jose_task.json

{
    "0": {
        "type": "attractioncolor",
        "mqname": "/attraction_color_queue",
        "priority": 1,
        "start_time": "now"
    },
    
    "1": {
        "type": "objectmapping",
        "start_time": "now"
    },

    "2": {
        "type": "controlwings", 
        "action_point": {"x": 25, "y": 25, "yaw": 0 },
        "endpoint_settings":  {"orientation_required": true },
        "left": "open",
        "right": "open",
        "action_point_tolerance": 15.0,
        "priority": 3,
        "start_time": "now"
    },

    "3": {
        "type": "navigateto",
        "endpoint": {"x": 25, "y": 40, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "leftward",
        "priority": 2,
        "start_time": "now"
    },

    "4": {
        "type": "navigateto",
        "endpoint": {"x": 25, "y": 35, "yaw": 0 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },

    "5": {
        "type": "navigateto",
        "endpoint": {"x": 120, "y": 45, "yaw": 0 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },

    "6": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 40, "yaw": 270 },
	    "endpoint_settings":  {"orientation_required": false },
        "move_direction": "forward",
        "priority": 2
    },


    "7": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 25, "yaw": 270 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },

    "8": {
        "type": "controlwings", 
        "action_point": {"x": 206, "y": 40, "yaw": 270 },
        "endpoint_settings":  {"orientation_required": true },
        "left": "closed",
        "right": "closed",
        "action_point_tolerance": 15.0,
        "priority": 3
    },

    "9": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 40, "yaw": 270 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "backward",
        "priority": 2
    },
    

    "10": {
        "type": "controlwings", 
        "action_point": {"x": 40, "y": 45, "yaw": 90},
        "endpoint_settings":  {"orientation_required": true },
        "left": "open",
        "right": "open",
        "action_point_tolerance": 5.0,
        "priority": 3
    },

    "11": {
        "type": "navigateto",
        "endpoint": {"x": 40, "y": 45, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },

    "12": {
        "type": "navigateto",
        "endpoint": {"x": 35, "y": 85, "yaw": 0 },
	    "endpoint_settings":  {"orientation_required": false },
        "move_direction": "forward",
        "priority": 2
    },

    "13": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 85, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },
    
    "14": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 97, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    },

    "15": {
        "type": "controlwings", 
        "action_point": {"x": 206, "y": 75, "yaw": 90},
        "left": "closed",
        "right": "closed",
        "endpoint_settings":  {"orientation_required": true },
        "action_point_tolerance": 5.0,
        "priority": 3
    },

    "16": {
        "type": "navigateto",
        "endpoint": {"x": 206, "y": 75, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "backward",
        "priority": 2
    },

    "17": {
        "type": "navigateto",
        "endpoint": {"x": 120, "y": 20, "yaw": 90 },
	    "endpoint_settings":  {"orientation_required": true },
        "move_direction": "forward",
        "priority": 2
    }
}