__chassis__side_vent.019", |
| "GC7890B__chassis__side_vent.020", |
| "GC7890B__chassis__side_vent.021", |
| "GC7890B__chassis__side_vent.022", |
| "GC7890B__chassis__side_vent.023", |
| "GC7890B__chassis__side_vent.024", |
| "GC7890B__chassis__side_vent.025", |
| "GC7890B__chassis__side_vent.026", |
| "GC7890B__chassis__side_vent.027", |
| "GC7890B__chassis__side_vent.028", |
| "GC7890B__chassis__side_vent.029", |
| "GC7890B__chassis__side_vent.030", |
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| "GC7890B__chassis__side_vent.032", |
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| "GC7890B__chassis__side_vent.040", |
| "GC7890B__chassis__side_vent.041", |
| "GC7890B__chassis__side_vent.042", |
| "GC7890B__chassis__side_vent.043", |
| "GC7890B__chassis__side_vent.044", |
| "GC7890B__chassis__side_vent.045", |
| "GC7890B__chassis__side_vent.046", |
| "GC7890B__chassis__side_vent.047", |
| "GC7890B__chassis__side_vent.048", |
| "GC7890B__chassis__side_vent.049", |
| "GC7890B__chassis__side_vent.050", |
| "GC7890B__chassis__side_vent.051", |
| "GC7890B__chassis__side_vent.052", |
| "GC7890B__chassis__side_vent.053", |
| "GC7890B__chassis__side_vent.054", |
| "GC7890B__chassis__side_vent.055", |
| "GC7890B__chassis__side_vent.056", |
| "GC7890B__chassis__side_vent.057", |
| "GC7890B__chassis__side_vent.058", |
| "GC7890B__chassis__side_vent.059", |
| "GC7890B__chassis__side_vent.060", |
| "GC7890B__chassis__side_vent.061", |
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| "GC7890B__chassis__side_vent.063", |
| "GC7890B__chassis__side_vent.064", |
| "GC7890B__chassis__side_vent.065", |
| "GC7890B__chassis__side_vent.066", |
| "GC7890B__chassis__side_vent.067", |
| "GC7890B__chassis__side_vent.068", |
| "GC7890B__chassis__side_vent.069", |
| "GC7890B__chassis__side_vent.070", |
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| "GC7890B__chassis__side_vent.072", |
| "GC7890B__chassis__side_vent.073", |
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| "GC7890B__chassis__side_vent.084", |
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| "GC7890B__chassis__side_vent.096", |
| "GC7890B__chassis__side_vent.097", |
| "GC7890B__chassis__back_slot", |
| "GC7890B__chassis__back_slot.001", |
| "GC7890B__chassis__back_slot.002", |
| "GC7890B__chassis__back_slot.003", |
| "GC7890B__chassis__back_slot.004", |
| "GC7890B__chassis__back_slot.005", |
| "GC7890B__chassis__back_slot.006", |
| "GC7890B__chassis__back_slot.007", |
| "GC7890B__chassis__back_slot.008", |
| "GC7890B__chassis__back_slot.009", |
| "GC7890B__chassis__back_slot.010", |
| "GC7890B__chassis__back_slot.011", |
| "GC7890B__chassis__back_slot.012", |
| "GC7890B__chassis__back_slot.013", |
| "GC7890B__chassis__back_slot.014", |
| "GC7890B__chassis__back_slot.015", |
| "GC7890B__chassis__back_slot.016", |
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| "GC7890B__chassis__back_slot.023", |
| "GC7890B__chassis__back_slot.024", |
| "GC7890B__chassis__back_slot.025", |
| "GC7890B__chassis__back_slot.026", |
| "GC7890B__chassis__back_slot.027", |
| "GC7890B__chassis__back_slot.028", |
| "GC7890B__chassis__back_slot.029", |
| "GC7890B__chassis__back_slot.030", |
| "GC7890B__chassis__back_slot.031", |
| "GC7890B__chassis__back_slot.032", |
| "GC7890B__chassis__back_slot.033", |
| "GC7890B__chassis__back_slot.034", |
| "GC7890B__chassis__back_slot.035", |
| "GC7890B__chassis__back_slot.036", |
| "GC7890B__chassis__back_slot.037", |
| "GC7890B__chassis__back_slot.038", |
| "GC7890B__chassis__back_slot.039", |
| "GC7890B__chassis__back_slot.040", |
| "GC7890B__chassis__back_slot.041", |
| "GC7890B__chassis__back_slot.042", |
| "GC7890B__chassis__back_slot.043", |
| "GC7890B__chassis__back_slot.044", |
| "GC7890B__chassis__back_slot.045", |
| "GC7890B__chassis__back_slot.046", |
| "GC7890B__chassis__back_slot.047", |
| "GC7890B__chassis__back_slot.048", |
| "GC7890B__chassis__back_slot.049", |
| "GC7890B__chassis__back_slot.050", |
| "GC7890B__chassis__back_slot.051", |
| "GC7890B__chassis__back_slot.052", |
| "GC7890B__chassis__back_slot.053", |
| "GC7890B__chassis__back_slot.054", |
| "GC7890B__chassis__back_slot.055", |
| "GC7890B__chassis__back_slot.056", |
| "GC7890B__chassis__back_slot.057", |
| "GC7890B__chassis__back_slot.058", |
| "GC7890B__chassis__back_slot.059", |
| "GC7890B__chassis__back_slot.060", |
| "GC7890B__chassis__back_slot.061", |
| "GC7890B__chassis__back_slot.062", |
| "GC7890B__chassis__back_slot.063", |
| "GC7890B__chassis__back_slot.064", |
| "GC7890B__chassis__back_slot.065", |
| "GC7890B__chassis__back_slot.066", |
| "GC7890B__chassis__back_slot.067", |
| "GC7890B__chassis__back_slot.068", |
| "GC7890B__chassis__back_slot.069", |
| "GC7890B__chassis__back_slot.070", |
| "GC7890B__chassis__back_slot.071", |
| "GC7890B__chassis__back_slot.072", |
| "GC7890B__chassis__back_slot.073", |
| "GC7890B__chassis__back_slot.074", |
| "GC7890B__chassis__back_slot.075", |
| "GC7890B__chassis__back_slot.076", |
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| "GC7890B__chassis__back_slot.098", |
| "GC7890B__chassis__back_slot.099", |
| "GC7890B__chassis__back_slot.100", |
| "GC7890B__chassis__back_slot.101", |
| "GC7890B__chassis__cover_screw", |
| "GC7890B__chassis__cover_screw.001", |
| "GC7890B__chassis__cover_screw.002", |
| "GC7890B__chassis__cover_screw.003" |
| ] |
| }, |
| { |
| "id": "feet", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.7368975110910598, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.045, |
| 0.054, |
| 0.011 |
| ], |
| "origin_m": [ |
| -0.255, |
| -0.21, |
| 0.0055 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.045, |
| 0.054, |
| 0.011 |
| ], |
| "origin_m": [ |
| -0.255, |
| 0.21, |
| 0.0055 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.045, |
| 0.054, |
| 0.011 |
| ], |
| "origin_m": [ |
| 0.255, |
| -0.21, |
| 0.0055 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.045, |
| 0.054, |
| 0.011 |
| ], |
| "origin_m": [ |
| 0.255, |
| 0.21, |
| 0.0055 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "feet", |
| "name_zh": "支脚", |
| "subsystem": "structure", |
| "function_zh": "支撑仪器并接触工作台。", |
| "physical_meaning_zh": "法向力与摩擦约束整机位姿，摩擦系数没有公开校准值。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "normal_force", |
| "label_zh": "normal_force", |
| "si_unit": "N", |
| "state_key": "feet.normal_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "feet.normal_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.5550000071525574, |
| 0.4739999771118164, |
| 0.010999999940395355 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.005499999970197678 |
| ], |
| "blender_object": "GC7890B__feet", |
| "mesh_file": "meshes/feet.obj", |
| "mesh_objects": [ |
| "GC7890B__feet__rubber_foot", |
| "GC7890B__feet__rubber_foot.001", |
| "GC7890B__feet__rubber_foot.002", |
| "GC7890B__feet__rubber_foot.003" |
| ] |
| }, |
| { |
| "id": "oven_insulation", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 8.597137629395698, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.016, |
| 0.19, |
| 0.338 |
| ], |
| "origin_m": [ |
| -0.148, |
| -0.141, |
| 0.229 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.016, |
| 0.19, |
| 0.338 |
| ], |
| "origin_m": [ |
| 0.148, |
| -0.141, |
| 0.229 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.28, |
| 0.19, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| -0.141, |
| 0.392 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.28, |
| 0.19, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| -0.141, |
| 0.066 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.04, |
| 0.018, |
| 0.31 |
| ], |
| "origin_m": [ |
| -0.12, |
| -0.052, |
| 0.229 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.04, |
| 0.018, |
| 0.31 |
| ], |
| "origin_m": [ |
| 0.12, |
| -0.052, |
| 0.229 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.2, |
| 0.018, |
| 0.055 |
| ], |
| "origin_m": [ |
| 0, |
| -0.052, |
| 0.3565 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.2, |
| 0.018, |
| 0.055 |
| ], |
| "origin_m": [ |
| 0, |
| -0.052, |
| 0.1015 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_insulation", |
| "name_zh": "柱箱隔热层", |
| "subsystem": "oven", |
| "function_zh": "减小柱箱向周围的热传递。", |
| "physical_meaning_zh": "用等效热阻关联内外温差和热流，材料与厚度未测量。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "thermal_resistance", |
| "label_zh": "thermal_resistance", |
| "si_unit": "K/W", |
| "state_key": "oven_insulation.thermal_resistance", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_insulation.thermal_resistance", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.31200000643730164, |
| 0.19299999997019768, |
| 0.34199997782707214 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.13950000144541264, |
| 0.22899998724460602 |
| ], |
| "blender_object": "GC7890B__oven_insulation", |
| "mesh_file": "meshes/oven_insulation.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_insulation__left", |
| "GC7890B__oven_insulation__right", |
| "GC7890B__oven_insulation__top", |
| "GC7890B__oven_insulation__bottom", |
| "GC7890B__oven_insulation__left_metal", |
| "GC7890B__oven_insulation__right_metal", |
| "GC7890B__oven_insulation__roof_metal", |
| "GC7890B__oven_insulation__floor_metal", |
| "GC7890B__oven_insulation__back_left", |
| "GC7890B__oven_insulation__back_left_metal", |
| "GC7890B__oven_insulation__back_right", |
| "GC7890B__oven_insulation__back_right_metal", |
| "GC7890B__oven_insulation__back_top", |
| "GC7890B__oven_insulation__back_top_metal", |
| "GC7890B__oven_insulation__back_bottom", |
| "GC7890B__oven_insulation__back_bottom_metal" |
| ] |
| }, |
| { |
| "id": "oven_door", |
| "origin_m": [ |
| -0.15, |
| -0.25, |
| 0.246 |
| ], |
| "parent": "base_link", |
| "joint_type": "revolute", |
| "axis": [ |
| 0, |
| 0, |
| -1 |
| ], |
| "limits": [ |
| 0, |
| 1.92 |
| ], |
| "limit_unit": "rad", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 6.140812592425498, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.296, |
| 0.018, |
| 0.421 |
| ], |
| "origin_m": [ |
| 0.15, |
| -0.001, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.274, |
| 0.025, |
| 0.306 |
| ], |
| "origin_m": [ |
| 0.15, |
| 0.019, |
| -0.017 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.008, |
| 0.045 |
| ], |
| "origin_m": [ |
| 0, |
| 0.007, |
| -0.175 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.008, |
| 0.045 |
| ], |
| "origin_m": [ |
| 0, |
| 0.007, |
| 0.175 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0.25, |
| -0.017, |
| -0.181 |
| ], |
| "semantics": { |
| "id": "oven_door", |
| "name_zh": "柱箱门", |
| "subsystem": "oven", |
| "function_zh": "开启后提供色谱柱维护通道，关闭后围成热环境。", |
| "physical_meaning_zh": "开度改变热泄漏与可达空间；合页位置和行程为照片估计。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "hinged", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "revolute", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "angle", |
| "label_zh": "angle", |
| "si_unit": "rad", |
