{
  "$defs": {
    "CartesianHybridSegment": {
      "properties": {
        "interpolation": {
          "const": "cartesian",
          "type": "string"
        },
        "speed": {
          "$ref": "#/$defs/MaxTcpSpeed",
          "default": {
            "type": "max_tcp_speed",
            "value": 1.0
          }
        },
        "switch_distance": {
          "type": "number"
        }
      },
      "required": [
        "interpolation",
        "switch_distance"
      ],
      "title": "Cartesian Hybrid Segment",
      "type": "object"
    },
    "CartesianTargetTaskInfo": {
      "description": "Configuration for a target-based task",
      "properties": {
        "target": {
          "type": "string"
        },
        "on_target_commands": {
          "items": {
            "$ref": "#/$defs/TargetTaskOnTargetSubtask"
          },
          "type": "array"
        },
        "approach": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "retreat": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "configuration_setting": {
          "$ref": "#/$defs/ConfigurationSetting"
        },
        "material_thickness": {
          "anyOf": [
            {
              "type": "number"
            }
          ],
          "description": "Material thickness in meters"
        },
        "interpolation": {
          "const": "cartesian",
          "type": "string"
        },
        "speed": {
          "$ref": "#/$defs/MaxTcpSpeed",
          "default": {
            "type": "max_tcp_speed",
            "value": 1.0
          }
        },
        "move_type": {
          "$ref": "#/$defs/MoveType",
          "default": "planning"
        }
      },
      "required": [
        "target",
        "on_target_commands",
        "approach",
        "retreat",
        "configuration_setting",
        "interpolation"
      ],
      "title": "Cartesian Target Task Info",
      "type": "object"
    },
    "ConfigurationSetting": {
      "discriminator": {
        "mapping": {
          "keep_configuration": "#/$defs/KeepConfiguration",
          "optimize_configuration": "#/$defs/OptimizeConfiguration",
          "optimize_tool_rx": "#/$defs/OptimizeToolRx",
          "optimize_tool_ry": "#/$defs/OptimizeToolRy",
          "optimize_tool_rz": "#/$defs/OptimizeToolRz",
          "optimize_tool_within_box": "#/$defs/OptimizeToolWithinBox"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/KeepConfiguration"
        },
        {
          "$ref": "#/$defs/OptimizeToolWithinBox"
        },
        {
          "$ref": "#/$defs/OptimizeConfiguration"
        },
        {
          "$ref": "#/$defs/OptimizeToolRx"
        },
        {
          "$ref": "#/$defs/OptimizeToolRy"
        },
        {
          "$ref": "#/$defs/OptimizeToolRz"
        }
      ],
      "title": "Configuration Setting"
    },
    "Constraint": {
      "description": "Constraint between actions\\n    ",
      "properties": {
        "preceding_id": {
          "description": "Preceding action ID",
          "type": "string"
        },
        "preceding_constraint": {
          "$ref": "#/$defs/ConstraintType",
          "description": "Preceder must complete motion/task before this action can start"
        },
        "succeeding_constraint": {
          "$ref": "#/$defs/ConstraintType",
          "description": "Succeeder must not start motion/task until the preceder has been satisfied"
        }
      },
      "required": [
        "preceding_id",
        "preceding_constraint",
        "succeeding_constraint"
      ],
      "title": "Constraint",
      "type": "object"
    },
    "ConstraintType": {
      "description": "Type of constraint for precedence relationships\\n    ",
      "enum": [
        "motion",
        "departure",
        "task"
      ],
      "title": "ConstraintType",
      "type": "string"
    },
    "DirectMotionSubAction": {
      "description": "Direct motion control inputs",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "direct_move",
          "type": "string"
        },
        "subtask_points": {
          "items": {
            "$ref": "#/$defs/SubtaskInputPoint"
          },
          "type": "array"
        },
        "subtask_duration": {
          "anyOf": [
            {
              "minimum": 0,
              "type": "number"
            }
          ],
          "description": "The time in seconds to spend in the subtask"
        }
      },
      "required": [
        "id",
        "type",
        "subtask_points"
      ],
      "title": "Direct Motion Sub Action",
      "type": "object"
    },
    "DocAndEndCondition": {
      "description": "Combination of end conditions with AND logic",
      "properties": {
        "type": {
          "const": "and",
          "type": "string"
        },
        "conditions": {
          "items": {
            "$ref": "#/$defs/EndConditionPlaceholder"
          },
          "minItems": 2,
          "type": "array"
        }
      },
      "required": [
        "type",
        "conditions"
      ],
      "title": "And",
      "type": "object"
    },
    "DocEndCondition": {
      "description": "Conditions for the end of an optimization run",
      "discriminator": {
        "mapping": {
          "and": "#/$defs/DocAndEndCondition",
          "or": "#/$defs/DocOrEndCondition",
          "time_convergence": "#/$defs/TimeConvergenceEndCondition",
