npm - @horizon36596/zenith-schema - Versions diffs - 0.1.1 - Mend

@horizon36596/zenith-schema 0.1.1

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Files changed (57) hide show

package/dist/robot.d.ts ADDED Viewed

@@ -0,0 +1,2935 @@
+import { z } from "zod";
+/** One footprint box. Length runs along the nose (+x in the robot frame), width across it. */
+export declare const footprintBoxSchema: z.ZodObject<{
+    lengthIn: z.ZodNumber;
+    widthIn: z.ZodNumber;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    lengthIn: number;
+    widthIn: number;
+    provenance?: string | undefined;
+}, {
+    lengthIn: number;
+    widthIn: number;
+    provenance?: string | undefined;
+}>;
+/**
+ * The footprint is fully customizable per robot: the box at the start of the match, the
+ * box with every mechanism out, and the centre of rotation as an offset from the footprint centre.
+ */
+export declare const footprintSchema: z.ZodObject<{
+    startIn: z.ZodObject<{
+        lengthIn: z.ZodNumber;
+        widthIn: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    }, {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    }>;
+    expandedIn: z.ZodObject<{
+        lengthIn: z.ZodNumber;
+        widthIn: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    }, {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    }>;
+    centreOfRotationIn: z.ZodObject<{
+        xIn: z.ZodNumber;
+        yIn: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        xIn: number;
+        yIn: number;
+        provenance?: string | undefined;
+    }, {
+        xIn: number;
+        yIn: number;
+        provenance?: string | undefined;
+    }>;
+    /** How tall the robot is, for the z gate on the STRUCTURE check. `robot.heightIn` wins over it. */
+    heightIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+}, "strip", z.ZodTypeAny, {
+    startIn: {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    };
+    expandedIn: {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    };
+    centreOfRotationIn: {
+        xIn: number;
+        yIn: number;
+        provenance?: string | undefined;
+    };
+    heightIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+}, {
+    startIn: {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    };
+    expandedIn: {
+        lengthIn: number;
+        widthIn: number;
+        provenance?: string | undefined;
+    };
+    centreOfRotationIn: {
+        xIn: number;
+        yIn: number;
+        provenance?: string | undefined;
+    };
+    heightIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+}>;
+/**
+ * A follower switch: a bare boolean, or `{ value, provenance }` so it can say where it came from
+ * like every other constant (CLAUDE.md rule 4). Both spellings are kept as written.
+ */
+export declare const valuedBooleanSchema: z.ZodUnion<[z.ZodBoolean, z.ZodObject<{
+    value: z.ZodBoolean;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    value: boolean;
+    provenance?: string | undefined;
+}, {
+    value: boolean;
+    provenance?: string | undefined;
+}>]>;
+/**
+ * The Pedro follower's gains and tolerances, all optional, read by the instant sim
+ * (`packages/core/src/sim/params.ts`). A key left out falls back to Pedro's `ForesightConfig`
+ * default or a value derived from the rest of this file, as `params.ts` lists. The key names are
+ * the sim's; declaration order here is the canonical file order.
+ */
+export declare const FOLLOWER_GAIN_KEYS: readonly ["forwardTranslationalPowerPerIn", "strafeTranslationalPowerPerIn", "headingPowerPerRad", "headingStaticPower", "coastPowerPerInPerS", "coastFeedforwardPowerPerInPerS", "brakeFeedforwardPowerPerInPerS", "maxBrakingPower", "headingDriveRatio", "brakeAggression", "brakeLinearForwardS", "brakeQuadraticForwardS2PerIn", "brakeLinearStrafeS", "brakeQuadraticStrafeS2PerIn", "headingBrakeLinearS", "headingBrakeQuadraticS2PerRad", "endParametricT", "endHeadingToleranceRad", "endTranslationalToleranceIn", "endVelocityToleranceInPerS", "holdTimeoutS", "headingDeviationToleranceRad", "translationalDeviationToleranceIn", "minCorrectionDistanceIn"];
+/** The two follower switches, `cosineScale` and `turnBeforeDriving`. */
+export declare const FOLLOWER_SWITCH_KEYS: readonly ["cosineScale", "turnBeforeDriving"];
+export declare const followerSchema: z.ZodObject<{
+    cosineScale: z.ZodOptional<z.ZodUnion<[z.ZodBoolean, z.ZodObject<{
+        value: z.ZodBoolean;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: boolean;
+        provenance?: string | undefined;
+    }, {
+        value: boolean;
+        provenance?: string | undefined;
+    }>]>>;
+    turnBeforeDriving: z.ZodOptional<z.ZodUnion<[z.ZodBoolean, z.ZodObject<{
+        value: z.ZodBoolean;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: boolean;
+        provenance?: string | undefined;
+    }, {
+        value: boolean;
+        provenance?: string | undefined;
+    }>]>>;
+    forwardTranslationalPowerPerIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    strafeTranslationalPowerPerIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingPowerPerRad: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingStaticPower: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    coastPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    coastFeedforwardPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeFeedforwardPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    maxBrakingPower: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingDriveRatio: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeAggression: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeLinearForwardS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeQuadraticForwardS2PerIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeLinearStrafeS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    brakeQuadraticStrafeS2PerIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingBrakeLinearS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingBrakeQuadraticS2PerRad: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    endParametricT: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    endHeadingToleranceRad: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    endTranslationalToleranceIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    endVelocityToleranceInPerS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    holdTimeoutS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    headingDeviationToleranceRad: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    translationalDeviationToleranceIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    minCorrectionDistanceIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    library: z.ZodEnum<["pedro"]>;
+    version: z.ZodString;
+    holdEnd: z.ZodBoolean;
+}, "strip", z.ZodTypeAny, {
+    library: "pedro";
+    version: string;
+    holdEnd: boolean;
+    forwardTranslationalPowerPerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    strafeTranslationalPowerPerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingPowerPerRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingStaticPower?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    coastPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    coastFeedforwardPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeFeedforwardPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    maxBrakingPower?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingDriveRatio?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeAggression?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeLinearForwardS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeQuadraticForwardS2PerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeLinearStrafeS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeQuadraticStrafeS2PerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingBrakeLinearS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingBrakeQuadraticS2PerRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endParametricT?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endHeadingToleranceRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endTranslationalToleranceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endVelocityToleranceInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    holdTimeoutS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingDeviationToleranceRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    translationalDeviationToleranceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    minCorrectionDistanceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    cosineScale?: boolean | {
+        value: boolean;
+        provenance?: string | undefined;
+    } | undefined;
+    turnBeforeDriving?: boolean | {
+        value: boolean;
+        provenance?: string | undefined;
+    } | undefined;
+}, {
+    library: "pedro";
+    version: string;
+    holdEnd: boolean;
+    forwardTranslationalPowerPerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    strafeTranslationalPowerPerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingPowerPerRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingStaticPower?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    coastPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    coastFeedforwardPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeFeedforwardPowerPerInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    maxBrakingPower?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingDriveRatio?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeAggression?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeLinearForwardS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeQuadraticForwardS2PerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeLinearStrafeS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    brakeQuadraticStrafeS2PerIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingBrakeLinearS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingBrakeQuadraticS2PerRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endParametricT?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endHeadingToleranceRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endTranslationalToleranceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    endVelocityToleranceInPerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    holdTimeoutS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    headingDeviationToleranceRad?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    translationalDeviationToleranceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    minCorrectionDistanceIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    cosineScale?: boolean | {
+        value: boolean;
+        provenance?: string | undefined;
+    } | undefined;
+    turnBeforeDriving?: boolean | {
+        value: boolean;
+        provenance?: string | undefined;
+    } | undefined;
+}>;
+/**
+ * The drivetrain geometry and wheel response the instant sim's plant uses. Each key is optional;
+ * the sim derives a stand-in from the footprint and the kinematics when one is left out.