| "state_key": "oven_door.angle", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "door", |
| "label_zh": "开关柱箱门", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "door", |
| "kwargs": { |
| "open": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_door.angle", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.3060000082477927, |
| 0.04399997740983963, |
| 0.42100000381469727 |
| ], |
| "center_of_mass_m": [ |
| 0.14500000374391675, |
| 0.012000001966953278, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__oven_door", |
| "mesh_file": "meshes/oven_door.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_door__front_panel", |
| "GC7890B__oven_door__inner_insulator", |
| "GC7890B__oven_door__inner_metal", |
| "GC7890B__oven_door__hinge", |
| "GC7890B__oven_door__hinge.001" |
| ] |
| }, |
| { |
| "id": "oven_handle", |
| "origin_m": [ |
| 0.256, |
| -0.018, |
| -0.213 |
| ], |
| "parent": "oven_door", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.14737950221821197, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.032, |
| 0.007, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| -0.005, |
| 0.008 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_handle", |
| "name_zh": "柱箱门把手", |
| "subsystem": "oven", |
| "function_zh": "提供手或夹爪接触柱箱门的位置。", |
| "physical_meaning_zh": "接触力通过力臂产生开门力矩，与门作为一个机械组件运动。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "grasp_target", |
| "graspable": true, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "contact_force", |
| "label_zh": "contact_force", |
| "si_unit": "N", |
| "state_key": "oven_handle.contact_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "door", |
| "label_zh": "握持把手开关柱箱门", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "door", |
| "kwargs": { |
| "open": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_handle.contact_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.014499995857477188, |
| 0.03200000338256359 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.0012499969452619553, |
| 9.313225746154785e-10 |
| ], |
| "blender_object": "GC7890B__oven_handle", |
| "mesh_file": "meshes/oven_handle.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_handle__latch", |
| "GC7890B__oven_handle__handle_flat" |
| ] |
| }, |
| { |
| "id": "oven_fan", |
| "origin_m": [ |
| 0, |
| -0.037, |
| 0.231 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.4912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_fan", |
| "name_zh": "柱箱循环风扇", |
| "subsystem": "oven", |
| "function_zh": "促进柱箱空气循环。", |
| "physical_meaning_zh": "强制对流影响热均匀性和热响应；当前语义层采用集总温度。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "angular_speed", |
| "label_zh": "angular_speed", |
| "si_unit": "rad/s", |
| "state_key": "oven_fan.angular_speed", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_fan.angular_speed", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.2019999921321869, |
| 0.04500000271946192, |
| 0.2019999921321869 |
| ], |
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| 0.0, |
| -0.00849999999627471, |
| 0.0 |
| ], |
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| "GC7890B__oven_fan__guard_hex.381", |
| "GC7890B__oven_fan__guard_hex.382", |
| "GC7890B__oven_fan__guard_hex.383", |
| "GC7890B__oven_fan__guard_hex.384", |
| "GC7890B__oven_fan__guard_hex.385", |
| "GC7890B__oven_fan__guard_hex.386", |
| "GC7890B__oven_fan__guard_hex.387", |
| "GC7890B__oven_fan__guard_hex.388", |
| "GC7890B__oven_fan__guard_hex.389", |
| "GC7890B__oven_fan__guard_hex.390", |
| "GC7890B__oven_fan__guard_hex.391", |
| "GC7890B__oven_fan__guard_hex.392", |
| "GC7890B__oven_fan__guard_hex.393", |
| "GC7890B__oven_fan__guard_hex.394", |
| "GC7890B__oven_fan__guard_hex.395", |
| "GC7890B__oven_fan__guard_hex.396", |
| "GC7890B__oven_fan__guard_hex.397", |
| "GC7890B__oven_fan__guard_hex.398", |
| "GC7890B__oven_fan__guard_hex.399", |
| "GC7890B__oven_fan__guard_hex.400", |
| "GC7890B__oven_fan__guard_hex.401", |
| "GC7890B__oven_fan__guard_hex.402", |
| "GC7890B__oven_fan__guard_hex.403", |
| "GC7890B__oven_fan__guard_hex.404", |
| "GC7890B__oven_fan__guard_hex.405", |
| "GC7890B__oven_fan__guard_hex.406", |
| "GC7890B__oven_fan__guard_hex.407", |
| "GC7890B__oven_fan__guard_hex.408", |
| "GC7890B__oven_fan__guard_hex.409", |
| "GC7890B__oven_fan__guard_hex.410", |
| "GC7890B__oven_fan__fan_guard_rim" |
| ] |
| }, |
| { |
| "id": "oven_heater", |
| "origin_m": [ |
| 0, |
| -0.01, |
| 0.231 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.4912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_heater", |
| "name_zh": "柱箱加热器", |
| "subsystem": "oven", |
| "function_zh": "向柱箱供热以执行恒温或程序升温。", |
| "physical_meaning_zh": "电功率进入柱箱热平衡；可视加热器不代表厂商精确绕组。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "power", |
| "label_zh": "power", |
| "si_unit": "W", |
| "state_key": "oven_heater.power", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| }, |
| { |
| "id": "set_temperature", |
| "label_zh": "设定柱箱目标温度", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "set_temperature", |
| "kwargs": { |
| "zone": "oven", |
| "temperature_K": "number" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_heater.power", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SPECS" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.17800000309944153, |
| 0.006000007968395948, |
| 0.17800000309944153 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__oven_heater", |
| "mesh_file": "meshes/oven_heater.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_heater__resistance_heater" |
| ] |
| }, |
| { |
| "id": "oven_sensor", |
| "origin_m": [ |
| 0.12, |
| -0.087, |
| 0.27 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.002, |
| 0.07 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_sensor", |
| "name_zh": "柱箱温度传感器", |
| "subsystem": "oven", |
| "function_zh": "为温度控制提供观测。", |
| "physical_meaning_zh": "传感温度与实际温度可有响应延迟与偏差；校准数据未知。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "temperature", |
| "label_zh": "temperature", |
| "si_unit": "K", |
| "state_key": "oven_sensor.temperature", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_sensor.temperature", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "temperatures_K.oven", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "可由仪器显示或通信读取。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.004000000189989805, |
| 0.004000000189989805, |
| 0.07000000029802322 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__oven_sensor", |
| "mesh_file": "meshes/oven_sensor.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_sensor__temperature_probe" |
| ] |
| }, |
| { |
| "id": "oven_exhaust", |
| "origin_m": [ |
| -0.19, |
| 0.25, |
| 0.35 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.4298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.112, |
| 0.006, |
| 0.092 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "oven_exhaust", |
| "name_zh": "柱箱热空气出口", |
| "subsystem": "oven", |
| "function_zh": "为柱箱冷却排出热空气。", |
| "physical_meaning_zh": "温差与空气流量共同决定带走的显热，不等同分析气路出口。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "heat_flow", |
| "label_zh": "heat_flow", |
| "si_unit": "W", |
| "state_key": "oven_exhaust.heat_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "oven_exhaust.heat_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.1120000034570694, |
| 0.01601020060479641, |
| 0.09200000017881393 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.004999995231628418, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__oven_exhaust", |
| "mesh_file": "meshes/oven_exhaust.obj", |
| "mesh_objects": [ |
| "GC7890B__oven_exhaust__cooling_damper", |
| "GC7890B__oven_exhaust__louver", |
| "GC7890B__oven_exhaust__louver.001", |
| "GC7890B__oven_exhaust__louver.002", |
| "GC7890B__oven_exhaust__louver.003", |
| "GC7890B__oven_exhaust__louver.004" |
| ] |
| }, |
| { |
| "id": "column_cage", |
| "origin_m": [ |
| 0, |
| -0.136, |
| 0.235 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.22106925332731794, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "column_cage", |
| "name_zh": "色谱柱支架", |
| "subsystem": "column", |
| "function_zh": "承托盘绕的毛细管柱。", |
| "physical_meaning_zh": "约束柱圈位置并保留加热空气通道，支架本身不产生分离。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "support_force", |
| "label_zh": "support_force", |
| "si_unit": "N", |
| "state_key": "column_cage.support_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "column_cage.support_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第24页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.21900001168251038, |
| 0.035999998450279236, |
| 0.25256067514419556 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.01678033173084259 |
| ], |
| "blender_object": "GC7890B__column_cage", |
| "mesh_file": "meshes/column_cage.obj", |
| "mesh_objects": [ |
| "GC7890B__column_cage__support_ring", |
| "GC7890B__column_cage__support_ring.001", |
| "GC7890B__column_cage__cage_spoke", |
| "GC7890B__column_cage__cage_spoke.001", |
| "GC7890B__column_cage__cage_spoke.002", |
| "GC7890B__column_cage__cage_spoke.003", |
| "GC7890B__column_cage__cage_spoke.004", |
| "GC7890B__column_cage__cage_spoke.005", |
| "GC7890B__column_cage__hanger" |
| ] |
| }, |
| { |
| "id": "column", |
| "origin_m": [ |
| 0, |
| -0.137, |
| 0.235 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "column", |
| "name_zh": "毛细管色谱柱", |
| "subsystem": "column", |
| "function_zh": "利用流动相与固定相作用差异分离组分。", |
| "physical_meaning_zh": "保留与展宽依赖温度、载气速度、几何及组分分配；展示线圈不是完整流体网格。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "retention_time", |
| "label_zh": "retention_time", |
| "si_unit": "s", |
| "state_key": "column.retention_time", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "column.retention_time", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.22372273355722427, |
| 0.036748011596500874, |
| 0.26373016834259033 |
| ], |
| "center_of_mass_m": [ |
| 0.008506517857313156, |
| -0.007001010235399008, |
| 0.028499066829681396 |
| ], |
| "blender_object": "GC7890B__column", |
| "mesh_file": "meshes/column.obj", |
| "mesh_objects": [ |
| "GC7890B__column__capillary_coil_visual", |
| "GC7890B__column__inlet_tail", |
| "GC7890B__column__outlet_tail" |
| ] |
| }, |
| { |
| "id": "column_inlet_fitting", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.391 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0048, |
| 0.021 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0018, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.012 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "column_inlet_fitting", |
| "name_zh": "色谱柱进样端接头", |
| "subsystem": "column", |
| "function_zh": "把色谱柱入口密封连接到进样口。", |
| "physical_meaning_zh": "装配状态决定流路连续性和泄漏边界；未复制精确插入深度。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "leak_flow", |
| "label_zh": "leak_flow", |
| "si_unit": "m3/s", |
| "state_key": "column_inlet_fitting.leak_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "column_inlet_fitting.leak_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.008313843980431557, |
| 0.009600000455975533, |