          "time_elapsed": "#/$defs/TimeElapsedEndCondition"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/TimeConvergenceEndCondition"
        },
        {
          "$ref": "#/$defs/TimeElapsedEndCondition"
        },
        {
          "$ref": "#/$defs/DocOrEndCondition"
        },
        {
          "$ref": "#/$defs/DocAndEndCondition"
        }
      ],
      "title": "End Condition"
    },
    "DocOrEndCondition": {
      "description": "Combination of end conditions with OR logic",
      "properties": {
        "type": {
          "const": "or",
          "type": "string"
        },
        "conditions": {
          "items": {
            "$ref": "#/$defs/EndConditionPlaceholder"
          },
          "minItems": 2,
          "type": "array"
        }
      },
      "required": [
        "type",
        "conditions"
      ],
      "title": "Or",
      "type": "object"
    },
    "DriveJoint": {
      "description": "A action to drive a single joint, optionally over a specified duration.",
      "properties": {
        "goal": {
          "type": "number"
        },
        "duration": {
          "anyOf": [
            {
              "minimum": 0,
              "type": "number"
            }
          ]
        }
      },
      "required": [
        "goal"
      ],
      "title": "Drive Joint",
      "type": "object"
    },
    "DriveJointsAction": {
      "description": "Action for driving one or more joints.",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "drive_joints",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "moves": {
          "additionalProperties": {
            "$ref": "#/$defs/DriveJoint"
          },
          "propertyNames": {},
          "type": "object"
        }
      },
      "required": [
        "id",
        "type",
        "moves"
      ],
      "title": "Drive Joints Action",
      "type": "object"
    },
    "DriveJointsSubAction": {
      "description": "Sub-action for driving one or more joints.",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "drive_joints",
          "type": "string"
        },
        "moves": {
          "additionalProperties": {
            "$ref": "#/$defs/DriveJoint"
          },
          "propertyNames": {},
          "type": "object"
        }
      },
      "required": [
        "id",
        "type",
        "moves"
      ],
      "title": "Drive Joints Sub Action",
      "type": "object"
    },
    "DummyAction": {
      "deprecated": true,
      "description": "Deprecated No-Op action type",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "dummy",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Dummy Action",
      "type": "object"
    },
    "DummySubAction": {
      "deprecated": true,
      "description": "Deprecated No-Op sub-action type",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "dummy",
          "type": "string"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Dummy Sub Action",
      "type": "object"
    },
    "EndConditionPlaceholder": {
      "properties": {},
      "title": "End Condition",
      "type": "object"
    },
    "GlobalRobotInputs": {
      "description": "Robot details for global optimization",
      "properties": {
        "start_target": {
          "description": "Start target name",
          "type": "string"
        },
        "end_target": {
          "description": "End target name",
          "type": "string"
        },
        "user_defined_actuator_values": {
          "additionalProperties": {
            "items": {
              "type": "number"
            },
            "type": "array"
          },
          "default": {},
          "description": "Map of actuator name to a list of discrete actuator positions to consider in optimization",
          "propertyNames": {},
          "title": "Map[ActuatorName, List[ActuatorValue]]",
          "type": "object"
        },
        "robot_setup": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "A path to a robot setup manifest file. Relative to the root of the export"
        }
      },
      "required": [
        "start_target",
        "end_target"
      ],
      "title": "Robot Inputs",
      "type": "object"
    },
    "GunJointInfo": {
      "description": "Schedule information for a robot/preset combination",
      "properties": {
        "gun_joint_name": {
          "description": "Gun joint name",
          "type": "string"
        },
        "schedule_json": {
          "description": "Schedule JSON filename (relative location)",
          "type": "string"
        }
      },
      "required": [
        "gun_joint_name",
        "schedule_json"
      ],
      "title": "Gun Joint Info",
      "type": "object"
    },
    "HybridSegment": {
      "discriminator": {
        "mapping": {
          "cartesian": "#/$defs/CartesianHybridSegment",
          "joint": "#/$defs/JointHybridSegment"
        },
        "propertyName": "interpolation"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/CartesianHybridSegment"
        },
        {
          "$ref": "#/$defs/JointHybridSegment"
        }
      ],
      "title": "Hybrid Segment"
    },
    "HybridTargetTaskInfo": {
      "description": "Configuration for a hybrid task",
      "properties": {
        "target": {
          "type": "string"
        },
        "on_target_commands": {
          "items": {
            "$ref": "#/$defs/TargetTaskOnTargetSubtask"