+ */
+export declare const drivetrainSchema: z.ZodObject<{
+    trackWidthIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    wheelBaseIn: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    wheelResponseRatePerS: z.ZodOptional<z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+}, "strip", z.ZodTypeAny, {
+    trackWidthIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    wheelBaseIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    wheelResponseRatePerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+}, {
+    trackWidthIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    wheelBaseIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    wheelResponseRatePerS?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+}>;
+export declare const mouthSchema: z.ZodObject<{
+    id: z.ZodString;
+    side: z.ZodEnum<["FRONT", "BACK", "LEFT", "RIGHT"]>;
+    offsetIn: z.ZodObject<{
+        xIn: z.ZodNumber;
+        yIn: z.ZodNumber;
+    }, "strip", z.ZodTypeAny, {
+        xIn: number;
+        yIn: number;
+    }, {
+        xIn: number;
+        yIn: number;
+    }>;
+    widthIn: z.ZodNumber;
+    depthIn: z.ZodNumber;
+    provenance: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    id: string;
+    widthIn: number;
+    side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+    offsetIn: {
+        xIn: number;
+        yIn: number;
+    };
+    depthIn: number;
+    provenance?: string | undefined;
+}, {
+    id: string;
+    widthIn: number;
+    side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+    offsetIn: {
+        xIn: number;
+        yIn: number;
+    };
+    depthIn: number;
+    provenance?: string | undefined;
+}>;
+export declare const commandParamSchema: z.ZodDiscriminatedUnion<"type", [z.ZodObject<{
+    type: z.ZodLiteral<"integer">;
+    min: z.ZodOptional<z.ZodNumber>;
+    max: z.ZodOptional<z.ZodNumber>;
+    default: z.ZodOptional<z.ZodNumber>;
+}, "strip", z.ZodTypeAny, {
+    type: "integer";
+    min?: number | undefined;
+    max?: number | undefined;
+    default?: number | undefined;
+}, {
+    type: "integer";
+    min?: number | undefined;
+    max?: number | undefined;
+    default?: number | undefined;
+}>, z.ZodObject<{
+    type: z.ZodLiteral<"number">;
+    min: z.ZodOptional<z.ZodNumber>;
+    max: z.ZodOptional<z.ZodNumber>;
+    default: z.ZodOptional<z.ZodNumber>;
+}, "strip", z.ZodTypeAny, {
+    type: "number";
+    min?: number | undefined;
+    max?: number | undefined;
+    default?: number | undefined;
+}, {
+    type: "number";
+    min?: number | undefined;
+    max?: number | undefined;
+    default?: number | undefined;
+}>, z.ZodObject<{
+    type: z.ZodLiteral<"enum">;
+    values: z.ZodArray<z.ZodString, "many">;
+    default: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    type: "enum";
+    values: string[];
+    default?: string | undefined;
+}, {
+    type: "enum";
+    values: string[];
+    default?: string | undefined;
+}>, z.ZodObject<{
+    type: z.ZodLiteral<"boolean">;
+    default: z.ZodOptional<z.ZodBoolean>;
+}, "strip", z.ZodTypeAny, {
+    type: "boolean";
+    default?: boolean | undefined;
+}, {
+    type: "boolean";
+    default?: boolean | undefined;
+}>, z.ZodObject<{
+    type: z.ZodLiteral<"string">;
+    default: z.ZodOptional<z.ZodString>;
+}, "strip", z.ZodTypeAny, {
+    type: "string";
+    default?: string | undefined;
+}, {
+    type: "string";
+    default?: string | undefined;
+}>]>;
+/** One entry in the named-command registry. `name` must match a NamedCommands registration. */
+export declare const commandSpecSchema: z.ZodObject<{
+    name: z.ZodString;
+    summary: z.ZodOptional<z.ZodString>;
+    params: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodDiscriminatedUnion<"type", [z.ZodObject<{
+        type: z.ZodLiteral<"integer">;
+        min: z.ZodOptional<z.ZodNumber>;
+        max: z.ZodOptional<z.ZodNumber>;
+        default: z.ZodOptional<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        type: "integer";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    }, {
+        type: "integer";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    }>, z.ZodObject<{
+        type: z.ZodLiteral<"number">;
+        min: z.ZodOptional<z.ZodNumber>;
+        max: z.ZodOptional<z.ZodNumber>;
+        default: z.ZodOptional<z.ZodNumber>;
+    }, "strip", z.ZodTypeAny, {
+        type: "number";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    }, {
+        type: "number";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    }>, z.ZodObject<{
+        type: z.ZodLiteral<"enum">;
+        values: z.ZodArray<z.ZodString, "many">;
+        default: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        type: "enum";
+        values: string[];
+        default?: string | undefined;
+    }, {
+        type: "enum";
+        values: string[];
+        default?: string | undefined;
+    }>, z.ZodObject<{
+        type: z.ZodLiteral<"boolean">;
+        default: z.ZodOptional<z.ZodBoolean>;
+    }, "strip", z.ZodTypeAny, {
+        type: "boolean";
+        default?: boolean | undefined;
+    }, {
+        type: "boolean";
+        default?: boolean | undefined;
+    }>, z.ZodObject<{
+        type: z.ZodLiteral<"string">;
+        default: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        type: "string";