| 0.024499994702637196 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| -0.0017499974928796291 |
| ], |
| "blender_object": "GC7890B__column_inlet_fitting", |
| "mesh_file": "meshes/column_inlet_fitting.obj", |
| "mesh_objects": [ |
| "GC7890B__column_inlet_fitting__nut", |
| "GC7890B__column_inlet_fitting__ferrule" |
| ] |
| }, |
| { |
| "id": "column_outlet_fitting", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.391 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0048, |
| 0.021 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0018, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.012 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "column_outlet_fitting", |
| "name_zh": "色谱柱检测端接头", |
| "subsystem": "column", |
| "function_zh": "把柱出口密封连接到检测器。", |
| "physical_meaning_zh": "断开或泄漏改变组分输运与检测器气路。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "leak_flow", |
| "label_zh": "leak_flow", |
| "si_unit": "m3/s", |
| "state_key": "column_outlet_fitting.leak_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "column_outlet_fitting.leak_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.008313843980431557, |
| 0.009600000455975533, |
| 0.024499994702637196 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| -0.0017499974928796291 |
| ], |
| "blender_object": "GC7890B__column_outlet_fitting", |
| "mesh_file": "meshes/column_outlet_fitting.obj", |
| "mesh_objects": [ |
| "GC7890B__column_outlet_fitting__nut", |
| "GC7890B__column_outlet_fitting__ferrule" |
| ] |
| }, |
| { |
| "id": "inlet_body", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.421 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.6754893851668049, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.033, |
| 0.039, |
| 0.067 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.025, |
| 0.005 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.035 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0105, |
| 0.02 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.047 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "inlet_body", |
| "name_zh": "分流不分流进样口本体", |
| "subsystem": "inlet", |
| "function_zh": "接收进样并容纳衬管及密封界面。", |
| "physical_meaning_zh": "形成受热流体控制体，将汽化样品分配到色谱柱与排放支路。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "temperature", |
| "label_zh": "temperature", |
| "si_unit": "K", |
| "state_key": "inlet_body.temperature", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "inlet_body.temperature", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SSL_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.05000000074505806, |
| 0.05000000074505806, |
| 0.09049998968839645 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0117499940097332 |
| ], |
| "blender_object": "GC7890B__inlet_body", |
| "mesh_file": "meshes/inlet_body.obj", |
| "mesh_objects": [ |
| "GC7890B__inlet_body__heated_block", |
| "GC7890B__inlet_body__top_flange", |
| "GC7890B__inlet_body__insert_neck" |
| ] |
| }, |
| { |
| "id": "septum_cap", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.482 |
| ], |
| "parent": "base_link", |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| 0, |
| 0.065 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.030704062962127493, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0.006, |
| 0.0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0.0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0.005196152422706633, |
| 0.0029999999999999996, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0.5235987755982988 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
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| "origin_m": [ |
| 0.003000000000000001, |
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| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 1.0471975511965976 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| 3.6739403974420597e-19, |
| 0.006, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 1.5707963267948966 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
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| "origin_m": [ |
| -0.002999999999999999, |
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| "rpy_rad": [ |
| 0, |
| 0, |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
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| "origin_m": [ |
| -0.005196152422706633, |
| 0.0029999999999999996, |
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| "rpy_rad": [ |
| 0, |
| 0, |
| 2.6179938779914944 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| -0.006, |
| 7.347880794884119e-19, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 3.141592653589793 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| -0.005196152422706633, |
| -0.0029999999999999988, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 3.665191429188092 |
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| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| -0.0030000000000000027, |
| -0.00519615242270663, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 4.1887902047863905 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| -1.1021821192326178e-18, |
| -0.006, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 4.71238898038469 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0.003000000000000001, |
| -0.005196152422706632, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 5.235987755982989 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.0045, |
| 0.0029, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0.00519615242270663, |
| -0.0030000000000000027, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 5.759586531581287 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "septum_cap", |
| "name_zh": "隔垫压帽", |
| "subsystem": "inlet", |
| "function_zh": "固定并压紧进样隔垫。", |
| "physical_meaning_zh": "轴向压缩影响密封及穿刺阻力，安装扭矩没有实测值。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "clamping_force", |
| "label_zh": "clamping_force", |
| "si_unit": "N", |
| "state_key": "septum_cap.clamping_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "septum_cap.clamping_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第39页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.015588456764817238, |
| 0.017999999225139618, |
| 0.015499993227422237 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0007499963976442814 |
| ], |
| "blender_object": "GC7890B__septum_cap", |
| "mesh_file": "meshes/septum_cap.obj", |
| "mesh_objects": [ |
| "GC7890B__septum_cap__retainer", |
| "GC7890B__septum_cap__needle_access" |
| ] |
| }, |
| { |
| "id": "septum", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.474 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.0012281625184850998, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "septum", |
| "name_zh": "进样隔垫", |
| "subsystem": "inlet", |
| "function_zh": "允许针头穿入，同时封闭进样口。", |
| "physical_meaning_zh": "弹性密封限制泄漏，老化与穿刺历史可能引入泄漏或污染。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "leak_flow", |
| "label_zh": "leak_flow", |
| "si_unit": "m3/s", |
| "state_key": "septum.leak_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "septum.leak_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第39页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.012000000104308128, |
| 0.012000000104308128, |
| 0.003000000026077032 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__septum", |
| "mesh_file": "meshes/septum.obj", |
| "mesh_objects": [ |
| "GC7890B__septum__silicone_disc" |
| ] |
| }, |
| { |
| "id": "liner", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.422 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.003684487555455299, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "liner", |
| "name_zh": "进样衬管", |
| "subsystem": "inlet", |
| "function_zh": "提供样品汽化和载气混合空间。", |
| "physical_meaning_zh": "内部体积、表面活性和温度影响汽化、吸附以及进入色谱柱的质量。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "volume", |
| "label_zh": "volume", |
| "si_unit": "m3", |
| "state_key": "liner.volume", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "liner.volume", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第39页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.006000000052154064, |
| 0.006000000052154064, |
| 0.07599999755620956 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__liner", |
| "mesh_file": "meshes/liner.obj", |
| "mesh_objects": [ |
| "GC7890B__liner__glass_liner_proxy" |
| ] |
| }, |
| { |
| "id": "liner_seal", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.459 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.0012281625184850998, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "liner_seal", |
| "name_zh": "衬管密封圈", |
| "subsystem": "inlet", |
| "function_zh": "封闭衬管外侧的非预期通路。", |
| "physical_meaning_zh": "密封完整性约束旁路泄漏；此对象代表衬管O形圈，不替代底部金密封件。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "leak_flow", |
| "label_zh": "leak_flow", |
| "si_unit": "m3/s", |
| "state_key": "liner_seal.leak_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "liner_seal.leak_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第39页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.010000000707805157, |
| 0.010000000707805157, |
| 0.0020000000949949026 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__liner_seal", |
| "mesh_file": "meshes/liner_seal.obj", |
| "mesh_objects": [ |
| "GC7890B__liner_seal__O_ring" |
| ] |
| }, |
| { |
| "id": "inlet_heater", |
| "origin_m": [ |
| -0.075, |
| -0.162, |
| 0.421 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.061408125924254986, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "inlet_heater", |
| "name_zh": "进样口加热器", |
| "subsystem": "inlet", |
| "function_zh": "加热进样口。", |
| "physical_meaning_zh": "把电能转化为热，使适用样品汽化；实际汽化受物性与注入量影响。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "power", |
| "label_zh": "power", |
| "si_unit": "W", |
| "state_key": "inlet_heater.power", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| }, |
| { |
| "id": "set_temperature", |
| "label_zh": "设定进样口目标温度", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "set_temperature", |
| "kwargs": { |
| "zone": "inlet", |
| "temperature_K": "number" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "inlet_heater.power", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.02800000086426735, |
| 0.02800000086426735, |
| 0.004000000189989805 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__inlet_heater", |
| "mesh_file": "meshes/inlet_heater.obj", |
| "mesh_objects": [ |
| "GC7890B__inlet_heater__heater" |
| ] |
| }, |
| { |
| "id": "inlet_sensor", |
| "origin_m": [ |
| -0.056, |
| -0.159, |
| 0.421 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.012281625184850998, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "inlet_sensor", |
| "name_zh": "进样口温度传感器", |
| "subsystem": "inlet", |
| "function_zh": "测量受控进样区温度。", |
| "physical_meaning_zh": "观测量作为温控反馈，不能假定等于瞬时样品温度。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "temperature", |
| "label_zh": "temperature", |
| "si_unit": "K", |