          },
          "type": "array"
        },
        "approach": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "retreat": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "configuration_setting": {
          "$ref": "#/$defs/ConfigurationSetting"
        },
        "material_thickness": {
          "anyOf": [
            {
              "type": "number"
            }
          ],
          "description": "Material thickness in meters"
        },
        "interpolation": {
          "const": "hybrid",
          "type": "string"
        },
        "segments": {
          "description": "List of 2 hybrid segments",
          "items": {
            "$ref": "#/$defs/HybridSegment"
          },
          "maxItems": 2,
          "minItems": 2,
          "type": "array"
        },
        "move_type": {
          "const": "planning",
          "type": "string"
        }
      },
      "required": [
        "target",
        "on_target_commands",
        "approach",
        "retreat",
        "configuration_setting",
        "interpolation",
        "segments",
        "move_type"
      ],
      "title": "Hybrid Target Task Info",
      "type": "object"
    },
    "InterferencesPenaltyWeight": {
      "description": "Penalty weights for robots requiring interlocks with each other",
      "enum": [
        "zero",
        "low",
        "medium",
        "high"
      ],
      "title": "InterferencesPenaltyWeight",
      "type": "string"
    },
    "InterlockLocations": {
      "description": "Task interlock locations",
      "enum": [
        "before",
        "after",
        "both",
        "none"
      ],
      "title": "InterlockLocations",
      "type": "string"
    },
    "InterpolationType": {
      "description": "Interpolation type for moves\\nNote: This type is duplicated for connections table",
      "enum": [
        "joint",
        "cartesian"
      ],
      "title": "InterpolationType",
      "type": "string"
    },
    "JointHybridSegment": {
      "properties": {
        "interpolation": {
          "const": "joint",
          "type": "string"
        },
        "speed": {
          "$ref": "#/$defs/SpeedOverride",
          "default": {
            "type": "speed_override",
            "value": 1.0
          }
        },
        "switch_distance": {
          "type": "number"
        }
      },
      "required": [
        "interpolation",
        "switch_distance"
      ],
      "title": "Joint Hybrid Segment",
      "type": "object"
    },
    "JointTargetTaskInfo": {
      "description": "Configuration for a target-based task",
      "properties": {
        "target": {
          "type": "string"
        },
        "on_target_commands": {
          "items": {
            "$ref": "#/$defs/TargetTaskOnTargetSubtask"
          },
          "type": "array"
        },
        "approach": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "retreat": {
          "items": {
            "$ref": "#/$defs/TargetTaskTransientSubtask"
          },
          "type": "array"
        },
        "configuration_setting": {
          "$ref": "#/$defs/ConfigurationSetting"
        },
        "material_thickness": {
          "anyOf": [
            {
              "type": "number"
            }
          ],
          "description": "Material thickness in meters"
        },
        "interpolation": {
          "const": "joint",
          "type": "string"
        },
        "speed": {
          "$ref": "#/$defs/SpeedOverride",
          "default": {
            "type": "speed_override",
            "value": 1.0
          }
        },
        "move_type": {
          "$ref": "#/$defs/MoveType",
          "default": "planning"
        }
      },
      "required": [
        "target",
        "on_target_commands",
        "approach",
        "retreat",
        "configuration_setting",
        "interpolation"
      ],
      "title": "Joint Target Task Info",
      "type": "object"
    },
    "KeepConfiguration": {
      "description": "Configuration settings for keeping the targets' joint configuration",
      "properties": {
        "type": {
          "const": "keep_configuration",
          "type": "string"
        }
      },
      "required": [
        "type"
      ],
      "title": "Keep Configuration",
      "type": "object"
    },
    "MaxTcpSpeed": {
      "description": "Max TCP Speed, in m/s",
      "properties": {
        "type": {
          "const": "max_tcp_speed",
          "type": "string"
        },
        "value": {
          "description": "Max TCP Speed in m/s",
          "exclusiveMinimum": 0,
          "type": "number"
        }
      },
      "required": [
        "type",
        "value"
      ],
      "title": "Max Tcp Speed",
      "type": "object"
    },
    "MoveType": {
      "description": "Move type for moves",
      "enum": [
        "direct",
        "planning"
      ],
      "title": "MoveType",
      "type": "string"
    },
    "NoOpAction": {
      "description": "No-Op action type",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "noop",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "No Op Action",
      "type": "object"
    },
    "NoOpSubAction": {
      "description": "No-Op sub-action type",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "noop",
          "type": "string"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "No Op Sub Action",
