embodied-behavior-protocol/examples/pick-and-place.behavior.json at main · Cybefutu/embodied-behavior-protocol · GitHub

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{
  "protocol": "oebp",
  "version": "0.1.0",
  "kind": "BehaviorSpec",
  "metadata": {
    "id": "org.oebp.examples.pick-and-place",
    "revision": "1.0.0",
    "created_at": "2026-06-16T09:00:00Z",
    "license": "CC-BY-4.0",
    "tags": ["manipulation", "example"]
  },
  "spec": {
    "summary": "Pick an object from its current support surface and place it on a target surface.",
    "parameters": {
      "object": {"type": "EntityRef", "required": true},
      "target": {"type": "EntityRef", "required": true},
      "effector": {"type": "EffectorRef", "required": true}
    },
    "requirements": {
      "capabilities": [
        {"id": "oebp.capability.perception.object_pose"},
        {"id": "oebp.capability.manipulation.grasp"},
        {"id": "oebp.capability.manipulation.place"}
      ],
      "resources": ["$effector"],
      "risk_class": "R2"
    },
    "contract": {
      "preconditions": [
        {"op": "exists", "path": "$object"},
        {"op": "exists", "path": "$target"},
        {"op": "predicate", "name": "oebp.relation.visible_to", "subject": "$object", "object": "$robot"}
      ],
      "invariants": [
        {"op": "predicate", "name": "oebp.state.safety_envelope_ok", "subject": "$robot"}
      ],
      "success_conditions": [
        {"op": "predicate", "name": "oebp.relation.on", "subject": "$object", "object": "$target"}
      ],
      "failure_conditions": [
        {
          "when": {"op": "predicate", "name": "oebp.event.emergency_stop", "subject": "$robot"},
          "error_code": "oebp.error.safety.emergency_stop@1",
          "recoverable": false
        }
      ],
      "timeout_ms": 30000,
      "cancel_policy": "reach_safe_state"
    },
    "root": {
      "type": "sequence",
      "node_id": "pick-place-sequence",
      "children": [
        {
          "type": "invoke",
          "node_id": "estimate-object-pose",
          "skill": "oebp.skill.perception.estimate_pose@1",
          "args": {"entity": "$object"}
        },
        {
          "type": "invoke",
          "node_id": "reach-object",
          "skill": "oebp.skill.manipulation.reach@1",
          "args": {"target": "$object", "effector": "$effector"},
          "resources": ["$effector"]
        },
        {
          "type": "retry",
          "node_id": "retry-grasp",
          "max_attempts": 2,
          "backoff_ms": 250,
          "child": {
            "type": "invoke",
            "node_id": "grasp-object",
            "skill": "oebp.skill.manipulation.grasp@1",
            "args": {"object": "$object", "effector": "$effector"},
            "resources": ["$effector"]
          }
        },
        {
          "type": "invoke",
          "node_id": "lift-object",
          "skill": "oebp.skill.manipulation.lift@1",
          "args": {"object": "$object", "effector": "$effector", "distance_m": 0.12},
          "resources": ["$effector"]
        },
        {
          "type": "invoke",
          "node_id": "place-object",
          "skill": "oebp.skill.manipulation.place@1",
          "args": {"object": "$object", "target": "$target", "effector": "$effector"},
          "resources": ["$effector"]
        },
        {
          "type": "invoke",
          "node_id": "verify-result",
          "skill": "oebp.skill.meta.verify@1",
          "args": {"predicate": "object_on_target", "object": "$object", "target": "$target"}
        }
      ]
    },
    "recoveries": [
      {
        "on": ["oebp.error.manipulation.object_slipped@1"],
        "max_activations": 1,
        "behavior": {
          "type": "sequence",
          "node_id": "slip-recovery",
          "children": [
            {
              "type": "invoke",
              "node_id": "safe-release",
              "skill": "oebp.skill.manipulation.release@1",
              "args": {"effector": "$effector"},
              "resources": ["$effector"]
            },
            {
              "type": "invoke",
              "node_id": "re-estimate-object",
              "skill": "oebp.skill.perception.estimate_pose@1",
              "args": {"entity": "$object"}
            }
          ]
        }
      }
    ]
  }
}