| "state_key": "inlet_sensor.temperature", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "inlet_sensor.temperature", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "temperatures_K.inlet", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "可由仪器显示或通信读取。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.002400000113993883, |
| 0.002400000113993883, |
| 0.03500000014901161 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__inlet_sensor", |
| "mesh_file": "meshes/inlet_sensor.obj", |
| "mesh_objects": [ |
| "GC7890B__inlet_sensor__probe" |
| ] |
| }, |
| { |
| "id": "split_valve", |
| "origin_m": [ |
| -0.164, |
| 0.103, |
| 0.427 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.18422437777276496, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.026, |
| 0.032, |
| 0.029 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "split_valve", |
| "name_zh": "分流控制阀", |
| "subsystem": "inlet", |
| "function_zh": "控制进样口分流支路。", |
| "physical_meaning_zh": "支路阻力影响柱流量与分流流量的分配；它是受控流体状态，不能抓取。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "flow", |
| "label_zh": "flow", |
| "si_unit": "m3/s", |
| "state_key": "split_valve.flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "split_valve.flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SSL_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.026000000536441803, |
| 0.03200000151991844, |
| 0.028999999165534973 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__split_valve", |
| "mesh_file": "meshes/split_valve.obj", |
| "mesh_objects": [ |
| "GC7890B__split_valve__valve" |
| ] |
| }, |
| { |
| "id": "split_vent", |
| "origin_m": [ |
| -0.167, |
| 0.228, |
| 0.431 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.12281625184850997, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.009, |
| 0.058 |
| ], |
| "origin_m": [ |
| 0, |
| -0.025, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "split_vent", |
| "name_zh": "分流排气口", |
| "subsystem": "inlet", |
| "function_zh": "排出分流支路的载气与样品蒸气。", |
| "physical_meaning_zh": "其质量通量必须计入质量守恒，排出质量不进入色谱柱。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "mass_flow", |
| "label_zh": "mass_flow", |
| "si_unit": "kg/s", |
| "state_key": "split_vent.mass_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "split_vent.mass_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.10056888684630394, |
| 0.3943139468319714, |
| 0.018000001087784767 |
| ], |
| "center_of_mass_m": [ |
| 0.04128444381058216, |
| -0.19315697974525392, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__split_vent", |
| "mesh_file": "meshes/split_vent.obj", |
| "mesh_objects": [ |
| "GC7890B__split_vent__trap", |
| "GC7890B__split_vent__inlet_split_line" |
| ] |
| }, |
| { |
| "id": "septum_purge", |
| "origin_m": [ |
| -0.115, |
| -0.157, |
| 0.458 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "septum_purge", |
| "name_zh": "隔垫吹扫支路", |
| "subsystem": "inlet", |
| "function_zh": "带走隔垫附近挥发物。", |
| "physical_meaning_zh": "独立支路流量参与总流量平衡，不能与分析柱流量混为一谈。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "flow", |
| "label_zh": "flow", |
| "si_unit": "m3/s", |
| "state_key": "septum_purge.flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "septum_purge.flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SSL_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.04099902743473649, |
| 0.3410424718167633, |
| 0.016917315660975873 |
| ], |
| "center_of_mass_m": [ |
| 0.019500485388562083, |
| 0.1695212359772995, |
| -0.007504157081712037 |
| ], |
| "blender_object": "GC7890B__septum_purge", |
| "mesh_file": "meshes/septum_purge.obj", |
| "mesh_objects": [ |
| "GC7890B__septum_purge__purge_tube" |
| ] |
| }, |
| { |
| "id": "carrier_epc", |
| "origin_m": [ |
| -0.175, |
| 0.105, |
| 0.414 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.4298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.044, |
| 0.071, |
| 0.033 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.037, |
| 0.02 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.026 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "carrier_epc", |
| "name_zh": "载气电子压力控制模块", |
| "subsystem": "gas", |
| "function_zh": "调节进样口载气条件。", |
| "physical_meaning_zh": "通过反馈调节压力，柱内流量还受气体黏度、温度及柱阻力影响。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "pressure", |
| "label_zh": "pressure", |
| "si_unit": "Pa", |
| "state_key": "carrier_epc.pressure", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "carrier_epc.pressure", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "flows_m3_s.carrier", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SPECS" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.12316031008958817, |
| 0.4177061915397644, |
| 0.05249999091029167 |
| ], |
| "center_of_mass_m": [ |
| 0.03958015516400337, |
| -0.0587487518787384, |
| 0.009749995544552803 |
| ], |
| "blender_object": "GC7890B__carrier_epc", |
| "mesh_file": "meshes/carrier_epc.obj", |
| "mesh_objects": [ |
| "GC7890B__carrier_epc__regulator_block", |
| "GC7890B__carrier_epc__solenoid", |
| "GC7890B__carrier_epc__supply_path", |
| "GC7890B__carrier_epc__regulated_output" |
| ] |
| }, |
| { |
| "id": "hydrogen_epc", |
| "origin_m": [ |
| -0.06, |
| 0.105, |
| 0.414 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.4298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.044, |
| 0.071, |
| 0.033 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.037, |
| 0.02 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.026 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "hydrogen_epc", |
| "name_zh": "FID氢气控制通道", |
| "subsystem": "gas", |
| "function_zh": "控制FID燃料氢气。", |
| "physical_meaning_zh": "燃料流量影响火焰状态；模块视为固定控制子系统。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "flow", |
| "label_zh": "flow", |
| "si_unit": "m3/s", |
| "state_key": "hydrogen_epc.flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "hydrogen_epc.flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "flows_m3_s.hydrogen", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.1580561250448227, |
| 0.4178622364997864, |
| 0.05249999091029167 |
| ], |
| "center_of_mass_m": [ |
| 0.057028062641620636, |
| -0.05882677435874939, |
| 0.009749995544552803 |
| ], |
| "blender_object": "GC7890B__hydrogen_epc", |
| "mesh_file": "meshes/hydrogen_epc.obj", |
| "mesh_objects": [ |
| "GC7890B__hydrogen_epc__regulator_block", |
| "GC7890B__hydrogen_epc__solenoid", |
| "GC7890B__hydrogen_epc__supply_path", |
| "GC7890B__hydrogen_epc__regulated_output" |
| ] |
| }, |
| { |
| "id": "air_epc", |
| "origin_m": [ |
| 0.04, |
| 0.105, |
| 0.414 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.4298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.044, |
| 0.071, |
| 0.033 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.037, |
| 0.02 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.026 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "air_epc", |
| "name_zh": "FID空气控制通道", |
| "subsystem": "gas", |
| "function_zh": "控制FID助燃空气。", |
| "physical_meaning_zh": "氧化剂供给与燃料供给共同影响燃烧条件。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "flow", |
| "label_zh": "flow", |
| "si_unit": "m3/s", |
| "state_key": "air_epc.flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "air_epc.flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "flows_m3_s.air", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.05829070135951042, |
| 0.417283296585083, |
| 0.05249999091029167 |
| ], |
| "center_of_mass_m": [ |
| 0.0071453507989645, |
| -0.058537304401397705, |
| 0.009749995544552803 |
| ], |
| "blender_object": "GC7890B__air_epc", |
| "mesh_file": "meshes/air_epc.obj", |
| "mesh_objects": [ |
| "GC7890B__air_epc__regulator_block", |
| "GC7890B__air_epc__solenoid", |
| "GC7890B__air_epc__supply_path", |
| "GC7890B__air_epc__regulated_output" |
| ] |
| }, |
| { |
| "id": "makeup_epc", |
| "origin_m": [ |
| 0.13, |
| 0.105, |
| 0.414 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.4298568814697849, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.044, |
| 0.071, |
| 0.033 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.037, |
| 0.02 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.026 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "makeup_epc", |
| "name_zh": "FID尾吹气控制通道", |
| "subsystem": "gas", |
| "function_zh": "为毛细管柱检测提供辅助气流。", |
| "physical_meaning_zh": "尾吹气改变检测区总流量与停留时间，不是样品本身。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "flow", |
| "label_zh": "flow", |
| "si_unit": "m3/s", |
| "state_key": "makeup_epc.flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "makeup_epc.flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "flows_m3_s.makeup", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.07819937914609909, |
| 0.4176049530506134, |
| 0.05249999091029167 |
| ], |
| "center_of_mass_m": [ |
| -0.017099689692258835, |
| -0.0586981326341629, |
| 0.009749995544552803 |
| ], |
| "blender_object": "GC7890B__makeup_epc", |
| "mesh_file": "meshes/makeup_epc.obj", |
| "mesh_objects": [ |
| "GC7890B__makeup_epc__regulator_block", |
| "GC7890B__makeup_epc__solenoid", |
| "GC7890B__makeup_epc__supply_path", |
| "GC7890B__makeup_epc__regulated_output" |
| ] |
| }, |
| { |
| "id": "fid_body", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.423 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.6754893851668049, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.064, |
| 0.153, |
| 0.009 |
| ], |
| "origin_m": [ |
| 0, |
| 0.055, |
| 0.003 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.044 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_body", |
| "name_zh": "氢火焰离子化检测器本体", |
| "subsystem": "fid", |
| "function_zh": "容纳柱流出物、燃气与检测电极。", |
| "physical_meaning_zh": "组分在火焰中产生可测离子流；响应依赖化学组成，不能通用于所有气体。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "temperature", |
| "label_zh": "temperature", |
| "si_unit": "K", |
| "state_key": "fid_body.temperature", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "extinguish", |
| "label_zh": "熄灭火焰", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "extinguish", |
| "kwargs": {} |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_body.temperature", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "flame_lit", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "需通过显示或数据接口映射到机器人观测。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.06400000303983688, |
| 0.15300000458955765, |
| 0.04399999976158142 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.055000003427267075, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__fid_body", |
| "mesh_file": "meshes/fid_body.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_body__mounting_pallet", |
| "GC7890B__fid_body__detector_base" |
| ] |
| }, |
| { |
| "id": "fid_jet", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.0024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_jet", |
| "name_zh": "FID喷嘴", |
| "subsystem": "fid", |
| "function_zh": "引导气流进入火焰区。", |
| "physical_meaning_zh": "喷孔阻力和流速影响气流与燃烧；标准毛细管喷嘴几何与教学可视尺寸分别记录。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "orifice_diameter", |