      "type": "object"
    },
    "OperationAction": {
      "description": "Action for grouping and sequencing other actions",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "operation",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "children": {
          "default": [],
          "items": {
            "type": "string"
          },
          "type": "array"
        },
        "on_enter": {
          "default": [],
          "items": {
            "$ref": "#/$defs/OperationActionSubCommand"
          },
          "type": "array"
        },
        "on_end": {
          "default": [],
          "items": {
            "$ref": "#/$defs/OperationActionSubCommand"
          },
          "type": "array"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Operation Action",
      "type": "object"
    },
    "OperationActionSubCommand": {
      "description": "Operation Action Sub-Task",
      "discriminator": {
        "mapping": {
          "drive_joints": "#/$defs/DriveJointsSubAction",
          "dummy": "#/$defs/DummySubAction",
          "noop": "#/$defs/NoOpSubAction",
          "update_workcell": "#/$defs/UpdateWorkcellSubAction",
          "wait": "#/$defs/WaitSubAction",
          "wait_joints": "#/$defs/WaitJointsSubAction"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/UpdateWorkcellSubAction"
        },
        {
          "$ref": "#/$defs/WaitSubAction"
        },
        {
          "$ref": "#/$defs/NoOpSubAction"
        },
        {
          "$ref": "#/$defs/DummySubAction"
        },
        {
          "$ref": "#/$defs/DriveJointsSubAction"
        },
        {
          "$ref": "#/$defs/WaitJointsSubAction"
        }
      ],
      "title": "Action Sub Command"
    },
    "OperationsQuery": {
      "description": "Main query definition for Operations",
      "properties": {
        "use_homes_as_obstacles": {
          "default": false,
          "description": "Use this setting to ensure that the motions of each Robot do not intersect with the home configuration of the other Robots. This option is disabled for single-robot optimizations.",
          "type": "boolean"
        },
        "enable_smoothing": {
          "default": false,
          "description": "Use this setting to allow via points to use a non-zero smoothing radius",
          "type": "boolean"
        },
        "seed": {
          "default": 0,
          "description": "Seed for random number generator. The optimization could potentially return different results using different seeds.",
          "type": "integer"
        },
        "smoothing_tables": {
          "additionalProperties": {
            "anyOf": [
              {
                "items": {
                  "type": "number"
                },
                "type": "array"
              },
              {
                "$ref": "#/$defs/SmoothingTableRadius"
              },
              {
                "$ref": "#/$defs/SmoothingTablePercentage"
              }
            ],
            "description": "Smoothing table: a legacy list of floats (meters), `{type: 'meters', values: [...]}`, or `{type: 'percentage', values: [...]}`"
          },
          "default": {},
          "description": "List of supported smoothing values for each robot",
          "propertyNames": {},
          "title": "Map[Robot, SmoothingTable]",
          "type": "object"
        },
        "initial_mate_states": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Initial mate states",
          "propertyNames": {},
          "title": "Map[Mate, State]",
          "type": "object"
        },
        "initial_independent_joint_values": {
          "additionalProperties": {
            "type": "number"
          },
          "default": {},
          "description": "Map of independent actuator name to initial actuator position",
          "propertyNames": {},
          "title": "Map[ActuatorName, ActuatorValue]",
          "type": "object"
        },
        "precedence_constraints": {
          "additionalProperties": {
            "items": {
              "anyOf": [
                {
                  "$ref": "#/$defs/Constraint"
                },
                {
                  "type": "string"
                }
              ]
            },
            "type": "array"
          },
          "default": {},
          "description": "Map of action ids to list of action ids that must be completed before this action can start/be moved to",
          "title": "Precedence Constraints",
          "type": "object"
        },
        "interferences_penalty_weight": {
          "$ref": "#/$defs/InterferencesPenaltyWeight",
          "default": "medium"
        },
        "weld_schedules": {
          "anyOf": [
            {
              "additionalProperties": {
                "additionalProperties": {
                  "$ref": "#/$defs/GunJointInfo"
                },
                "propertyNames": {},
                "type": "object"
              },
              "propertyNames": {},
              "type": "object"
            }
          ],
          "description": "Map of robot Ids to preset Ids to gun joint name & path to a schedule file"
        },
        "optimize_end_conditions": {
          "anyOf": [
            {
              "$ref": "#/$defs/OptimizeEndConditions"
            }
          ],
          "description": "Optimize engine stop policy."
