@horizon36596/zenith-schema 0.1.1

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Files changed (57) hide show
  1. package/LICENSE +21 -0
  2. package/NOTICE +18 -0
  3. package/README.md +24 -0
  4. package/dist/auto.d.ts +1882 -0
  5. package/dist/auto.d.ts.map +1 -0
  6. package/dist/auto.js +236 -0
  7. package/dist/auto.js.map +1 -0
  8. package/dist/common.d.ts +76 -0
  9. package/dist/common.d.ts.map +1 -0
  10. package/dist/common.js +30 -0
  11. package/dist/common.js.map +1 -0
  12. package/dist/expr.d.ts +56 -0
  13. package/dist/expr.d.ts.map +1 -0
  14. package/dist/expr.js +245 -0
  15. package/dist/expr.js.map +1 -0
  16. package/dist/field.d.ts +719 -0
  17. package/dist/field.d.ts.map +1 -0
  18. package/dist/field.js +158 -0
  19. package/dist/field.js.map +1 -0
  20. package/dist/ids.d.ts +62 -0
  21. package/dist/ids.d.ts.map +1 -0
  22. package/dist/ids.js +79 -0
  23. package/dist/ids.js.map +1 -0
  24. package/dist/index.d.ts +17 -0
  25. package/dist/index.d.ts.map +1 -0
  26. package/dist/index.js +17 -0
  27. package/dist/index.js.map +1 -0
  28. package/dist/jsonschema.d.ts +14 -0
  29. package/dist/jsonschema.d.ts.map +1 -0
  30. package/dist/jsonschema.js +31 -0
  31. package/dist/jsonschema.js.map +1 -0
  32. package/dist/link.d.ts +117 -0
  33. package/dist/link.d.ts.map +1 -0
  34. package/dist/link.js +58 -0
  35. package/dist/link.js.map +1 -0
  36. package/dist/migrate.d.ts +2699 -0
  37. package/dist/migrate.d.ts.map +1 -0
  38. package/dist/migrate.js +109 -0
  39. package/dist/migrate.js.map +1 -0
  40. package/dist/parse.d.ts +28 -0
  41. package/dist/parse.d.ts.map +1 -0
  42. package/dist/parse.js +46 -0
  43. package/dist/parse.js.map +1 -0
  44. package/dist/robot.d.ts +2935 -0
  45. package/dist/robot.d.ts.map +1 -0
  46. package/dist/robot.js +231 -0
  47. package/dist/robot.js.map +1 -0
  48. package/dist/waypoints.d.ts +63 -0
  49. package/dist/waypoints.d.ts.map +1 -0
  50. package/dist/waypoints.js +20 -0
  51. package/dist/waypoints.js.map +1 -0
  52. package/json/auto.json +683 -0
  53. package/json/field.json +457 -0
  54. package/json/link.json +110 -0
  55. package/json/robot.json +664 -0
  56. package/json/waypoints.json +50 -0
  57. package/package.json +65 -0
package/json/robot.json ADDED
@@ -0,0 +1,664 @@
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+ {
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+ "$schema": "https://json-schema.org/draft/2020-12/schema",
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+ "$id": "https://libraries.horizon36596.org/zenith/schema/v1/robot.json",
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+ "title": "Zenith robot file, formatVersion 1",
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+ "type": "object",
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+ "properties": {
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+ "$schema": {
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+ "type": "string"
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+ },
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+ "formatVersion": {
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+ "type": "number",
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+ "const": 1
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+ },
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+ "name": {
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+ "type": "string",
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+ "minLength": 1
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+ },
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+ "frame": {
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+ "type": "object",
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+ "properties": {
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+ "forward": {
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+ "type": "string",
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+ "enum": [
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+ "+x",
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+ "-x",
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+ "+y",
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+ "-y"
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+ ]
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+ },
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+ "left": {
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+ "type": "string",
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+ "enum": [
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+ "+x",
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+ "-x",
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+ "+y",
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+ "-y"
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+ ]
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+ },
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+ "headingZero": {
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+ "type": "string",
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+ "enum": [
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+ "+x",
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+ "+y"
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+ ]
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+ },
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+ "headingPositive": {
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+ "type": "string",
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+ "enum": [
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+ "ccw",
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+ "cw"
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+ ]
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+ }
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+ },
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+ "required": [
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+ "forward",
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+ "left",
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+ "headingZero",
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+ "headingPositive"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "footprint": {
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+ "type": "object",
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+ "properties": {
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+ "startIn": {
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+ "type": "object",
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+ "properties": {
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+ "lengthIn": {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ },
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+ "widthIn": {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ },
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+ "provenance": {
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+ "type": "string",
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+ "minLength": 1
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+ }
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+ },
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+ "required": [
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+ "lengthIn",
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+ "widthIn"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "expandedIn": {
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+ "$ref": "#/properties/footprint/properties/startIn"
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+ },
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+ "centreOfRotationIn": {
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+ "type": "object",
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+ "properties": {
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+ "xIn": {
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+ "type": "number"
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+ },
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+ "yIn": {
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+ "type": "number"
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "xIn",
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+ "yIn"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "heightIn": {
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+ "type": "object",
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+ "properties": {
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+ "value": {
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+ "type": "number"
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "value"
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+ ],
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+ "additionalProperties": false
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+ }
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+ },
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+ "required": [
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+ "startIn",
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+ "expandedIn",
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+ "centreOfRotationIn"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "heightIn": {
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+ "anyOf": [
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+ {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ }
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+ ]