| "label_zh": "orifice_diameter", |
| "si_unit": "m", |
| "state_key": "fid_jet.orifice_diameter", |
| "value": 0.00029, |
| "value_evidence": "manufacturer_specified", |
| "source_id": "GC_MAINTAINING", |
| "source_locator": "第189页表31，G1531-80560" |
| }, |
| { |
| "name": "length", |
| "label_zh": "标准喷嘴总长", |
| "si_unit": "m", |
| "state_key": "fid_jet.length", |
| "value": 0.043, |
| "value_evidence": "manufacturer_specified", |
| "source_id": "GC_MAINTAINING", |
| "source_locator": "第189页表31，G1531-80560" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_jet.orifice_diameter", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第187及189页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.002400000113993883, |
| 0.002400000113993883, |
| 0.043999992311000824 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0004999954253435135 |
| ], |
| "blender_object": "GC7890B__fid_jet", |
| "mesh_file": "meshes/fid_jet.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_jet__43mm_standard_jet", |
| "GC7890B__fid_jet__jet_tip" |
| ] |
| }, |
| { |
| "id": "fid_collector", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.459 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.03684487555455299, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0105, |
| 0.024 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_collector", |
| "name_zh": "FID收集极", |
| "subsystem": "fid", |
| "function_zh": "收集火焰产生的电荷。", |
| "physical_meaning_zh": "偏置电场驱动离子迁移，收集电流为检测信号来源。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "maintenance", |
| "graspable": false, |
| "removable": true, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "current", |
| "label_zh": "current", |
| "si_unit": "A", |
| "state_key": "fid_collector.current", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "remove_or_install", |
| "label_zh": "在维护情境拆装", |
| "kind": "maintenance", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "进入维护情境。", |
| "相关热区已冷却且相关气路已隔离。", |
| "使用维护任务规定的工具与可达空间。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_collector.current", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第187、201及202页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.020999999716877937, |
| 0.020999999716877937, |
| 0.028000012040138245 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.002000005915760994 |
| ], |
| "blender_object": "GC7890B__fid_collector", |
| "mesh_file": "meshes/fid_collector.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_collector__collector_outer", |
| "GC7890B__fid_collector__collector_opening" |
| ] |
| }, |
| { |
| "id": "fid_igniter", |
| "origin_m": [ |
| 0.089, |
| -0.162, |
| 0.459 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.009825300147880798, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_igniter", |
| "name_zh": "FID点火器", |
| "subsystem": "fid", |
| "function_zh": "为燃气点火提供局部能量。", |
| "physical_meaning_zh": "点火是有限时间的能量输入，不是持续样品信号。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "power", |
| "label_zh": "power", |
| "si_unit": "W", |
| "state_key": "fid_igniter.power", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| }, |
| { |
| "id": "ignite", |
| "label_zh": "请求点火", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "ignite", |
| "kwargs": {} |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_igniter.power", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.017999999225139618, |
| 0.004999999888241291, |
| 0.005000000819563866 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__fid_igniter", |
| "mesh_file": "meshes/fid_igniter.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_igniter__glow_plug" |
| ] |
| }, |
| { |
| "id": "fid_electrometer", |
| "origin_m": [ |
| 0.225, |
| 0.045, |
| 0.29 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.18422437777276496, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.047, |
| 0.063, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_electrometer", |
| "name_zh": "FID静电计", |
| "subsystem": "fid", |
| "function_zh": "测量微弱离子电流并形成可采集信号。", |
| "physical_meaning_zh": "输出受增益、带宽、噪声和基线影响；具体校准常数未知。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "current", |
| "label_zh": "current", |
| "si_unit": "A", |
| "state_key": "fid_electrometer.current", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_electrometer.current", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "fid_current_A", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "需通过显示或数据接口映射到机器人观测。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.17417814210057259, |
| 0.23983648791909218, |
| 0.17193571175448596 |
| ], |
| "center_of_mass_m": [ |
| -0.063589071854949, |
| -0.08841824345290661, |
| 0.08446785586420447 |
| ], |
| "blender_object": "GC7890B__fid_electrometer", |
| "mesh_file": "meshes/fid_electrometer.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_electrometer__amplifier_board", |
| "GC7890B__fid_electrometer__signal_cable" |
| ] |
| }, |
| { |
| "id": "fid_heater", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.061408125924254986, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_heater", |
| "name_zh": "FID加热器", |
| "subsystem": "fid", |
| "function_zh": "维持检测区受控温度。", |
| "physical_meaning_zh": "热输入影响冷凝与检测器稳定性；不能将设定温度等同火焰温度。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "power", |
| "label_zh": "power", |
| "si_unit": "W", |
| "state_key": "fid_heater.power", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| }, |
| { |
| "id": "set_temperature", |
| "label_zh": "设定检测器目标温度", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "set_temperature", |
| "kwargs": { |
| "zone": "fid", |
| "temperature_K": "number" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_heater.power", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_SPECS" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.03200000151991844, |
| 0.004000000189989805 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__fid_heater", |
| "mesh_file": "meshes/fid_heater.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_heater__detector_heater" |
| ] |
| }, |
| { |
| "id": "fid_sensor", |
| "origin_m": [ |
| 0.094, |
| -0.151, |
| 0.428 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 0.012281625184850998, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "fid_sensor", |
| "name_zh": "FID温度传感器", |
| "subsystem": "fid", |
| "function_zh": "观测检测器加热区温度。", |
| "physical_meaning_zh": "该观测属于检测器热区，与火焰反应区温度不同。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "temperature", |
| "label_zh": "temperature", |
| "si_unit": "K", |
| "state_key": "fid_sensor.temperature", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "fid_sensor.temperature", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "temperatures_K.fid", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "可由仪器显示或通信读取。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.002400000113993883, |
| 0.002400000113993883, |
| 0.029999999329447746 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__fid_sensor", |
| "mesh_file": "meshes/fid_sensor.obj", |
| "mesh_objects": [ |
| "GC7890B__fid_sensor__probe" |
| ] |
| }, |
| { |
| "id": "exhaust", |
| "origin_m": [ |
| 0.075, |
| -0.162, |
| 0.478 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.022106925332731793, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0065, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "exhaust", |
| "name_zh": "FID检测排气口", |
| "subsystem": "fid", |
| "function_zh": "排出检测器气流及燃烧产物。", |
| "physical_meaning_zh": "作为检测气路的物质与能量出口，与柱箱热风口区分。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "mass_flow", |
| "label_zh": "mass_flow", |
| "si_unit": "kg/s", |
| "state_key": "exhaust.mass_flow", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "exhaust.mass_flow", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.013000000268220901, |
| 0.013000000268220901, |
| 0.014599989634007215 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.00029999460093677044 |
| ], |
| "blender_object": "GC7890B__exhaust", |
| "mesh_file": "meshes/exhaust.obj", |
| "mesh_objects": [ |
| "GC7890B__exhaust__PTFE_chimney", |
| "GC7890B__exhaust__exhaust_dark_opening" |
| ] |
| }, |
| { |
| "id": "detector_cover", |
| "origin_m": [ |
| 0.059, |
| 0.058, |
| 0.472 |
| ], |
| "parent": "base_link", |
| "joint_type": "revolute", |
| "axis": [ |
| -1, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 1.92 |
| ], |
| "limit_unit": "rad", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.9825300147880798, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.201, |
| 0.298, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| -0.153, |
| 0.012 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.008, |
| 0.298, |
| 0.024 |
| ], |
| "origin_m": [ |
| 0.095, |
| -0.153, |
| 0.002 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "detector_cover", |
| "name_zh": "检测器隔热防护罩", |
| "subsystem": "fid", |
| "function_zh": "覆盖检测器区域，维护时打开以获得访问空间。", |
| "physical_meaning_zh": "隔开可接触空间与受热组件；枢轴与行程为照片估计，不推断厂商互锁。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "hinged", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "revolute", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "angle", |
| "label_zh": "angle", |
| "si_unit": "rad", |
| "state_key": "detector_cover.angle", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "detector_cover.angle", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", |
| "source_locator": "第18页" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.20100000500679016, |
| 0.2979999929666519, |
| 0.028450006619095802 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.15299998968839645, |
| 0.0042250072583556175 |
| ], |
| "blender_object": "GC7890B__detector_cover", |
| "mesh_file": "meshes/detector_cover.obj", |
| "mesh_objects": [ |
| "GC7890B__detector_cover__top_cover", |
| "GC7890B__detector_cover__right_lip", |
| "GC7890B__detector_cover__top_vent", |
| "GC7890B__detector_cover__top_vent.001", |
| "GC7890B__detector_cover__top_vent.002", |
| "GC7890B__detector_cover__top_vent.003", |
| "GC7890B__detector_cover__top_vent.004", |
| "GC7890B__detector_cover__top_vent.005", |
| "GC7890B__detector_cover__top_vent.006", |
| "GC7890B__detector_cover__top_vent.007", |
| "GC7890B__detector_cover__top_vent.008", |
| "GC7890B__detector_cover__top_vent.009", |
| "GC7890B__detector_cover__top_vent.010", |
| "GC7890B__detector_cover__top_vent.011", |
| "GC7890B__detector_cover__top_vent.012", |
| "GC7890B__detector_cover__top_vent.013", |
| "GC7890B__detector_cover__top_vent.014", |
| "GC7890B__detector_cover__top_vent.015", |
| "GC7890B__detector_cover__top_vent.016", |
| "GC7890B__detector_cover__top_vent.017", |
| "GC7890B__detector_cover__top_vent.018", |
| "GC7890B__detector_cover__top_vent.019", |
| "GC7890B__detector_cover__top_vent.020", |
| "GC7890B__detector_cover__top_vent.021" |
| ] |
| }, |
| { |
| "id": "control_panel", |
| "origin_m": [ |
| 0.223, |
| -0.246, |
| 0.258 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 1.3509787703336098, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.128, |