        },
        "robots": {
          "additionalProperties": {
            "$ref": "#/$defs/GlobalRobotInputs"
          },
          "description": "Robots for the operation",
          "propertyNames": {},
          "title": "Map[Robot, GlobalRobotInputs]",
          "type": "object"
        },
        "actions": {
          "additionalProperties": {
            "$ref": "#/$defs/OperationsQueryAction"
          },
          "description": "Actions for the operation",
          "title": "Map[OperationName, Union[DriveJointsAction, NoOpAction, OperationAction, TargetAction, UpdateWorkcellAction, WaitAction, WaitJointsAction]]",
          "type": "object"
        }
      },
      "required": [
        "robots",
        "actions"
      ],
      "title": "Operations Query Details",
      "type": "object"
    },
    "OperationsQueryAction": {
      "description": "Operation Action Top-Level Task",
      "discriminator": {
        "mapping": {
          "drive_joints": "#/$defs/DriveJointsAction",
          "dummy": "#/$defs/DummyAction",
          "noop": "#/$defs/NoOpAction",
          "operation": "#/$defs/OperationAction",
          "target": "#/$defs/TargetAction",
          "update_workcell": "#/$defs/UpdateWorkcellAction",
          "wait": "#/$defs/WaitAction",
          "wait_joints": "#/$defs/WaitJointsAction"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/DriveJointsAction"
        },
        {
          "$ref": "#/$defs/NoOpAction"
        },
        {
          "$ref": "#/$defs/OperationAction"
        },
        {
          "$ref": "#/$defs/TargetAction"
        },
        {
          "$ref": "#/$defs/UpdateWorkcellAction"
        },
        {
          "$ref": "#/$defs/WaitAction"
        },
        {
          "$ref": "#/$defs/WaitJointsAction"
        },
        {
          "$ref": "#/$defs/DummyAction"
        }
      ],
      "title": "Query Actions"
    },
    "OptimizeConfiguration": {
      "description": "Configuration settings for optimizing the configuration",
      "properties": {
        "type": {
          "const": "optimize_configuration",
          "type": "string"
        }
      },
      "required": [
        "type"
      ],
      "title": "Optimize Configuration",
      "type": "object"
    },
    "OptimizeEndConditions": {
      "description": "Engine stop policy: target stage and/or elapsed time limit.\\n\\nAt least one of stage or elapsed_time must be set.\\nmax_cycle_time is optional and only allowed when stage is minimum_result.",
      "properties": {
        "stage": {
          "anyOf": [
            {
              "$ref": "#/$defs/OptimizeStage"
            }
          ],
          "description": "Target optimization pipeline stage"
        },
        "max_cycle_time": {
          "anyOf": [
            {
              "description": "Duration in seconds",
              "exclusiveMinimum": 0,
              "type": "number"
            }
          ],
          "description": "Require best solution cycle time to be at most this value (seconds). Only evaluated when stage is minimum_result."
        },
        "elapsed_time": {
          "anyOf": [
            {
              "description": "Duration in seconds",
              "exclusiveMinimum": 0,
              "type": "number"
            }
          ],
          "description": "Stop optimization after this many seconds have elapsed"
        }
      },
      "title": "Optimize End Conditions",
      "type": "object"
    },
    "OptimizeStage": {
      "description": "Optimization pipeline stages.",
      "enum": [
        "feasibility",
        "minimum_result",
        "convergence"
      ],
      "title": "OptimizeStage",
      "type": "string"
    },
    "OptimizeToolRx": {
      "description": "Configuration settings for optimizing tool rotation around X axis",
      "properties": {
        "type": {
          "const": "optimize_tool_rx",
          "type": "string"
        },
        "allow_flip": {
          "default": false,
          "type": "boolean"
        }
      },
      "required": [
        "type"
      ],
      "title": "Optimize Tool Rx",
      "type": "object"
    },
    "OptimizeToolRy": {
      "description": "Configuration settings for optimizing tool rotation around Y axis",
      "properties": {
        "type": {
          "const": "optimize_tool_ry",
          "type": "string"
        },
        "allow_flip": {
          "default": false,
          "type": "boolean"
        }
      },
      "required": [
        "type"
      ],
      "title": "Optimize Tool Ry",
      "type": "object"
    },
    "OptimizeToolRz": {
      "description": "Configuration settings for optimizing tool rotation around Z axis",
      "properties": {
        "type": {
          "const": "optimize_tool_rz",
          "type": "string"
        },
        "allow_flip": {
          "default": false,
          "type": "boolean"
        }
      },
      "required": [
        "type"
      ],
      "title": "Optimize Tool Rz",
      "type": "object"
    },
    "OptimizeToolWithinBox": {
      "description": "Configuration settings for optimizing the tool position within a box",
      "properties": {
        "type": {
          "const": "optimize_tool_within_box",
          "type": "string"
        },
        "min_point": {
          "$ref": "#/$defs/Point",
          "description": "Minimum point of the box"
        },
        "max_point": {
          "$ref": "#/$defs/Point",
          "description": "Maximum point of the box"
        }
      },
      "required": [
        "type",
        "min_point",
        "max_point"
      ],
      "title": "Optimize Tool Within Box",