+        default?: string | undefined;
+    }, {
+        type: "string";
+        default?: string | undefined;
+    }>]>>>;
+    estimateS: z.ZodEffects<z.ZodString, string, string>;
+    requires: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
+    stationary: z.ZodOptional<z.ZodBoolean>;
+    movesRobot: z.ZodOptional<z.ZodBoolean>;
+    ledger: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodString, z.ZodNumber]>>>;
+}, "strip", z.ZodTypeAny, {
+    name: string;
+    estimateS: string;
+    params?: Record<string, {
+        type: "integer";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    } | {
+        type: "number";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    } | {
+        type: "enum";
+        values: string[];
+        default?: string | undefined;
+    } | {
+        type: "boolean";
+        default?: boolean | undefined;
+    } | {
+        type: "string";
+        default?: string | undefined;
+    }> | undefined;
+    summary?: string | undefined;
+    requires?: string[] | undefined;
+    stationary?: boolean | undefined;
+    movesRobot?: boolean | undefined;
+    ledger?: Record<string, string | number> | undefined;
+}, {
+    name: string;
+    estimateS: string;
+    params?: Record<string, {
+        type: "integer";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    } | {
+        type: "number";
+        min?: number | undefined;
+        max?: number | undefined;
+        default?: number | undefined;
+    } | {
+        type: "enum";
+        values: string[];
+        default?: string | undefined;
+    } | {
+        type: "boolean";
+        default?: boolean | undefined;
+    } | {
+        type: "string";
+        default?: string | undefined;
+    }> | undefined;
+    summary?: string | undefined;
+    requires?: string[] | undefined;
+    stationary?: boolean | undefined;
+    movesRobot?: boolean | undefined;
+    ledger?: Record<string, string | number> | undefined;
+}>;
+export declare const conditionSpecSchema: z.ZodObject<{
+    name: z.ZodString;
+    summary: z.ZodOptional<z.ZodString>;
+    /**
+     * Which condition means the robot is at capacity (`"full"`) or holding nothing (`"empty"`), so
+     * the instant sim can answer it from the ledger. Without it the sim assumes `hopperFull` and
+     * `hopperEmpty`.
+     */
+    ledger: z.ZodOptional<z.ZodEnum<["full", "empty"]>>;
+}, "strip", z.ZodTypeAny, {
+    name: string;
+    summary?: string | undefined;
+    ledger?: "full" | "empty" | undefined;
+}, {
+    name: string;
+    summary?: string | undefined;
+    ledger?: "full" | "empty" | undefined;
+}>;
+/**
+ * `robot.json`: everything the planner needs to know about one robot
+ * (site/docs/file-format.md). Key declaration order is the canonical file order.
+ */
+export declare const robotSchema: z.ZodObject<{
+    $schema: z.ZodOptional<z.ZodEffects<z.ZodString, string, string>>;
+    formatVersion: z.ZodLiteral<1>;
+    name: z.ZodString;
+    frame: z.ZodObject<{
+        forward: z.ZodEnum<["+x", "-x", "+y", "-y"]>;
+        left: z.ZodEnum<["+x", "-x", "+y", "-y"]>;
+        headingZero: z.ZodEnum<["+x", "+y"]>;
+        headingPositive: z.ZodEnum<["ccw", "cw"]>;
+    }, "strip", z.ZodTypeAny, {
+        left: "+x" | "+y" | "-x" | "-y";
+        headingZero: "+x" | "+y";
+        headingPositive: "ccw" | "cw";
+        forward: "+x" | "+y" | "-x" | "-y";
+    }, {
+        left: "+x" | "+y" | "-x" | "-y";
+        headingZero: "+x" | "+y";
+        headingPositive: "ccw" | "cw";
+        forward: "+x" | "+y" | "-x" | "-y";
+    }>;
+    footprint: z.ZodObject<{
+        startIn: z.ZodObject<{
+            lengthIn: z.ZodNumber;
+            widthIn: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        }, {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        }>;
+        expandedIn: z.ZodObject<{
+            lengthIn: z.ZodNumber;
+            widthIn: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        }, {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        }>;
+        centreOfRotationIn: z.ZodObject<{
+            xIn: z.ZodNumber;
+            yIn: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        }, {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        }>;
+        /** How tall the robot is, for the z gate on the STRUCTURE check. `robot.heightIn` wins over it. */
+        heightIn: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, "strip", z.ZodTypeAny, {
+        startIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        expandedIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        centreOfRotationIn: {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        };
+        heightIn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+    }, {
+        startIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        expandedIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        centreOfRotationIn: {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        };
+        heightIn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+    }>;
+    /**
+     * Robot height, for the z-range gate on the STRUCTURE check, with the provenance every constant
+     * carries. It wins over `footprint.heightIn` when both are given; `robotHeightIn` in the core is
+     * the one reader. Defaults to 18 in when both are absent.