| 0.027, |
| 0.444 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "control_panel", |
| "name_zh": "控制面板", |
| "subsystem": "controls", |
| "function_zh": "提供仪器参数与状态的人机交互区域。", |
| "physical_meaning_zh": "把接触操作转换为离散命令；面板整体不作为独立可搬物。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "contact_force", |
| "label_zh": "contact_force", |
| "si_unit": "N", |
| "state_key": "control_panel.contact_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "control_panel.contact_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "ready", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "需通过显示或数据接口映射到机器人观测。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.12800000607967377, |
| 0.028599999845027924, |
| 0.4440000057220459 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.0007999995723366737, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__control_panel", |
| "mesh_file": "meshes/control_panel.obj", |
| "mesh_objects": [ |
| "GC7890B__control_panel__fascia", |
| "GC7890B__control_panel__brand", |
| "GC7890B__control_panel__model", |
| "GC7890B__control_panel__oven_ramp", |
| "GC7890B__control_panel__ramp_icon", |
| "GC7890B__control_panel__status" |
| ] |
| }, |
| { |
| "id": "display", |
| "origin_m": [ |
| 0.223, |
| -0.262, |
| 0.385 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.03684487555455299, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "display", |
| "name_zh": "状态显示屏", |
| "subsystem": "controls", |
| "function_zh": "呈现参数、运行状态与提示。", |
| "physical_meaning_zh": "属于可见观测界面，显示值与传感真值及系统隐藏状态应区分。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "fixed", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "display_update_period", |
| "label_zh": "display_update_period", |
| "si_unit": "s", |
| "state_key": "display.display_update_period", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "display.display_update_period", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "not_ready_reasons", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "需通过显示或数据接口映射到机器人观测。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.11699999868869781, |
| 0.0055100147146731615, |
| 0.061000000685453415 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.0007550072623416781, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__display", |
| "mesh_file": "meshes/display.obj", |
| "mesh_objects": [ |
| "GC7890B__display__display_bezel", |
| "GC7890B__display__VFD", |
| "GC7890B__display__screen_line1", |
| "GC7890B__display__screen_line2", |
| "GC7890B__display__screen_line3" |
| ] |
| }, |
| { |
| "id": "start_key", |
| "origin_m": [ |
| 0.185, |
| -0.263, |
| 0.257 |
| ], |
| "parent": "base_link", |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.001 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.0024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.003, |
| 0.009 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "start_key", |
| "name_zh": "启动键", |
| "subsystem": "controls", |
| "function_zh": "请求开始当前方法运行。", |
| "physical_meaning_zh": "触发运行状态跃迁及时间原点；不能自动代表已注入样品。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "button", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "press_force", |
| "label_zh": "press_force", |
| "si_unit": "N", |
| "state_key": "start_key.press_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "start", |
| "label_zh": "请求开始运行", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "start", |
| "kwargs": {} |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "start_key.press_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| }, |
| { |
| "id": "running", |
| "channel": "instrument_readout", |
| "runtime_api": "GC.observe", |
| "visibility_zh": "需通过显示或数据接口映射到机器人观测。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.027000000700354576, |
| 0.0032100139651447535, |
| 0.008999999612569809 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.00010500696953386068, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__start_key", |
| "mesh_file": "meshes/start_key.obj", |
| "mesh_objects": [ |
| "GC7890B__start_key__button", |
| "GC7890B__start_key__label" |
| ] |
| }, |
| { |
| "id": "stop_key", |
| "origin_m": [ |
| 0.265, |
| -0.263, |
| 0.257 |
| ], |
| "parent": "base_link", |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.001 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.0024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.003, |
| 0.009 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "stop_key", |
| "name_zh": "停止键", |
| "subsystem": "controls", |
| "function_zh": "请求停止当前分析运行。", |
| "physical_meaning_zh": "终止运行阶段而非瞬时消除余热或剩余气体。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "button", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "press_force", |
| "label_zh": "press_force", |
| "si_unit": "N", |
| "state_key": "stop_key.press_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "stop", |
| "label_zh": "请求停止运行", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "stop", |
| "kwargs": {} |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "stop_key.press_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.027000000700354576, |
| 0.0032100139651447535, |
| 0.008999999612569809 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.00010500696953386068, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__stop_key", |
| "mesh_file": "meshes/stop_key.obj", |
| "mesh_objects": [ |
| "GC7890B__stop_key__button", |
| "GC7890B__stop_key__label" |
| ] |
| }, |
| { |
| "id": "parameter_keys", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.07983056370153148, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "parameter_keys", |
| "name_zh": "参数输入键组", |
| "subsystem": "controls", |
| "function_zh": "选择参数并输入设定值。", |
| "physical_meaning_zh": "命令改变控制目标，实际温度和流量仍需经历动态响应。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "button", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "press_force", |
| "label_zh": "press_force", |
| "si_unit": "N", |
| "state_key": "parameter_keys.press_force", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "parameter_keys.press_force", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.12070001661777496, |
| 0.0033100247383117676, |
| 0.15800000727176666 |
| ], |
| "center_of_mass_m": [ |
| 0.22100000828504562, |
| -0.2631550133228302, |
| 0.1614999994635582 |
| ], |
| "blender_object": "GC7890B__parameter_keys", |
| "mesh_file": "meshes/parameter_keys.obj", |
| "mesh_objects": [ |
| "GC7890B__parameter_keys__key_Oven", |
| "GC7890B__parameter_keys__key_legend_Oven", |
| "GC7890B__parameter_keys__key_Front", |
| "GC7890B__parameter_keys__key_legend_Front", |
| "GC7890B__parameter_keys__key_Back", |
| "GC7890B__parameter_keys__key_legend_Back", |
| "GC7890B__parameter_keys__key_Column", |
| "GC7890B__parameter_keys__key_legend_Column", |
| "GC7890B__parameter_keys__key_Aux", |
| "GC7890B__parameter_keys__key_legend_Aux", |
| "GC7890B__parameter_keys__key_Status", |
| "GC7890B__parameter_keys__key_legend_Status", |
| "GC7890B__parameter_keys__key_Inlet", |
| "GC7890B__parameter_keys__key_legend_Inlet", |
| "GC7890B__parameter_keys__key_Det", |
| "GC7890B__parameter_keys__key_legend_Det", |
| "GC7890B__parameter_keys__key_Flow", |
| "GC7890B__parameter_keys__key_legend_Flow", |
| "GC7890B__parameter_keys__key_Signal", |
| "GC7890B__parameter_keys__key_legend_Signal", |
| "GC7890B__parameter_keys__key_Config", |
| "GC7890B__parameter_keys__key_legend_Config", |
| "GC7890B__parameter_keys__key_Info", |
| "GC7890B__parameter_keys__key_legend_Info", |
| "GC7890B__parameter_keys__key_Prep", |
| "GC7890B__parameter_keys__key_legend_Prep", |
| "GC7890B__parameter_keys__key_Run", |
| "GC7890B__parameter_keys__key_legend_Run", |
| "GC7890B__parameter_keys__key_Store", |
| "GC7890B__parameter_keys__key_legend_Store", |
| "GC7890B__parameter_keys__key_Load", |
| "GC7890B__parameter_keys__key_legend_Load", |
| "GC7890B__parameter_keys__key_Time", |
| "GC7890B__parameter_keys__key_legend_Time", |
| "GC7890B__parameter_keys__key_Help", |
| "GC7890B__parameter_keys__key_legend_Help", |
| "GC7890B__parameter_keys__key_7", |
| "GC7890B__parameter_keys__key_legend_7", |
| "GC7890B__parameter_keys__key_8", |
| "GC7890B__parameter_keys__key_legend_8", |
| "GC7890B__parameter_keys__key_9", |
| "GC7890B__parameter_keys__key_legend_9", |
| "GC7890B__parameter_keys__key_+", |
| "GC7890B__parameter_keys__key_legend_+", |
| "GC7890B__parameter_keys__key_-", |
| "GC7890B__parameter_keys__key_legend_-", |
| "GC7890B__parameter_keys__key_Up", |
| "GC7890B__parameter_keys__key_legend_Up", |
| "GC7890B__parameter_keys__key_4", |
| "GC7890B__parameter_keys__key_legend_4", |
| "GC7890B__parameter_keys__key_5", |
| "GC7890B__parameter_keys__key_legend_5", |
| "GC7890B__parameter_keys__key_6", |
| "GC7890B__parameter_keys__key_legend_6", |
| "GC7890B__parameter_keys__key_On", |
| "GC7890B__parameter_keys__key_legend_On", |
| "GC7890B__parameter_keys__key_Off", |
| "GC7890B__parameter_keys__key_legend_Off", |
| "GC7890B__parameter_keys__key_Dn", |
| "GC7890B__parameter_keys__key_legend_Dn", |
| "GC7890B__parameter_keys__key_1", |
| "GC7890B__parameter_keys__key_legend_1", |
| "GC7890B__parameter_keys__key_2", |
| "GC7890B__parameter_keys__key_legend_2", |
| "GC7890B__parameter_keys__key_3", |
| "GC7890B__parameter_keys__key_legend_3", |
| "GC7890B__parameter_keys__key_Yes", |
| "GC7890B__parameter_keys__key_legend_Yes", |
| "GC7890B__parameter_keys__key_No", |
| "GC7890B__parameter_keys__key_legend_No", |
| "GC7890B__parameter_keys__key_Del", |
| "GC7890B__parameter_keys__key_legend_Del", |
| "GC7890B__parameter_keys__key_0", |
| "GC7890B__parameter_keys__key_legend_0", |
| "GC7890B__parameter_keys__key_.", |
| "GC7890B__parameter_keys__key_legend_.", |
| "GC7890B__parameter_keys__key_Enter", |
| "GC7890B__parameter_keys__key_legend_Enter", |
| "GC7890B__parameter_keys__key_Clear", |
| "GC7890B__parameter_keys__key_legend_Clear", |
| "GC7890B__parameter_keys__key_Mode", |
| "GC7890B__parameter_keys__key_legend_Mode", |
| "GC7890B__parameter_keys__key_Lock", |
| "GC7890B__parameter_keys__key_legend_Lock", |
| "GC7890B__parameter_keys__key_Method", |
| "GC7890B__parameter_keys__key_legend_Method", |
| "GC7890B__parameter_keys__key_Seq", |
| "GC7890B__parameter_keys__key_legend_Seq", |
| "GC7890B__parameter_keys__key_Save", |
| "GC7890B__parameter_keys__key_legend_Save", |
| "GC7890B__parameter_keys__key_Recall", |
| "GC7890B__parameter_keys__key_legend_Recall", |
| "GC7890B__parameter_keys__key_Next", |
| "GC7890B__parameter_keys__key_legend_Next", |
| "GC7890B__parameter_keys__key_Prev", |
| "GC7890B__parameter_keys__key_legend_Prev" |
| ] |
| }, |
| { |
| "id": "power_switch", |
| "origin_m": [ |
| -0.24, |
| -0.258, |
| 0.025 |
| ], |
| "parent": "base_link", |
| "joint_type": "revolute", |
| "axis": [ |
| 1, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| -0.15, |
| 0.15 |
| ], |
| "limit_unit": "rad", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.024563250369701996, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.018, |