      "type": "object"
    },
    "Point": {
      "description": "3D point coordinates in meters",
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "z": {
          "type": "number"
        }
      },
      "required": [
        "x",
        "y",
        "z"
      ],
      "title": "Point",
      "type": "object"
    },
    "Pose": {
      "description": "Describes a pose in 3D space",
      "properties": {
        "xyz": {
          "description": "Position in x, y, z directions",
          "items": {
            "type": "number"
          },
          "maxItems": 3,
          "minItems": 3,
          "title": "Array3f",
          "type": "array"
        },
        "rpy": {
          "description": "Orientation in roll, pitch, yaw directions",
          "items": {
            "type": "number"
          },
          "maxItems": 3,
          "minItems": 3,
          "title": "Array3f",
          "type": "array"
        }
      },
      "required": [
        "xyz",
        "rpy"
      ],
      "title": "Pose",
      "type": "object"
    },
    "PoseOffset": {
      "description": "Describes a relative pose offset",
      "properties": {
        "type": {
          "const": "pose_offset",
          "type": "string"
        },
        "offset": {
          "$ref": "#/$defs/Pose",
          "description": "Offset from the current pose"
        },
        "external_actuator_values": {
          "additionalProperties": {
            "type": "number"
          },
          "default": {},
          "description": "External Actuator values to use at this pose",
          "propertyNames": {},
          "title": "Map[ActuatorName, ActuatorValue]",
          "type": "object"
        }
      },
      "required": [
        "type",
        "offset"
      ],
      "title": "Pose Offset",
      "type": "object"
    },
    "SmoothingPercentage": {
      "additionalProperties": false,
      "description": "Smoothing as a percentage (0-100).",
      "properties": {
        "type": {
          "const": "percentage",
          "type": "string"
        },
        "value": {
          "description": "Smoothing percentage (1-100, where 100 = maximum smoothing)",
          "exclusiveMinimum": 0,
          "maximum": 100,
          "type": "integer"
        }
      },
      "required": [
        "type",
        "value"
      ],
      "title": "Smoothing Percentage",
      "type": "object"
    },
    "SmoothingRadius": {
      "additionalProperties": false,
      "description": "Smoothing as a radius in meters.",
      "properties": {
        "type": {
          "const": "meters",
          "type": "string"
        },
        "value": {
          "description": "Smoothing radius in meters",
          "exclusiveMinimum": 0,
          "type": "number"
        }
      },
      "required": [
        "type",
        "value"
      ],
      "title": "Smoothing Radius",
      "type": "object"
    },
    "SmoothingTablePercentage": {
      "additionalProperties": false,
      "description": "Smoothing table with values as percentages.",
      "properties": {
        "type": {
          "const": "percentage",
          "type": "string"
        },
        "values": {
          "description": "Smoothing percentages (1-100)",
          "items": {
            "type": "integer"
          },
          "type": "array"
        }
      },
      "required": [
        "type",
        "values"
      ],
      "title": "Smoothing Table Percentage",
      "type": "object"
    },
    "SmoothingTableRadius": {
      "additionalProperties": false,
      "description": "Smoothing table with values in meters.",
      "properties": {
        "type": {
          "const": "meters",
          "type": "string"
        },
        "values": {
          "description": "Smoothing radii in meters",
          "items": {
            "type": "number"
          },
          "type": "array"
        }
      },
      "required": [
        "type",
        "values"
      ],
      "title": "Smoothing Table Radius",
      "type": "object"
    },
    "SmoothingUnsmoothed": {
      "additionalProperties": false,
      "description": "No smoothing (exact stop).",
      "properties": {
        "type": {
          "const": "unsmoothed",
          "type": "string"
        }
      },
      "required": [
        "type"
      ],
      "title": "Smoothing Unsmoothed",
      "type": "object"
    },
    "SpeedOverride": {
      "description": "Speed override as a float percent (0-1.0)",
      "properties": {
        "type": {
          "const": "speed_override",
          "type": "string"
        },
        "value": {
          "exclusiveMinimum": 0,
          "maximum": 1.0,
          "type": "number"
        }
      },
      "required": [
        "type",
        "value"
      ],
      "title": "Speed Override",
      "type": "object"
    },
    "SubtaskInputPoint": {
      "description": "Describes a relative pose move to execute on approaching to the target or retreating from it",
      "properties": {
        "point": {
          "$ref": "#/$defs/PoseOffset",
          "description": "Pose offset relative to the target"
        },
        "interpolation": {
          "$ref": "#/$defs/InterpolationType",
          "description": "Interpolation type for the move from the approaching point or to the retreating point"
        },
        "speed_setting": {
          "default": {
            "type": "speed_override",
            "value": 1.0
          },
          "description": "Target speed type",
          "discriminator": {
            "mapping": {
              "max_tcp_speed": "#/$defs/MaxTcpSpeed",