+     */
+    heightIn: z.ZodOptional<z.ZodEffects<z.ZodUnion<[z.ZodObject<{
+        value: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        value: number;
+        provenance?: string | undefined;
+    }, {
+        value: number;
+        provenance?: string | undefined;
+    }>, z.ZodNumber]>, {
+        value: number;
+        provenance?: string | undefined;
+    }, number | {
+        value: number;
+        provenance?: string | undefined;
+    }>>;
+    kinematics: z.ZodObject<{
+        maxForwardVelInPerS: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        maxStrafeVelInPerS: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        forwardDecelInPerS2: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        strafeDecelInPerS2: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        accelInPerS2: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        maxAngularVelRadPerS: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        defaultPathSpeedFraction: z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>;
+        /** Seconds the follower spends declaring the end constraints met (`03` section 3 step 7). */
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+        /** The STRAFE_FRACTION warning threshold. `strafeFractionThreshold` is the older spelling. */
+        strafeFractionWarn: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+        strafeFractionThreshold: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+        sweepSpeedFraction: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+        /** What `07` writes back once a recorded run has been fitted: the estimate band, as a fraction. */
+        calibration: z.ZodOptional<z.ZodObject<{
+            band: z.ZodNumber;
+            samples: z.ZodOptional<z.ZodNumber>;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        }, {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        }>>;
+        follower: z.ZodObject<{
+            cosineScale: z.ZodOptional<z.ZodUnion<[z.ZodBoolean, z.ZodObject<{
+                value: z.ZodBoolean;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: boolean;
+                provenance?: string | undefined;
+            }, {
+                value: boolean;
+                provenance?: string | undefined;
+            }>]>>;
+            turnBeforeDriving: z.ZodOptional<z.ZodUnion<[z.ZodBoolean, z.ZodObject<{
+                value: z.ZodBoolean;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: boolean;
+                provenance?: string | undefined;
+            }, {
+                value: boolean;
+                provenance?: string | undefined;
+            }>]>>;
+            forwardTranslationalPowerPerIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            strafeTranslationalPowerPerIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingPowerPerRad: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingStaticPower: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            coastPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            coastFeedforwardPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeFeedforwardPowerPerInPerS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            maxBrakingPower: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingDriveRatio: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeAggression: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeLinearForwardS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeQuadraticForwardS2PerIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeLinearStrafeS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            brakeQuadraticStrafeS2PerIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingBrakeLinearS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingBrakeQuadraticS2PerRad: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            endParametricT: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            endHeadingToleranceRad: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            endTranslationalToleranceIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            endVelocityToleranceInPerS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            holdTimeoutS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            headingDeviationToleranceRad: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            translationalDeviationToleranceIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            minCorrectionDistanceIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            library: z.ZodEnum<["pedro"]>;
+            version: z.ZodString;
+            holdEnd: z.ZodBoolean;
+        }, "strip", z.ZodTypeAny, {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        }, {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        }>;
+        drivetrain: z.ZodOptional<z.ZodObject<{
+            trackWidthIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            wheelBaseIn: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+            wheelResponseRatePerS: z.ZodOptional<z.ZodObject<{
+                value: z.ZodNumber;
+                provenance: z.ZodOptional<z.ZodString>;
+            }, "strip", z.ZodTypeAny, {
+                value: number;
+                provenance?: string | undefined;
+            }, {
+                value: number;
+                provenance?: string | undefined;
+            }>>;
+        }, "strip", z.ZodTypeAny, {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        }, {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        }>>;
+    }, "strip", z.ZodTypeAny, {
+        maxForwardVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxStrafeVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        forwardDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        strafeDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        accelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxAngularVelRadPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        defaultPathSpeedFraction: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        follower: {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        };
+        settleS?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionWarn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionThreshold?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        sweepSpeedFraction?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        calibration?: {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        } | undefined;
+        drivetrain?: {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        } | undefined;
+    }, {
+        maxForwardVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxStrafeVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        forwardDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        strafeDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        accelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxAngularVelRadPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        defaultPathSpeedFraction: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        follower: {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        };
