File size: 1,456 Bytes
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"$schema": "https://json-schema.org/draft/2020-12/schema",
"title": "Datumwell EmbodiedTrace EEF action",
"type": "object",
"additionalProperties": false,
"required": [
"name",
"arguments"
],
"properties": {
"name": {
"const": "move_eef"
},
"arguments": {
"type": "object",
"additionalProperties": false,
"required": [
"frame",
"target_pose",
"gripper_closure",
"max_steps"
],
"properties": {
"frame": {
"const": "robot_base"
},
"target_pose": {
"type": "object",
"additionalProperties": false,
"required": [
"position_m",
"quaternion_xyzw"
],
"properties": {
"position_m": {
"type": "array",
"minItems": 3,
"maxItems": 3,
"items": {
"type": "number"
}
},
"quaternion_xyzw": {
"type": "array",
"minItems": 4,
"maxItems": 4,
"items": {
"type": "number"
}
}
}
},
"gripper_closure": {
"type": "number",
"minimum": 0,
"maximum": 1
},
"max_steps": {
"type": "integer",
"minimum": 1,
"maximum": 15
}
}
}
}
}
|