              "speed_override": "#/$defs/SpeedOverride"
            },
            "propertyName": "type"
          },
          "oneOf": [
            {
              "$ref": "#/$defs/SpeedOverride"
            },
            {
              "$ref": "#/$defs/MaxTcpSpeed"
            }
          ]
        },
        "smoothing": {
          "anyOf": [
            {
              "type": "number"
            },
            {
              "$ref": "#/$defs/SmoothingUnsmoothed"
            },
            {
              "$ref": "#/$defs/SmoothingPercentage"
            },
            {
              "$ref": "#/$defs/SmoothingRadius"
            }
          ],
          "default": {
            "type": "unsmoothed"
          },
          "description": "Smoothing at the approach or retreat point: `{type: 'percentage', value: 0-100}` or `{type: 'meters', value: meters}`. Ignored if direct move is not the first or last action"
        }
      },
      "required": [
        "point",
        "interpolation"
      ],
      "title": "Subtask Input Point",
      "type": "object"
    },
    "TargetAction": {
      "description": "Action for Target-Based operations",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "target",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "task": {
          "$ref": "#/$defs/TargetTaskInfo"
        },
        "task_motion_presets": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Allowed Robot States. This defines the active preset of the robot during the motion to this task.",
          "propertyNames": {},
          "title": "Map[Robot, Preset]",
          "type": "object"
        },
        "category": {
          "anyOf": [
            {
              "$ref": "#/$defs/TargetActionCategory"
            }
          ],
          "description": "Optional Target Category for organizing actions"
        },
        "share": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Shared ID to allow re-allocation of the action to a different robot"
        },
        "interlock_locations": {
          "$ref": "#/$defs/InterlockLocations",
          "default": "both"
        }
      },
      "required": [
        "id",
        "type",
        "task"
      ],
      "title": "Target Action",
      "type": "object"
    },
    "TargetActionCategory": {
      "description": "Categories for TargetActions",
      "enum": [
        "via",
        "spot",
        "path",
        "drill"
      ],
      "title": "TargetActionCategory",
      "type": "string"
    },
    "TargetTaskInfo": {
      "description": "Target Task: OneOf[CartesianTargetTaskInfo, JointTargetTaskInfo, HybridTargetTaskInfo]",
      "discriminator": {
        "mapping": {
          "cartesian": "#/$defs/CartesianTargetTaskInfo",
          "hybrid": "#/$defs/HybridTargetTaskInfo",
          "joint": "#/$defs/JointTargetTaskInfo"
        },
        "propertyName": "interpolation"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/CartesianTargetTaskInfo"
        },
        {
          "$ref": "#/$defs/JointTargetTaskInfo"
        },
        {
          "$ref": "#/$defs/HybridTargetTaskInfo"
        }
      ],
      "title": "Target Task"
    },
    "TargetTaskOnTargetSubtask": {
      "description": "On-Target Sub-Task: OneOf[UpdateWorkcell, Wait, Dummy]",
      "discriminator": {
        "mapping": {
          "drive_joints": "#/$defs/DriveJointsSubAction",
          "dummy": "#/$defs/DummySubAction",
          "noop": "#/$defs/NoOpSubAction",
          "update_workcell": "#/$defs/UpdateWorkcellSubAction",
          "wait": "#/$defs/WaitSubAction",
          "wait_joints": "#/$defs/WaitJointsSubAction"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/UpdateWorkcellSubAction"
        },
        {
          "$ref": "#/$defs/WaitSubAction"
        },
        {
          "$ref": "#/$defs/DriveJointsSubAction"
        },
        {
          "$ref": "#/$defs/WaitJointsSubAction"
        },
        {
          "$ref": "#/$defs/NoOpSubAction"
        },
        {
          "$ref": "#/$defs/DummySubAction"
        }
      ],
      "title": "On-Target Command"
    },
    "TargetTaskTransientSubtask": {
      "description": "Approach or Retreat Sub-Task: OneOf[UpdateWorkcell, Wait, DirectMotion, DriveJointsSubAction,\\n            WaitJointsSubAction Dummy]",
      "discriminator": {
        "mapping": {
          "direct_move": "#/$defs/DirectMotionSubAction",
          "drive_joints": "#/$defs/DriveJointsSubAction",
          "dummy": "#/$defs/DummySubAction",
          "noop": "#/$defs/NoOpSubAction",
          "update_workcell": "#/$defs/UpdateWorkcellSubAction",
          "wait": "#/$defs/WaitSubAction",
          "wait_joints": "#/$defs/WaitJointsSubAction"
        },
        "propertyName": "type"
      },
      "oneOf": [
        {
          "$ref": "#/$defs/UpdateWorkcellSubAction"
        },
        {
          "$ref": "#/$defs/WaitSubAction"
        },
        {
          "$ref": "#/$defs/DirectMotionSubAction"
        },
        {
          "$ref": "#/$defs/DriveJointsSubAction"
        },
        {
          "$ref": "#/$defs/WaitJointsSubAction"
        },
        {
          "$ref": "#/$defs/NoOpSubAction"
        },
        {
          "$ref": "#/$defs/DummySubAction"
        }
      ],
      "title": "Transient Sub Task"
    },
    "TimeConvergenceEndCondition": {
      "description": "End condition based on relative improvement in time",
      "properties": {
        "type": {
          "const": "time_convergence",
          "type": "string"
        },
        "time_threshold": {
          "comment": "5 minutes to 100 hours",
          "description": "Time threshold in seconds",