+        settleS?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionWarn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionThreshold?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        sweepSpeedFraction?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        calibration?: {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        } | undefined;
+        drivetrain?: {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        } | undefined;
+    }>;
+    mouths: z.ZodOptional<z.ZodArray<z.ZodObject<{
+        id: z.ZodString;
+        side: z.ZodEnum<["FRONT", "BACK", "LEFT", "RIGHT"]>;
+        offsetIn: z.ZodObject<{
+            xIn: z.ZodNumber;
+            yIn: z.ZodNumber;
+        }, "strip", z.ZodTypeAny, {
+            xIn: number;
+            yIn: number;
+        }, {
+            xIn: number;
+            yIn: number;
+        }>;
+        widthIn: z.ZodNumber;
+        depthIn: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        id: string;
+        widthIn: number;
+        side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+        offsetIn: {
+            xIn: number;
+            yIn: number;
+        };
+        depthIn: number;
+        provenance?: string | undefined;
+    }, {
+        id: string;
+        widthIn: number;
+        side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+        offsetIn: {
+            xIn: number;
+            yIn: number;
+        };
+        depthIn: number;
+        provenance?: string | undefined;
+    }>, "many">>;
+    capacity: z.ZodOptional<z.ZodObject<{
+        elementKind: z.ZodString;
+        max: z.ZodNumber;
+        provenance: z.ZodOptional<z.ZodString>;
+    }, "strip", z.ZodTypeAny, {
+        max: number;
+        elementKind: string;
+        provenance?: string | undefined;
+    }, {
+        max: number;
+        elementKind: string;
+        provenance?: string | undefined;
+    }>>;
+    shooter: z.ZodOptional<z.ZodObject<{
+        kind: z.ZodString;
+        turretRangeRad: z.ZodOptional<z.ZodObject<{
+            minRad: z.ZodNumber;
+            maxRad: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }>>;
+        cadenceS: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodNumber, z.ZodString]>>>;
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, "passthrough", z.ZodTypeAny, z.objectOutputType<{
+        kind: z.ZodString;
+        turretRangeRad: z.ZodOptional<z.ZodObject<{
+            minRad: z.ZodNumber;
+            maxRad: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }>>;
+        cadenceS: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodNumber, z.ZodString]>>>;
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, z.ZodTypeAny, "passthrough">, z.objectInputType<{
+        kind: z.ZodString;
+        turretRangeRad: z.ZodOptional<z.ZodObject<{
+            minRad: z.ZodNumber;
+            maxRad: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }>>;
+        cadenceS: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodNumber, z.ZodString]>>>;
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, z.ZodTypeAny, "passthrough">>>;
+    commands: z.ZodArray<z.ZodObject<{
+        name: z.ZodString;
+        summary: z.ZodOptional<z.ZodString>;
+        params: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodDiscriminatedUnion<"type", [z.ZodObject<{
+            type: z.ZodLiteral<"integer">;
+            min: z.ZodOptional<z.ZodNumber>;
+            max: z.ZodOptional<z.ZodNumber>;
+            default: z.ZodOptional<z.ZodNumber>;
+        }, "strip", z.ZodTypeAny, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        }, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        }>, z.ZodObject<{
+            type: z.ZodLiteral<"number">;
+            min: z.ZodOptional<z.ZodNumber>;
+            max: z.ZodOptional<z.ZodNumber>;
+            default: z.ZodOptional<z.ZodNumber>;
+        }, "strip", z.ZodTypeAny, {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        }, {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        }>, z.ZodObject<{
+            type: z.ZodLiteral<"enum">;
+            values: z.ZodArray<z.ZodString, "many">;
+            default: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        }, {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        }>, z.ZodObject<{
+            type: z.ZodLiteral<"boolean">;
+            default: z.ZodOptional<z.ZodBoolean>;
+        }, "strip", z.ZodTypeAny, {
+            type: "boolean";
+            default?: boolean | undefined;
+        }, {
+            type: "boolean";
+            default?: boolean | undefined;
+        }>, z.ZodObject<{
+            type: z.ZodLiteral<"string">;
+            default: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            type: "string";
+            default?: string | undefined;
+        }, {
+            type: "string";
+            default?: string | undefined;
+        }>]>>>;
+        estimateS: z.ZodEffects<z.ZodString, string, string>;
+        requires: z.ZodOptional<z.ZodArray<z.ZodString, "many">>;
+        stationary: z.ZodOptional<z.ZodBoolean>;
+        movesRobot: z.ZodOptional<z.ZodBoolean>;
+        ledger: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodString, z.ZodNumber]>>>;
+    }, "strip", z.ZodTypeAny, {
+        name: string;
+        estimateS: string;
+        params?: Record<string, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        } | {
+            type: "boolean";
+            default?: boolean | undefined;
+        } | {
+            type: "string";
+            default?: string | undefined;
+        }> | undefined;
+        summary?: string | undefined;
+        requires?: string[] | undefined;
+        stationary?: boolean | undefined;
+        movesRobot?: boolean | undefined;
+        ledger?: Record<string, string | number> | undefined;
+    }, {
+        name: string;
+        estimateS: string;
+        params?: Record<string, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        } | {
+            type: "boolean";
+            default?: boolean | undefined;
+        } | {
+            type: "string";
+            default?: string | undefined;
+        }> | undefined;
+        summary?: string | undefined;
+        requires?: string[] | undefined;
+        stationary?: boolean | undefined;
+        movesRobot?: boolean | undefined;
+        ledger?: Record<string, string | number> | undefined;
+    }>, "many">;
+    conditions: z.ZodOptional<z.ZodArray<z.ZodObject<{
+        name: z.ZodString;
+        summary: z.ZodOptional<z.ZodString>;
+        /**
+         * Which condition means the robot is at capacity (`"full"`) or holding nothing (`"empty"`), so
+         * the instant sim can answer it from the ledger. Without it the sim assumes `hopperFull` and
+         * `hopperEmpty`.