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+ },
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+ "kinematics": {
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+ "type": "object",
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+ "properties": {
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+ "maxForwardVelInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "maxStrafeVelInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "forwardDecelInPerS2": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "strafeDecelInPerS2": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "accelInPerS2": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "maxAngularVelRadPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "defaultPathSpeedFraction": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "settleS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "strafeFractionWarn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "strafeFractionThreshold": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "sweepSpeedFraction": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "calibration": {
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+ "type": "object",
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+ "properties": {
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+ "band": {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ },
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+ "samples": {
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+ "type": "integer",
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+ "minimum": 0
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "band"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "follower": {
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+ "type": "object",
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+ "properties": {
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+ "library": {
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+ "type": "string",
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+ "enum": [
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+ "pedro"
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+ ]
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+ },
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+ "version": {
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+ "type": "string",
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+ "minLength": 1
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+ },
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+ "holdEnd": {
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+ "type": "boolean"
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+ },
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+ "forwardTranslationalPowerPerIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "strafeTranslationalPowerPerIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingPowerPerRad": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingStaticPower": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "coastPowerPerInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "coastFeedforwardPowerPerInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeFeedforwardPowerPerInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "maxBrakingPower": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingDriveRatio": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeAggression": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeLinearForwardS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeQuadraticForwardS2PerIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeLinearStrafeS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "brakeQuadraticStrafeS2PerIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingBrakeLinearS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingBrakeQuadraticS2PerRad": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "endParametricT": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "endHeadingToleranceRad": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "endTranslationalToleranceIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "endVelocityToleranceInPerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "holdTimeoutS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "headingDeviationToleranceRad": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "translationalDeviationToleranceIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "minCorrectionDistanceIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "cosineScale": {
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+ "anyOf": [
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+ {
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+ "type": "boolean"
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+ },
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+ {
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+ "type": "object",
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+ "properties": {
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+ "value": {
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+ "type": "boolean"
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "value"
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+ ],
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+ "additionalProperties": false
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+ }
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+ ]
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+ },
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+ "turnBeforeDriving": {
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+ "$ref": "#/properties/kinematics/properties/follower/properties/cosineScale"
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+ }
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+ },
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+ "required": [
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+ "library",
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+ "version",
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+ "holdEnd"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "drivetrain": {
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+ "type": "object",
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+ "properties": {
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+ "trackWidthIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "wheelBaseIn": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ },
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+ "wheelResponseRatePerS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ }
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+ },
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+ "additionalProperties": false
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+ }
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+ },
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+ "required": [
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+ "maxForwardVelInPerS",
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+ "maxStrafeVelInPerS",
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+ "forwardDecelInPerS2",
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+ "strafeDecelInPerS2",
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+ "accelInPerS2",
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+ "maxAngularVelRadPerS",
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+ "defaultPathSpeedFraction",
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+ "follower"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "mouths": {
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+ "type": "array",
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+ "items": {
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+ "type": "object",
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+ "properties": {
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+ "id": {
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+ "type": "string",
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+ "minLength": 1
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+ },
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+ "side": {
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+ "type": "string",
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+ "enum": [
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+ "FRONT",
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+ "BACK",
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+ "LEFT",
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+ "RIGHT"
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+ ]
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+ },
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+ "offsetIn": {
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+ "type": "object",
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+ "properties": {
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+ "xIn": {
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+ "type": "number"
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+ },
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+ "yIn": {
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+ "type": "number"
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+ }
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+ },
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+ "required": [
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+ "xIn",
