Query Specification
Overview
The standard query type, known as the "Operations Query", is intended for normal workflows using the Resolver App's UI. It is intended to support all publicly released features. The queries.json file contains a list of queries. Currently, a single Operations Query is supported.
Specification
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Example
[
{
"version": "0.0.2",
"query_type": "operations",
"query": {
"robots": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": {
"start_target": "start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c",
"end_target": "start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a"
},
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": {
"start_target": "start_24cb7e86_dc42_9737_270b_8729742ca628",
"end_target": "start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8"
}
},
"actions": {
"STATION_cc6dac6b_fa55_a324_a5bf_3e7908f2897c": {
"children": [
"R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c"
],
"on_enter": [],
"on_end": [],
"id": "STATION_cc6dac6b_fa55_a324_a5bf_3e7908f2897c",
"type": "operation"
},
"R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c": {
"children": [
"R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d",
"R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
],
"on_enter": [],
"on_end": [],
"id": "R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c",
"type": "operation",
"parent": "STATION_cc6dac6b_fa55_a324_a5bf_3e7908f2897c"
},
"R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d": {
"children": [
"start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8",
"wp6_dcea5916_39e1_e895_c04c_cae1a3568d60",
"wp5_56aacf80_e273_a0ba_209a_57687c7ac03e",
"wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583",
"start_24cb7e86_dc42_9737_270b_8729742ca628"
],
"on_enter": [],
"on_end": [],
"id": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d",
"type": "operation",
"parent": "R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c"
},
"start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8": {
"task": {
"target": "start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [],
"approach": [],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": "Default"
},
"id": "start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8",
"type": "target",
"parent": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d"
},
"wp6_dcea5916_39e1_e895_c04c_cae1a3568d60": {
"task": {
"target": "wp6_dcea5916_39e1_e895_c04c_cae1a3568d60",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp6_dcea5916_39e1_e895_c04c_cae1a3568d60_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "3349c437-dcfd-4b72-a055-8af3b3c1383a_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": "Default"
},
"id": "wp6_dcea5916_39e1_e895_c04c_cae1a3568d60",
"type": "target",
"parent": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d"
},
"wp5_56aacf80_e273_a0ba_209a_57687c7ac03e": {
"task": {
"target": "wp5_56aacf80_e273_a0ba_209a_57687c7ac03e",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp5_56aacf80_e273_a0ba_209a_57687c7ac03e_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "fc0a8e22-cc1a-495d-aa86-ba38a1b9f35f_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": "Default"
},
"id": "wp5_56aacf80_e273_a0ba_209a_57687c7ac03e",
"type": "target",
"parent": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d"
},
"wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583": {
"task": {
"target": "wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "ac476e56-6600-406a-87a7-57ec0fe2a9ea_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": "Default"
},
"id": "wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583",
"type": "target",
"parent": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d"
},
"start_24cb7e86_dc42_9737_270b_8729742ca628": {
"task": {
"target": "start_24cb7e86_dc42_9737_270b_8729742ca628",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [],
"approach": [],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": "Default"
},
"id": "start_24cb7e86_dc42_9737_270b_8729742ca628",
"type": "target",
"parent": "R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d"
},
"R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954": {
"children": [
"start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a",
"wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c",
"wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493",
"wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7",
"start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c"
],
"on_enter": [],
"on_end": [],
"id": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954",
"type": "operation",
"parent": "R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c"
},
"start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a": {
"task": {
"target": "start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [],
"approach": [],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": "Default"
},
"id": "start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a",
"type": "target",
"parent": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
},
"wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c": {
"task": {
"target": "wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "59342725-9187-45a9-9477-8c3f3d34d058_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": "Default"
},
"id": "wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c",
"type": "target",
"parent": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
},
"wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493": {
"task": {
"target": "wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "9ac74c52-366e-4d2d-b4da-8ca327e551fd_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": "Default"
},
"id": "wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493",
"type": "target",
"parent": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
},
"wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7": {
"task": {
"target": "wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [
{
"duration": 1.0,
"id": "wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7_ProcessingTime",
"type": "wait"
}
],
"approach": [
{
"duration": 1.264,
"id": "1bcb0ad4-c8aa-4a46-93f5-5f7c644f46b9_1",
"type": "wait",
"description": "Estimated Weld Motion Duration"
}
],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": "Default"
},
"id": "wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7",
"type": "target",
"parent": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
},
"start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c": {
"task": {
"target": "start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c",
"interpolation": "joint",
"move_type": "planning",
"on_target_commands": [],
"approach": [],
"retreat": [],
"configuration_setting": {
"type": "keep_configuration"
},
"speed": {
"value": 1.0,
"type": "speed_override"
}
},
"allowed_robot_presets": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": "Default"
},
"id": "start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c",
"type": "target",
"parent": "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
}
},
"smoothing_tables": {
"R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121": [
0.0,
0.001,
0.03,
0.12
],
"R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906": [
0.0,
0.001,
0.03,
0.12
]
},
"initial_mate_states": {},
"enable_smoothing": true,
"precedence_constraints": {
"STATION_cc6dac6b_fa55_a324_a5bf_3e7908f2897c": [],
"R2_R3_RTR_62cd8606_36d0_aef4_cc14_9b3e00508e5c": [],
"R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d": [],
"start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8": [
{
"preceding_id": "wp6_dcea5916_39e1_e895_c04c_cae1a3568d60",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp6_dcea5916_39e1_e895_c04c_cae1a3568d60": [
{
"preceding_id": "wp5_56aacf80_e273_a0ba_209a_57687c7ac03e",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp5_56aacf80_e273_a0ba_209a_57687c7ac03e": [
{
"preceding_id": "wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583": [
{
"preceding_id": "start_24cb7e86_dc42_9737_270b_8729742ca628",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"start_24cb7e86_dc42_9737_270b_8729742ca628": [],
"R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954": [],
"start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a": [
{
"preceding_id": "wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c": [
{
"preceding_id": "wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493": [
{
"preceding_id": "wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7": [
{
"preceding_id": "start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c",
"preceding_constraint": "task",
"succeeding_constraint": "task"
}
],
"start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c": []
}
}
}
]