+         */
+        ledger: z.ZodOptional<z.ZodEnum<["full", "empty"]>>;
+    }, "strip", z.ZodTypeAny, {
+        name: string;
+        summary?: string | undefined;
+        ledger?: "full" | "empty" | undefined;
+    }, {
+        name: string;
+        summary?: string | undefined;
+        ledger?: "full" | "empty" | undefined;
+    }>, "many">>;
+}, "strip", z.ZodTypeAny, {
+    name: string;
+    formatVersion: 1;
+    frame: {
+        left: "+x" | "+y" | "-x" | "-y";
+        headingZero: "+x" | "+y";
+        headingPositive: "ccw" | "cw";
+        forward: "+x" | "+y" | "-x" | "-y";
+    };
+    footprint: {
+        startIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        expandedIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        centreOfRotationIn: {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        };
+        heightIn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+    };
+    kinematics: {
+        maxForwardVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxStrafeVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        forwardDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        strafeDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        accelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxAngularVelRadPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        defaultPathSpeedFraction: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        follower: {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        };
+        settleS?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionWarn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionThreshold?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        sweepSpeedFraction?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        calibration?: {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        } | undefined;
+        drivetrain?: {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        } | undefined;
+    };
+    commands: {
+        name: string;
+        estimateS: string;
+        params?: Record<string, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        } | {
+            type: "boolean";
+            default?: boolean | undefined;
+        } | {
+            type: "string";
+            default?: string | undefined;
+        }> | undefined;
+        summary?: string | undefined;
+        requires?: string[] | undefined;
+        stationary?: boolean | undefined;
+        movesRobot?: boolean | undefined;
+        ledger?: Record<string, string | number> | undefined;
+    }[];
+    $schema?: string | undefined;
+    heightIn?: {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    mouths?: {
+        id: string;
+        widthIn: number;
+        side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+        offsetIn: {
+            xIn: number;
+            yIn: number;
+        };
+        depthIn: number;
+        provenance?: string | undefined;
+    }[] | undefined;
+    capacity?: {
+        max: number;
+        elementKind: string;
+        provenance?: string | undefined;
+    } | undefined;
+    shooter?: z.objectOutputType<{
+        kind: z.ZodString;
+        turretRangeRad: z.ZodOptional<z.ZodObject<{
+            minRad: z.ZodNumber;
+            maxRad: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }>>;
+        cadenceS: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodNumber, z.ZodString]>>>;
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, z.ZodTypeAny, "passthrough"> | undefined;
+    conditions?: {
+        name: string;
+        summary?: string | undefined;
+        ledger?: "full" | "empty" | undefined;
+    }[] | undefined;
+}, {
+    name: string;
+    formatVersion: 1;
+    frame: {
+        left: "+x" | "+y" | "-x" | "-y";
+        headingZero: "+x" | "+y";
+        headingPositive: "ccw" | "cw";
+        forward: "+x" | "+y" | "-x" | "-y";
+    };
+    footprint: {
+        startIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        expandedIn: {
+            lengthIn: number;
+            widthIn: number;
+            provenance?: string | undefined;
+        };
+        centreOfRotationIn: {
+            xIn: number;
+            yIn: number;
+            provenance?: string | undefined;
+        };
+        heightIn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+    };
+    kinematics: {
+        maxForwardVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxStrafeVelInPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        forwardDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        strafeDecelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        accelInPerS2: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        maxAngularVelRadPerS: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        defaultPathSpeedFraction: {
+            value: number;
+            provenance?: string | undefined;
+        };
+        follower: {
+            library: "pedro";
+            version: string;
+            holdEnd: boolean;