| 0.004, |
| 0.01 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "power_switch", |
| "name_zh": "电源开关", |
| "subsystem": "power", |
| "function_zh": "切换主机供电状态。", |
| "physical_meaning_zh": "离散电连接状态影响加热和电子模块；断电后温度不会立即归零。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "switch", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "voltage", |
| "label_zh": "voltage", |
| "si_unit": "V", |
| "state_key": "power_switch.voltage", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "power", |
| "label_zh": "切换电源", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "power", |
| "kwargs": { |
| "enabled": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "power_switch.voltage", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.017999999225139618, |
| 0.004509997786954045, |
| 0.009999999776482582 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| -0.00025499879848212004, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__power_switch", |
| "mesh_file": "meshes/power_switch.obj", |
| "mesh_objects": [ |
| "GC7890B__power_switch__rocker", |
| "GC7890B__power_switch__on_off" |
| ] |
| }, |
| { |
| "id": "carrier_port", |
| "origin_m": [ |
| -0.2, |
| 0.259, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "carrier_port", |
| "name_zh": "载气入口", |
| "subsystem": "gas", |
| "function_zh": "连接外部载气供应。", |
| "physical_meaning_zh": "建立进样气路的压力和组分边界。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "supply_pressure", |
| "label_zh": "supply_pressure", |
| "si_unit": "Pa", |
| "state_key": "carrier_port.supply_pressure", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "connect_gas", |
| "label_zh": "设置气源连接", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "connect_gas", |
| "kwargs": { |
| "gas": "carrier", |
| "connected": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "carrier_port.supply_pressure", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.013000006321817636, |
| 0.03823598800227046 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0005000026430934668, |
| 0.013117993483319879 |
| ], |
| "blender_object": "GC7890B__carrier_port", |
| "mesh_file": "meshes/carrier_port.obj", |
| "mesh_objects": [ |
| "GC7890B__carrier_port__bulkhead", |
| "GC7890B__carrier_port__opening", |
| "GC7890B__carrier_port__color_tag", |
| "GC7890B__carrier_port__port_legend" |
| ] |
| }, |
| { |
| "id": "hydrogen_port", |
| "origin_m": [ |
| -0.04, |
| 0.259, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "hydrogen_port", |
| "name_zh": "氢气入口", |
| "subsystem": "gas", |
| "function_zh": "连接FID燃料供应。", |
| "physical_meaning_zh": "提供氢气压力边界，接口位置以功能示意表示。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "supply_pressure", |
| "label_zh": "supply_pressure", |
| "si_unit": "Pa", |
| "state_key": "hydrogen_port.supply_pressure", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "connect_gas", |
| "label_zh": "设置气源连接", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "connect_gas", |
| "kwargs": { |
| "gas": "hydrogen", |
| "connected": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "hydrogen_port.supply_pressure", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.013000006321817636, |
| 0.03819999052211642 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0005000026430934668, |
| 0.01309999474324286 |
| ], |
| "blender_object": "GC7890B__hydrogen_port", |
| "mesh_file": "meshes/hydrogen_port.obj", |
| "mesh_objects": [ |
| "GC7890B__hydrogen_port__bulkhead", |
| "GC7890B__hydrogen_port__opening", |
| "GC7890B__hydrogen_port__color_tag", |
| "GC7890B__hydrogen_port__port_legend" |
| ] |
| }, |
| { |
| "id": "air_port", |
| "origin_m": [ |
| 0.045, |
| 0.259, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "air_port", |
| "name_zh": "空气入口", |
| "subsystem": "gas", |
| "function_zh": "连接FID助燃气供应。", |
| "physical_meaning_zh": "提供空气压力边界，不能把空气当作任意可替换载气。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "supply_pressure", |
| "label_zh": "supply_pressure", |
| "si_unit": "Pa", |
| "state_key": "air_port.supply_pressure", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "connect_gas", |
| "label_zh": "设置气源连接", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "connect_gas", |
| "kwargs": { |
| "gas": "air", |
| "connected": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "air_port.supply_pressure", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.013000006321817636, |
| 0.03819999052211642 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0005000026430934668, |
| 0.01309999474324286 |
| ], |
| "blender_object": "GC7890B__air_port", |
| "mesh_file": "meshes/air_port.obj", |
| "mesh_objects": [ |
| "GC7890B__air_port__bulkhead", |
| "GC7890B__air_port__opening", |
| "GC7890B__air_port__color_tag", |
| "GC7890B__air_port__port_legend" |
| ] |
| }, |
| { |
| "id": "makeup_port", |
| "origin_m": [ |
| 0.13, |
| 0.259, |
| 0.425 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.04912650073940399, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "makeup_port", |
| "name_zh": "尾吹气入口", |
| "subsystem": "gas", |
| "function_zh": "表示FID尾吹气的外部供给边界。", |
| "physical_meaning_zh": "它是逻辑供给端口；实际接头与共享供气布置取决于配置，未据照片逐项验证。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "supply_pressure", |
| "label_zh": "supply_pressure", |
| "si_unit": "Pa", |
| "state_key": "makeup_port.supply_pressure", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "connect_gas", |
| "label_zh": "设置气源连接", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "connect_gas", |
| "kwargs": { |
| "gas": "makeup", |
| "connected": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "makeup_port.supply_pressure", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_FID_HELP" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.013000006321817636, |
| 0.03823598800227046 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0005000026430934668, |
| 0.013117993483319879 |
| ], |
| "blender_object": "GC7890B__makeup_port", |
| "mesh_file": "meshes/makeup_port.obj", |
| "mesh_objects": [ |
| "GC7890B__makeup_port__bulkhead", |
| "GC7890B__makeup_port__opening", |
| "GC7890B__makeup_port__color_tag", |
| "GC7890B__makeup_port__port_legend" |
| ] |
| }, |
| { |
| "id": "signal_port", |
| "origin_m": [ |
| 0.238, |
| 0.258, |
| 0.17 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.061408125924254986, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.071, |
| 0.005, |
| 0.188 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.014, |
| 0.007, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0.003, |
| 0.056 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.014, |
| 0.007, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0.003, |
| 0.03 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.029, |
| 0.007, |
| 0.009 |
| ], |
| "origin_m": [ |
| 0, |
| 0.004, |
| -0.021 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.029, |
| 0.007, |
| 0.009 |
| ], |
| "origin_m": [ |
| 0, |
| 0.004, |
| -0.055 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "signal_port", |
| "name_zh": "信号与通信接口", |
| "subsystem": "electronics", |
| "function_zh": "连接外部数据采集或控制系统。", |
| "physical_meaning_zh": "提供数据边界，不输送样品；本几何将多类通信接口概括为一语义区域。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "sampling_frequency", |
| "label_zh": "sampling_frequency", |
| "si_unit": "Hz", |
| "state_key": "signal_port.sampling_frequency", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "signal_port.sampling_frequency", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.07100000232458115, |
| 0.010000008158385754, |
| 0.18799999356269836 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0025000041350722313, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__signal_port", |
| "mesh_file": "meshes/signal_port.obj", |
| "mesh_objects": [ |
| "GC7890B__signal_port__I_O_panel", |
| "GC7890B__signal_port__LAN_USB", |
| "GC7890B__signal_port__LAN_USB.001", |
| "GC7890B__signal_port__remote_signal", |
| "GC7890B__signal_port__remote_signal.001" |
| ] |
| }, |
| { |
| "id": "power_inlet", |
| "origin_m": [ |
| -0.192, |
| 0.258, |
| 0.065 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.07368975110910599, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.032, |
| 0.013, |
| 0.024 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "power_inlet", |
| "name_zh": "电源入口", |
| "subsystem": "power", |
| "function_zh": "接入外部电源。", |
| "physical_meaning_zh": "定义电压、电流与功率边界；连接状态与开关状态不同。", |
| "representation": { |
| "geometry_class": "photo_referenced_approximation", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "connector", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "voltage", |
| "label_zh": "voltage", |
| "si_unit": "V", |
| "state_key": "power_inlet.voltage", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "plug_power", |
| "label_zh": "连接或断开电源", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "plug_power", |
| "kwargs": { |
| "connected": "bool" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "power_inlet.voltage", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "photo_referenced_approximation", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_GETTING_STARTED" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.03200000151991844, |
| 0.016999999061226845, |
| 0.024000000208616257 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0019999993965029716, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__power_inlet", |
| "mesh_file": "meshes/power_inlet.obj", |
| "mesh_objects": [ |
| "GC7890B__power_inlet__IEC", |
| "GC7890B__power_inlet__power_pin", |
| "GC7890B__power_inlet__power_pin.001", |
| "GC7890B__power_inlet__power_pin.002" |
| ] |
| }, |
| { |
| "id": "electronics", |
| "origin_m": [ |
| 0.219, |
| 0.015, |
| 0.219 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "internal_schematic", |
| "mass_kg": 2.824773792515729, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.285, |
| 0.252 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "electronics", |
| "name_zh": "控制与采集电子模块", |
| "subsystem": "electronics", |
| "function_zh": "执行控制、信号采集与通信。", |
| "physical_meaning_zh": "离散状态机与连续传感信号在此交互，板级器件布置为内部示意。", |
| "representation": { |
| "geometry_class": "internal_schematic", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "internal", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "fixed", |
| "access_zh": "内部固定状态不得作为自由抓取物体。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "power", |
| "label_zh": "power", |
| "si_unit": "W", |
| "state_key": "electronics.power", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "inspect_semantics", |
| "label_zh": "查询内部状态语义", |
| "kind": "semantic_query", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "electronics.power", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "internal_schematic", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_MAINTAINING" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.011499995132908225, |
| 0.2849999964237213, |
| 0.25200000405311584 |
| ], |
