{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "title": "비주얼 서보 매니퓰레이션 reference interface",
  "type": "object",
  "required": [
    "component",
    "accepted",
    "status",
    "target",
    "targetId",
    "stepMm",
    "residualMm",
    "converged"
  ],
  "properties": {
    "component": {
      "const": "metafarmers/visual-servo-manipulation"
    },
    "accepted": {
      "type": "boolean"
    },
    "status": {
      "type": "string"
    },
    "target": {
      "const": "acu"
    },
    "targetId": {
      "type": "string"
    },
    "stepMm": {
      "type": "array"
    },
    "residualMm": {
      "type": "number"
    },
    "converged": {
      "type": "boolean"
    }
  }
}