+            forwardTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            strafeTranslationalPowerPerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingPowerPerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingStaticPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            coastFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeFeedforwardPowerPerInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            maxBrakingPower?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDriveRatio?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeAggression?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearForwardS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticForwardS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeLinearStrafeS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            brakeQuadraticStrafeS2PerIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeLinearS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingBrakeQuadraticS2PerRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endParametricT?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endHeadingToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endTranslationalToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            endVelocityToleranceInPerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            holdTimeoutS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            headingDeviationToleranceRad?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            translationalDeviationToleranceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            minCorrectionDistanceIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            cosineScale?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+            turnBeforeDriving?: boolean | {
+                value: boolean;
+                provenance?: string | undefined;
+            } | undefined;
+        };
+        settleS?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionWarn?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        strafeFractionThreshold?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        sweepSpeedFraction?: {
+            value: number;
+            provenance?: string | undefined;
+        } | undefined;
+        calibration?: {
+            band: number;
+            provenance?: string | undefined;
+            samples?: number | undefined;
+        } | undefined;
+        drivetrain?: {
+            trackWidthIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelBaseIn?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+            wheelResponseRatePerS?: {
+                value: number;
+                provenance?: string | undefined;
+            } | undefined;
+        } | undefined;
+    };
+    commands: {
+        name: string;
+        estimateS: string;
+        params?: Record<string, {
+            type: "integer";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "number";
+            min?: number | undefined;
+            max?: number | undefined;
+            default?: number | undefined;
+        } | {
+            type: "enum";
+            values: string[];
+            default?: string | undefined;
+        } | {
+            type: "boolean";
+            default?: boolean | undefined;
+        } | {
+            type: "string";
+            default?: string | undefined;
+        }> | undefined;
+        summary?: string | undefined;
+        requires?: string[] | undefined;
+        stationary?: boolean | undefined;
+        movesRobot?: boolean | undefined;
+        ledger?: Record<string, string | number> | undefined;
+    }[];
+    $schema?: string | undefined;
+    heightIn?: number | {
+        value: number;
+        provenance?: string | undefined;
+    } | undefined;
+    mouths?: {
+        id: string;
+        widthIn: number;
+        side: "FRONT" | "BACK" | "LEFT" | "RIGHT";
+        offsetIn: {
+            xIn: number;
+            yIn: number;
+        };
+        depthIn: number;
+        provenance?: string | undefined;
+    }[] | undefined;
+    capacity?: {
+        max: number;
+        elementKind: string;
+        provenance?: string | undefined;
+    } | undefined;
+    shooter?: z.objectInputType<{
+        kind: z.ZodString;
+        turretRangeRad: z.ZodOptional<z.ZodObject<{
+            minRad: z.ZodNumber;
+            maxRad: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }, {
+            minRad: number;
+            maxRad: number;
+            provenance?: string | undefined;
+        }>>;
+        cadenceS: z.ZodOptional<z.ZodRecord<z.ZodString, z.ZodUnion<[z.ZodNumber, z.ZodString]>>>;
+        settleS: z.ZodOptional<z.ZodObject<{
+            value: z.ZodNumber;
+            provenance: z.ZodOptional<z.ZodString>;
+        }, "strip", z.ZodTypeAny, {
+            value: number;
+            provenance?: string | undefined;
+        }, {
+            value: number;
+            provenance?: string | undefined;
+        }>>;
+    }, z.ZodTypeAny, "passthrough"> | undefined;
+    conditions?: {
+        name: string;
+        summary?: string | undefined;
+        ledger?: "full" | "empty" | undefined;
+    }[] | undefined;
+}>;
+export type FootprintBox = z.infer<typeof footprintBoxSchema>;
+export type Footprint = z.infer<typeof footprintSchema>;
+export type Mouth = z.infer<typeof mouthSchema>;
+export type CommandParam = z.infer<typeof commandParamSchema>;
+export type CommandSpec = z.infer<typeof commandSpecSchema>;
+export type ConditionSpec = z.infer<typeof conditionSpecSchema>;
+export type Robot = z.infer<typeof robotSchema>;
+export type Follower = z.infer<typeof followerSchema>;
+export type Drivetrain = z.infer<typeof drivetrainSchema>;
+export type ValuedBoolean = z.infer<typeof valuedBooleanSchema>;
+/** The robot height the STRUCTURE z-gate assumes when `robot.json` does not say. */
+export declare const DEFAULT_ROBOT_HEIGHT_IN = 18;
+//# sourceMappingURL=robot.d.ts.map