{
  "$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
        }
      }
    }
  }
}