| "center_of_mass_m": [ |
| -0.0042499975534155965, |
| 0.0, |
| 0.0 |
| ], |
| "blender_object": "GC7890B__electronics", |
| "mesh_file": "meshes/electronics.obj", |
| "mesh_objects": [ |
| "GC7890B__electronics__logic_board", |
| "GC7890B__electronics__logic_IC", |
| "GC7890B__electronics__logic_IC.001", |
| "GC7890B__electronics__logic_IC.002", |
| "GC7890B__electronics__logic_IC.003", |
| "GC7890B__electronics__logic_IC.004", |
| "GC7890B__electronics__logic_IC.005", |
| "GC7890B__electronics__logic_IC.006", |
| "GC7890B__electronics__logic_IC.007", |
| "GC7890B__electronics__logic_IC.008" |
| ] |
| }, |
| { |
| "id": "sample_vial", |
| "origin_m": [ |
| 0.39, |
| -0.16, |
| 0.02 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.015, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.012, |
| 0.04 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.013, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.024 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.007, |
| 0.001 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0285 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "sample_vial", |
| "name_zh": "样品瓶", |
| "subsystem": "accessories", |
| "function_zh": "承装待分析样品。", |
| "physical_meaning_zh": "组分质量和液体体积定义样品边界条件；本瓶不是厂商标配声明。", |
| "representation": { |
| "geometry_class": "generic_accessory", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "free", |
| "graspable": true, |
| "removable": false, |
| "joint_type": "free", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "volume", |
| "label_zh": "volume", |
| "si_unit": "m3", |
| "state_key": "sample_vial.volume", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "grasp_or_place", |
| "label_zh": "抓取和放置", |
| "kind": "manipulation", |
| "runtime_binding": null |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "sample_vial.volume", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "generic_accessory", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.026000000536441803, |
| 0.026000000536441803, |
| 0.04900000058114529 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.004500000737607479 |
| ], |
| "blender_object": "GC7890B__sample_vial", |
| "mesh_file": "meshes/sample_vial.obj", |
| "mesh_objects": [ |
| "GC7890B__sample_vial__amber_vial", |
| "GC7890B__sample_vial__vial_cap", |
| "GC7890B__sample_vial__septum_disc" |
| ] |
| }, |
| { |
| "id": "syringe", |
| "origin_m": [ |
| 0.39, |
| -0.065, |
| 0.102 |
| ], |
| "parent": "base_link", |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "not_applicable", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.006, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.004, |
| 0.063 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.00035, |
| 0.043 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.053 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.002, |
| 0.01 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.029 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.018, |
| 0.006, |
| 0.002 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.033 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "syringe", |
| "name_zh": "手动进样针筒", |
| "subsystem": "accessories", |
| "function_zh": "计量与转移液体样品并将针头对准进样口。", |
| "physical_meaning_zh": "针筒位姿、内容物体积和针头插入状态共同约束转移；为外围演示附件。", |
| "representation": { |
| "geometry_class": "generic_accessory", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "free", |
| "graspable": true, |
| "removable": false, |
| "joint_type": "free", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "volume", |
| "label_zh": "volume", |
| "si_unit": "m3", |
| "state_key": "syringe.volume", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "grasp_or_place", |
| "label_zh": "抓取和放置", |
| "kind": "manipulation", |
| "runtime_binding": null |
| }, |
| { |
| "id": "aspirate", |
| "label_zh": "从样品瓶吸取样品", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "aspirate", |
| "kwargs": { |
| "fraction": "number" |
| } |
| } |
| }, |
| { |
| "id": "insert_syringe", |
| "label_zh": "插入进样针", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "insert_syringe", |
| "kwargs": {} |
| } |
| }, |
| { |
| "id": "retract_syringe", |
| "label_zh": "退出进样针", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "retract_syringe", |
| "kwargs": {} |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "syringe.volume", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "generic_accessory", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.017999999225139618, |
| 0.008340000174939632, |
| 0.10849999263882637 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| -0.020250005647540092 |
| ], |
| "blender_object": "GC7890B__syringe", |
| "mesh_file": "meshes/syringe.obj", |
| "mesh_objects": [ |
| "GC7890B__syringe__barrel", |
| "GC7890B__syringe__needle", |
| "GC7890B__syringe__needle_hub", |
| "GC7890B__syringe__finger_flange", |
| "GC7890B__syringe__graduation", |
| "GC7890B__syringe__graduation.001", |
| "GC7890B__syringe__graduation.002", |
| "GC7890B__syringe__graduation.003", |
| "GC7890B__syringe__graduation.004", |
| "GC7890B__syringe__graduation.005", |
| "GC7890B__syringe__graduation.006", |
| "GC7890B__syringe__graduation.007", |
| "GC7890B__syringe__graduation.008", |
| "GC7890B__syringe__graduation.009", |
| "GC7890B__syringe__graduation.010" |
| ] |
| }, |
| { |
| "id": "plunger", |
| "origin_m": [ |
| 0, |
| 0, |
| 0.04 |
| ], |
| "parent": "syringe", |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| 0, |
| 0.032 |
| ], |
| "limit_unit": "m", |
| "limit_evidence": "engineering_assumption", |
| "geometry_evidence": "photo_estimate", |
| "mass_kg": 0.001, |
| "mass_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0008, |
| 0.071 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.007, |
| 0.002 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.036 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "interaction_anchor_local_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "semantics": { |
| "id": "plunger", |
| "name_zh": "针筒推杆", |
| "subsystem": "accessories", |
| "function_zh": "改变针筒内部有效容积。", |
| "physical_meaning_zh": "推杆位移乘有效截面积对应排量；针头未连通目标时不能把位移当有效进样。", |
| "representation": { |
| "geometry_class": "generic_accessory", |
| "precision_zh": "未验证的局部尺寸不作计量级真值。" |
| }, |
| "interaction": { |
| "category": "prismatic", |
| "graspable": false, |
| "removable": false, |
| "joint_type": "prismatic", |
| "access_zh": "根据当前动作和可达性处理接触。" |
| }, |
| "physical_quantities": [ |
| { |
| "name": "displacement", |
| "label_zh": "displacement", |
| "si_unit": "m", |
| "state_key": "plunger.displacement", |
| "value": null, |
| "value_evidence": "not_calibrated" |
| } |
| ], |
| "actions": [ |
| { |
| "id": "observe", |
| "label_zh": "观测外观或读取状态", |
| "kind": "observe", |
| "runtime_binding": null |
| }, |
| { |
| "id": "depress_plunger", |
| "label_zh": "推动推杆排样", |
| "kind": "runtime_command", |
| "runtime_binding": { |
| "api": "GC.perform", |
| "action": "depress_plunger", |
| "kwargs": { |
| "fraction": "number" |
| } |
| } |
| } |
| ], |
| "preconditions": [ |
| { |
| "applies_to": "mutating_actions", |
| "conditions_zh": [ |
| "满足任务所定义的可达性与装配条件。" |
| ], |
| "basis": "simulation_task_policy", |
| "manufacturer_interlock_claim": false |
| } |
| ], |
| "observable_states": [ |
| { |
| "id": "plunger.displacement", |
| "channel": "simulation_ground_truth", |
| "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" |
| } |
| ], |
| "evidence": { |
| "function": "manufacturer_documented_or_general_physics", |
| "geometry": "generic_accessory", |
| "dynamics": "engineering_abstraction", |
| "source_ids": [ |
| "GC_OPERATION" |
| ], |
| "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" |
| } |
| }, |
| "inertial_box_dimensions_m": [ |
| 0.014000000432133675, |
| 0.014000000432133675, |
| 0.07249999791383743 |
| ], |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0007499977946281433 |
| ], |
| "blender_object": "GC7890B__plunger", |
| "mesh_file": "meshes/plunger.obj", |
| "mesh_objects": [ |
| "GC7890B__plunger__rod", |
| "GC7890B__plunger__thumb_disc" |
| ] |
| } |
| ], |
| "contact_policies": { |
| "needle_septum": { |
| "policy": "validated puncture event then temporary pair collision filtering", |
| "owner": "host simulator", |
| "preconditions": [ |
| "needle aligned with cap corridor", |
| "septum installed", |
| "task injection state valid" |
| ], |
| "model_evidence": "task_rule" |
| }, |
| "septum_cap": { |
| "default_attachment": "fixed threaded retainer", |
| "maintenance": "unscrew then release attachment", |
| "display_q_is_not_physical_joint": true |
| }, |
| "column": { |
| "collision": "omitted for submillimeter flexible tube visual LOD", |
| "host_requirement": "separate flexible tube or protected handling proxy if column manipulation is enabled" |
| } |
| }, |
| "fluid_graph": [ |
| { |
| "from": "carrier_port", |
| "to": "carrier_epc", |
| "medium": "carrier", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "carrier_epc", |
| "to": "inlet_body", |
| "medium": "carrier", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "sample_vial", |
| "to": "syringe", |
| "medium": "liquid sample", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "syringe", |
| "to": "septum", |
| "medium": "liquid sample", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "septum", |
| "to": "liner", |
| "medium": "sample", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "liner", |
| "to": "column", |
| "medium": "carrier + analytes", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "liner", |
| "to": "split_valve", |
| "medium": "split flow", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "split_valve", |
| "to": "split_vent", |
| "medium": "split discharge", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "inlet_body", |
| "to": "septum_purge", |
| "medium": "septum purge", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "column", |
| "to": "fid_jet", |
| "medium": "eluent", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "hydrogen_port", |
| "to": "hydrogen_epc", |
| "medium": "hydrogen", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "hydrogen_epc", |
| "to": "fid_jet", |
| "medium": "fuel", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "air_port", |
| "to": "air_epc", |
| "medium": "air", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "air_epc", |
| "to": "fid_body", |
| "medium": "oxidant", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "makeup_port", |
| "to": "makeup_epc", |
| "medium": "makeup", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "makeup_epc", |
| "to": "fid_jet", |
| "medium": "makeup", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "fid_jet", |
| "to": "fid_collector", |
| "medium": "ionized combustion zone", |
| "model": "functional connectivity; routing geometry schematic" |
| }, |
| { |
| "from": "fid_body", |
| "to": "exhaust", |
| "medium": "combustion exhaust", |
| "model": "functional connectivity; routing geometry schematic" |
| } |
| ] |
| } |
