| { | |
| "$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 | |
| } | |
| } | |
| } | |
| } | |
| } | |