generated: '2026-08-26' method: derived source: json-schema/realtime-robotics-operations-query.schema.json name: Realtime Robotics Resolver data model description: Entity-relationship graph derived from the Operations Query JSON Schema Realtime Robotics publishes for Resolver's queries.json, plus the project.yaml structure documented in prose. This is the only formal data model the company publishes; the RapidPlan Realtime Controller and RapidSense have no schema, so their resources are recorded separately from the docs and are not part of the derived graph. root: title: Operations Query type: object required: - query_type - version - query properties: - end_condition - query - query_type - version entity_count: 63 entities: - name: CartesianHybridSegment title: Cartesian Hybrid Segment type: object required: - interpolation - switch_distance properties: - interpolation - speed - switch_distance refs: - MaxTcpSpeed - name: CartesianTargetTaskInfo title: Cartesian Target Task Info type: object required: - target - on_target_commands - approach - retreat - configuration_setting - interpolation properties: - approach - configuration_setting - interpolation - material_thickness - move_type - on_target_commands - retreat - speed - target refs: - ConfigurationSetting - MaxTcpSpeed - MoveType - TargetTaskOnTargetSubtask - TargetTaskTransientSubtask - name: ConfigurationSetting title: Configuration Setting - name: Constraint title: Constraint type: object required: - preceding_id - preceding_constraint - succeeding_constraint properties: - preceding_constraint - preceding_id - succeeding_constraint refs: - ConstraintType - name: ConstraintType title: ConstraintType type: string - name: DirectMotionSubAction title: Direct Motion Sub Action type: object required: - id - type - subtask_points properties: - description - id - subtask_duration - subtask_points - type refs: - SubtaskInputPoint - name: DocAndEndCondition title: And type: object required: - type - conditions properties: - conditions - type refs: - EndConditionPlaceholder - name: DocEndCondition title: End Condition - name: DocOrEndCondition title: Or type: object required: - type - conditions properties: - conditions - type refs: - EndConditionPlaceholder - name: DriveJoint title: Drive Joint type: object required: - goal properties: - duration - goal - name: DriveJointsAction title: Drive Joints Action type: object required: - id - type - moves properties: - description - id - moves - parent - type refs: - DriveJoint - name: DriveJointsSubAction title: Drive Joints Sub Action type: object required: - id - type - moves properties: - description - id - moves - type refs: - DriveJoint - name: DummyAction title: Dummy Action type: object required: - id - type properties: - description - id - parent - type - name: DummySubAction title: Dummy Sub Action type: object required: - id - type properties: - description - id - type - name: EndConditionPlaceholder title: End Condition type: object - name: GlobalRobotInputs title: Robot Inputs type: object required: - start_target - end_target properties: - end_target - robot_setup - start_target - user_defined_actuator_values - name: GunJointInfo title: Gun Joint Info type: object required: - gun_joint_name - schedule_json properties: - gun_joint_name - schedule_json - name: HybridSegment title: Hybrid Segment - name: HybridTargetTaskInfo title: Hybrid Target Task Info type: object required: - target - on_target_commands - approach - retreat - configuration_setting - interpolation - segments - move_type properties: - approach - configuration_setting - interpolation - material_thickness - move_type - on_target_commands - retreat - segments - target refs: - ConfigurationSetting - HybridSegment - TargetTaskOnTargetSubtask - TargetTaskTransientSubtask - name: InterferencesPenaltyWeight title: InterferencesPenaltyWeight type: string - name: InterlockLocations title: InterlockLocations type: string - name: InterpolationType title: InterpolationType type: string - name: JointHybridSegment title: Joint Hybrid Segment type: object required: - interpolation - switch_distance properties: - interpolation - speed - switch_distance refs: - SpeedOverride - name: JointTargetTaskInfo title: Joint Target Task Info type: object required: - target - on_target_commands - approach - retreat - configuration_setting - interpolation properties: - approach - configuration_setting - interpolation - material_thickness - move_type - on_target_commands - retreat - speed - target refs: - ConfigurationSetting - MoveType - SpeedOverride - TargetTaskOnTargetSubtask - TargetTaskTransientSubtask - name: KeepConfiguration title: Keep Configuration type: object required: - type properties: - type - name: MaxTcpSpeed title: Max Tcp Speed type: object required: - type - value properties: - type - value - name: MoveType title: MoveType type: string - name: NoOpAction title: No Op Action type: object required: - id - type properties: - description - id - parent - type - name: NoOpSubAction title: No Op Sub Action type: object required: - id - type properties: - description - id - type - name: OperationAction title: Operation Action type: object required: - id - type properties: - children - description - id - on_end - on_enter - parent - type refs: - OperationActionSubCommand - name: OperationActionSubCommand title: Action Sub Command - name: OperationsQuery title: Operations Query Details type: object required: - robots - actions properties: - actions - enable_smoothing - initial_independent_joint_values - initial_mate_states - interferences_penalty_weight - optimize_end_conditions - precedence_constraints - robots - seed - smoothing_tables - use_homes_as_obstacles - weld_schedules refs: - Constraint - GlobalRobotInputs - GunJointInfo - InterferencesPenaltyWeight - OperationsQueryAction - OptimizeEndConditions - SmoothingTablePercentage - SmoothingTableRadius - name: OperationsQueryAction title: Query Actions - name: OptimizeConfiguration title: Optimize Configuration type: object required: - type properties: - type - name: OptimizeEndConditions title: Optimize End Conditions type: object properties: - elapsed_time - max_cycle_time - stage refs: - OptimizeStage - name: OptimizeStage title: OptimizeStage type: string - name: OptimizeToolRx title: Optimize Tool Rx type: object required: - type properties: - allow_flip - type - name: OptimizeToolRy title: Optimize Tool Ry type: object required: - type properties: - allow_flip - type - name: OptimizeToolRz title: Optimize Tool Rz type: object required: - type properties: - allow_flip - type - name: OptimizeToolWithinBox title: Optimize Tool Within Box type: object required: - type - min_point - max_point properties: - max_point - min_point - type refs: - Point - name: Point title: Point type: object required: - x - y - z properties: - x - y - z - name: Pose title: Pose type: object required: - xyz - rpy properties: - rpy - xyz - name: PoseOffset title: Pose Offset type: object required: - type - offset properties: - external_actuator_values - offset - type refs: - Pose - name: SmoothingPercentage title: Smoothing Percentage type: object required: - type - value properties: - type - value - name: SmoothingRadius title: Smoothing Radius type: object required: - type - value properties: - type - value - name: SmoothingTablePercentage title: Smoothing Table Percentage type: object required: - type - values properties: - type - values - name: SmoothingTableRadius title: Smoothing Table Radius type: object required: - type - values properties: - type - values - name: SmoothingUnsmoothed title: Smoothing Unsmoothed type: object required: - type properties: - type - name: SpeedOverride title: Speed Override type: object required: - type - value properties: - type - value - name: SubtaskInputPoint title: Subtask Input Point type: object required: - point - interpolation properties: - interpolation - point - smoothing - speed_setting refs: - InterpolationType - MaxTcpSpeed - PoseOffset - SmoothingPercentage - SmoothingRadius - SmoothingUnsmoothed - SpeedOverride - name: TargetAction title: Target Action type: object required: - id - type - task properties: - category - description - id - interlock_locations - parent - share - task - task_motion_presets - type refs: - InterlockLocations - TargetActionCategory - TargetTaskInfo - name: TargetActionCategory title: TargetActionCategory type: string - name: TargetTaskInfo title: Target Task - name: TargetTaskOnTargetSubtask title: On-Target Command - name: TargetTaskTransientSubtask title: Transient Sub Task - name: TimeConvergenceEndCondition title: Time Convergence type: object required: - type - time_threshold - improvement_threshold properties: - improvement_threshold - time_threshold - type - name: TimeElapsedEndCondition title: Time Elapsed type: object required: - type - time_threshold properties: - time_threshold - type - name: UpdateWorkcellAction title: Update Workcell Action type: object required: - id - type properties: - description - id - parent - presets - states - type - name: UpdateWorkcellSubAction title: Update Workcell Sub Action type: object required: - id - type properties: - description - id - presets - states - type - name: WaitAction title: Wait Action type: object required: - id - type properties: - description - duration - id - parent - type - name: WaitJointsAction title: Wait Joints Action type: object required: - id - type - joints properties: - description - id - joints - parent - type - name: WaitJointsSubAction title: Wait Joints Sub Action type: object required: - id - type - joints properties: - description - id - joints - type - name: WaitSubAction title: Wait Sub Action type: object required: - id - type properties: - description - duration - id - type relationships: - from: CartesianHybridSegment to: MaxTcpSpeed kind: references via: $ref - from: CartesianTargetTaskInfo to: ConfigurationSetting kind: references via: $ref - from: CartesianTargetTaskInfo to: MaxTcpSpeed kind: references via: $ref - from: CartesianTargetTaskInfo to: MoveType kind: references via: $ref - from: CartesianTargetTaskInfo to: TargetTaskOnTargetSubtask kind: references via: $ref - from: CartesianTargetTaskInfo to: TargetTaskTransientSubtask kind: references via: $ref - from: Constraint to: ConstraintType kind: references via: $ref - from: DirectMotionSubAction to: SubtaskInputPoint kind: references via: $ref - from: DocAndEndCondition to: EndConditionPlaceholder kind: references via: $ref - from: DocOrEndCondition to: EndConditionPlaceholder kind: references via: $ref - from: DriveJointsAction to: DriveJoint kind: references via: $ref - from: DriveJointsSubAction to: DriveJoint kind: references via: $ref - from: HybridTargetTaskInfo to: ConfigurationSetting kind: references via: $ref - from: HybridTargetTaskInfo to: HybridSegment kind: references via: $ref - from: HybridTargetTaskInfo to: TargetTaskOnTargetSubtask kind: references via: $ref - from: HybridTargetTaskInfo to: TargetTaskTransientSubtask kind: references via: $ref - from: JointHybridSegment to: SpeedOverride kind: references via: $ref - from: JointTargetTaskInfo to: ConfigurationSetting kind: references via: $ref - from: JointTargetTaskInfo to: MoveType kind: references via: $ref - from: JointTargetTaskInfo to: SpeedOverride kind: references via: $ref - from: JointTargetTaskInfo to: TargetTaskOnTargetSubtask kind: references via: $ref - from: JointTargetTaskInfo to: TargetTaskTransientSubtask kind: references via: $ref - from: OperationAction to: OperationActionSubCommand kind: references via: $ref - from: OperationsQuery to: Constraint kind: references via: $ref - from: OperationsQuery to: GlobalRobotInputs kind: references via: $ref - from: OperationsQuery to: GunJointInfo kind: references via: $ref - from: OperationsQuery to: InterferencesPenaltyWeight kind: references via: $ref - from: OperationsQuery to: OperationsQueryAction kind: references via: $ref - from: OperationsQuery to: OptimizeEndConditions kind: references via: $ref - from: OperationsQuery to: SmoothingTablePercentage kind: references via: $ref - from: OperationsQuery to: SmoothingTableRadius kind: references via: $ref - from: OptimizeEndConditions to: OptimizeStage kind: references via: $ref - from: OptimizeToolWithinBox to: Point kind: references via: $ref - from: PoseOffset to: Pose kind: references via: $ref - from: SubtaskInputPoint to: InterpolationType kind: references via: $ref - from: SubtaskInputPoint to: MaxTcpSpeed kind: references via: $ref - from: SubtaskInputPoint to: PoseOffset kind: references via: $ref - from: SubtaskInputPoint to: SmoothingPercentage kind: references via: $ref - from: SubtaskInputPoint to: SmoothingRadius kind: references via: $ref - from: SubtaskInputPoint to: SmoothingUnsmoothed kind: references via: $ref - from: SubtaskInputPoint to: SpeedOverride kind: references via: $ref - from: TargetAction to: InterlockLocations kind: references via: $ref - from: TargetAction to: TargetActionCategory kind: references via: $ref - from: TargetAction to: TargetTaskInfo kind: references via: $ref relationship_count: 44 undeclared_surfaces: - api: realtime-robotics:rapidsense-api resources: - volumes - markers - sensors - status - heights - changes - changes/{id}/objects schema_published: false note: Documented as REST resources with example JSON bodies on the 2.9 RapidSense API page; no schema is published. source: https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120157/2.9+RapidSense+API - api: realtime-robotics:rapidplan-ascii-api resources: - project - robot - robot preset - workcell state - target - connection - route - frame - box - object - object state - TCP - joint configuration - deconfliction group schema_published: false note: Entity vocabulary is defined in the glossary and the naming-conventions page rather than a schema. source: https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467121951/2.9+Glossary+of+RapidPlan+Create+and+Realtime+Controller+Terms - api: realtime-robotics:resolver-cloud resources: - rtr_project - robot_models - robots - objects - frames - targets - mates - joints - variable_joint_limits - roadmaps - floor schema_published: false note: project.yaml (rtr_yaml_version 4.2.0) is specified in prose and YAML fragments; no JSON Schema is published for it. source: https://resolver.rtr.ai/docs/api/data/yaml_specification/