          "exclusiveMinimum": 0,
          "maximum": 360000,
          "minimum": 300,
          "type": "number"
        },
        "improvement_threshold": {
          "description": "Improvement threshold",
          "maximum": 10.0,
          "minimum": 0.001,
          "type": "number"
        }
      },
      "required": [
        "type",
        "time_threshold",
        "improvement_threshold"
      ],
      "title": "Time Convergence",
      "type": "object"
    },
    "TimeElapsedEndCondition": {
      "description": "End condition based on maximum time elapsed",
      "properties": {
        "type": {
          "const": "time_elapsed",
          "type": "string"
        },
        "time_threshold": {
          "comment": "5 minutes to 200 hours",
          "description": "Time threshold in seconds",
          "exclusiveMinimum": 0,
          "maximum": 720000,
          "minimum": 300,
          "type": "number"
        }
      },
      "required": [
        "type",
        "time_threshold"
      ],
      "title": "Time Elapsed",
      "type": "object"
    },
    "UpdateWorkcellAction": {
      "description": "Action for updating workcell state",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "update_workcell",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "states": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Mate state changes",
          "propertyNames": {},
          "title": "Map[Mate, State]",
          "type": "object"
        },
        "presets": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Robot Preset changes",
          "propertyNames": {},
          "title": "Map[Robot, Preset]",
          "type": "object"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Update Workcell Action",
      "type": "object"
    },
    "UpdateWorkcellSubAction": {
      "description": "Sub-Action for updating workcell state",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "update_workcell",
          "type": "string"
        },
        "states": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Mate state changes",
          "propertyNames": {},
          "title": "Map[Mate, State]",
          "type": "object"
        },
        "presets": {
          "additionalProperties": {
            "type": "string"
          },
          "default": {},
          "description": "Robot Preset changes",
          "propertyNames": {},
          "title": "Map[Robot, Preset]",
          "type": "object"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Update Workcell Sub Action",
      "type": "object"
    },
    "WaitAction": {
      "description": "Action for implementing timed waits",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "wait",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "duration": {
          "default": 0,
          "description": "Pause in execution for specified duration (seconds)",
          "maximum": 1000,
          "minimum": 0,
          "type": "number"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Wait Action",
      "type": "object"
    },
    "WaitJointsAction": {
      "description": "Action for waiting until one or more joints have completed motion.",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "wait_joints",
          "type": "string"
        },
        "parent": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Parent action ID. If not provided, this is a root action"
        },
        "joints": {
          "additionalProperties": {
            "type": "number"
          },
          "propertyNames": {},
          "type": "object"
        }
      },
      "required": [
        "id",
        "type",
        "joints"
      ],
      "title": "Wait Joints Action",
      "type": "object"
    },
    "WaitJointsSubAction": {
      "description": "Sub-action for waiting until one or more joints have completed motion.",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "wait_joints",
          "type": "string"
        },
        "joints": {
          "additionalProperties": {
            "type": "number"
          },
          "propertyNames": {},
          "type": "object"
        }
      },
      "required": [
        "id",
        "type",
        "joints"
      ],
      "title": "Wait Joints Sub Action",
      "type": "object"
    },
    "WaitSubAction": {
      "description": "Sub-Action for implementing timed waits",
      "properties": {
        "id": {
          "type": "string"
        },
        "description": {
          "anyOf": [
            {
              "type": "string"
            }
          ],
          "description": "Description of the action"
        },
        "type": {
          "const": "wait",
          "type": "string"
        },
        "duration": {
          "default": 0,
          "description": "Pause in execution for specified duration (seconds)",
          "maximum": 1000,
          "minimum": 0,
          "type": "number"
        }
      },
      "required": [
        "id",
        "type"
      ],
      "title": "Wait Sub Action",
      "type": "object"
    }
  },
  "properties": {
    "query_type": {
      "const": "operations",
      "type": "string"
    },
    "version": {
      "description": "Query API version",
      "pattern": "^(0|[1-9]\\\\d*)(?:\\\\.(0|[1-9]\\\\d*))?(?:\\\\.(0|[1-9]\\\\d*))?$",
      "type": "string"
    },
    "query": {
      "$ref": "#/$defs/OperationsQuery"
    },
    "end_condition": {
      "anyOf": [
        {
          "$ref": "#/$defs/DocEndCondition"
        }
      ]
    }
  },
  "required": [
    "query_type",
    "version",
    "query"
  ],
  "title": "Operations Query",
  "type": "object"
}