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+ "yIn"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "widthIn": {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ },
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+ "depthIn": {
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+ "type": "number",
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+ "exclusiveMinimum": true,
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+ "minimum": 0
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "id",
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+ "side",
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+ "offsetIn",
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+ "widthIn",
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+ "depthIn"
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+ ],
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+ "additionalProperties": false
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+ }
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+ },
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+ "capacity": {
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+ "type": "object",
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+ "properties": {
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+ "elementKind": {
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+ "type": "string",
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+ "minLength": 1
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+ },
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+ "max": {
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+ "type": "integer",
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+ "minimum": 0
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+ },
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "elementKind",
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+ "max"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "shooter": {
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+ "properties": {
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+ "type": "string",
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+ "minLength": 1
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+ },
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+ "turretRangeRad": {
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+ "properties": {
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+ },
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+ "maxRad": {
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+ "provenance": {
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+ "$ref": "#/properties/footprint/properties/startIn/properties/provenance"
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+ }
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+ },
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+ "required": [
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+ "minRad",
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+ "maxRad"
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+ ],
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+ "additionalProperties": false
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+ },
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+ "cadenceS": {
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+ "additionalProperties": {
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+ "type": [
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+ "number",
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+ "string"
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+ ]
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+ }
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+ },
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+ "settleS": {
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+ "$ref": "#/properties/footprint/properties/heightIn"
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+ }
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+ },
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+ "required": [
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+ "kind"
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+ ],
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+ "additionalProperties": true
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+ },
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+ "commands": {
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+ "const": "enum"
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+ }
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+ "required": [
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+ "values"
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+ ],
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+ "const": "boolean"
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+ },
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+ }
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+ },
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+ "required": [
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+ "type"
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+ ],
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+ "additionalProperties": false
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+ },
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+ {
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+ "type": "object",
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+ "const": "string"
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+ },
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+ "default": {
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+ "type": "string"
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+ }
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+ },
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+ "required": [
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+ "type"
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+ ],
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+ "additionalProperties": false
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+ }
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+ ]
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+ }
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+ },
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+ "estimateS": {
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+ "type": "string"
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+ },
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+ "requires": {
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+ "type": "array",
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+ "items": {
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+ "minLength": 1
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+ }
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+ },
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+ "stationary": {
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+ "type": "boolean"
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+ },
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+ "movesRobot": {
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+ "type": "boolean"
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+ },
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+ "ledger": {
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+ "additionalProperties": {
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+ "number"
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+ ]
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+ }
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+ }
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+ },
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+ "required": [
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+ "name",
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+ "estimateS"
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+ ],
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+ "additionalProperties": false
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+ }
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+ },
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+ "conditions": {
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+ "type": "array",
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+ "items": {
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+ "properties": {
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+ "name": {
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+ },
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+ "summary": {
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+ },
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+ "ledger": {
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+ "full",
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+ "empty"
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+ ]
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+ }
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+ },
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+ "required": [
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+ "name"
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+ ],
651
+ "additionalProperties": false
652
+ }
653
+ }
654
+ },
655
+ "required": [
656
+ "formatVersion",
657
+ "name",
658
+ "frame",
659
+ "footprint",
660
+ "kinematics",
661
+ "commands"
662
+ ],
663
+ "additionalProperties": false
664
+ }