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\"cognet:output:audio\"",[69,302,246],{"class":79},[69,304,249],{"class":75},[69,306,105],{"class":79},[69,308,254],{"class":88},[69,310,257],{"class":79},[69,312,313],{"class":75},"ref",[69,315,105],{"class":79},[69,317,318],{"class":88},"Ref",[69,320,257],{"class":79},[69,322,323],{"class":75},"transcript",[69,325,272],{"class":79},[69,327,254],{"class":88},[69,329,257],{"class":79},[69,331,332],{"class":75},"durationMs",[69,334,272],{"class":79},[69,336,337],{"class":88},"number",[69,339,257],{"class":79},[69,341,286],{"class":75},[69,343,272],{"class":79},[69,345,291],{"class":88},[69,347,294],{"class":79},[69,349,351,354,356,358,360,362,364,366,368,370,372,375,377,380,382,385,387,390,392,394,396,398,400,402],{"class":71,"line":350},4,[69,352,353],{"class":242},"    \"cognet:output:visual\"",[69,355,246],{"class":79},[69,357,249],{"class":75},[69,359,105],{"class":79},[69,361,254],{"class":88},[69,363,257],{"class":79},[69,365,313],{"class":75},[69,367,105],{"class":79},[69,369,318],{"class":88},[69,371,257],{"class":79},[69,373,374],{"class":75},"kind",[69,376,105],{"class":79},[69,378,379],{"class":242},"\"image\"",[69,381,278],{"class":79},[69,383,384],{"class":242},"\"video\"",[69,386,257],{"class":79},[69,388,389],{"class":75},"caption",[69,391,272],{"class":79},[69,393,254],{"class":88},[69,395,257],{"class":79},[69,397,286],{"class":75},[69,399,272],{"class":79},[69,401,291],{"class":88},[69,403,294],{"class":79},[69,405,407,410],{"class":71,"line":406},5,[69,408,409],{"class":242},"    \"cognet:output:vector\"",[69,411,412],{"class":79},": {\n",[69,414,416,419,421],{"class":71,"line":415},6,[69,417,418],{"class":75},"        channel",[69,420,105],{"class":79},[69,422,423],{"class":88},"string\n",[69,425,427,430,432,434],{"class":71,"line":426},7,[69,428,429],{"class":75},"        values",[69,431,105],{"class":79},[69,433,337],{"class":88},[69,435,436],{"class":79},"[]\n",[69,438,440,443,445],{"class":71,"line":439},8,[69,441,442],{"class":75},"        unit",[69,444,272],{"class":79},[69,446,423],{"class":88},[69,448,450,453,455,457],{"class":71,"line":449},9,[69,451,452],{"class":75},"        units",[69,454,272],{"class":79},[69,456,254],{"class":88},[69,458,436],{"class":79},[69,460,462,465,467,469],{"class":71,"line":461},10,[69,463,464],{"class":75},"        labels",[69,466,272],{"class":79},[69,468,254],{"class":88},[69,470,436],{"class":79},[69,472,474,477,479],{"class":71,"line":473},11,[69,475,476],{"class":75},"        profile",[69,478,272],{"class":79},[69,480,423],{"class":88},[69,482,484,487,489],{"class":71,"line":483},12,[69,485,486],{"class":75},"        basis",[69,488,272],{"class":79},[69,490,491],{"class":88},"number\n",[69,493,495,498,500],{"class":71,"line":494},13,[69,496,497],{"class":75},"        chunk",[69,499,272],{"class":79},[69,501,502],{"class":88},"Chunk\n",[69,504,506],{"class":71,"line":505},14,[69,507,508],{"class":79},"    }\n",[69,510,512],{"class":71,"line":511},15,[69,513,514],{"class":79},"}\n",[69,516,518],{"class":71,"line":517},16,[69,519,520],{"emptyLinePlaceholder":10},"\n",[69,522,524,526,529,532,535,537,539,541,544,546,549],{"class":71,"line":523},17,[69,525,102],{"class":92},[69,527,528],{"class":88}," Chunk",[69,530,531],{"class":79}," = { ",[69,533,534],{"class":75},"of",[69,536,105],{"class":79},[69,538,254],{"class":88},[69,540,257],{"class":79},[69,542,543],{"class":75},"final",[69,545,272],{"class":79},[69,547,548],{"class":88},"boolean",[69,550,294],{"class":79},[69,552,554,556,559,561,564,566,568,570,573,575,577,579,582,584,586],{"class":71,"line":553},18,[69,555,102],{"class":92},[69,557,558],{"class":88}," Ref",[69,560,531],{"class":79},[69,562,563],{"class":75},"uri",[69,565,105],{"class":79},[69,567,254],{"class":88},[69,569,257],{"class":79},[69,571,572],{"class":75},"mime",[69,574,105],{"class":79},[69,576,254],{"class":88},[69,578,257],{"class":79},[69,580,581],{"class":75},"bytes",[69,583,272],{"class":79},[69,585,337],{"class":88},[69,587,294],{"class":79},[57,589,590],{"v-slot:rs":59},[61,591,593],{"className":142,"code":592,"language":144,"meta":59,"style":59},"impl Output {\n    pub fn text(channel: &str, content: &str) -> Output\n    pub fn audio(channel: &str, r#ref: Ref) -> Output\n    pub fn visual(channel: &str, r#ref: Ref, kind: VisualKind) -> Output\n    pub fn vector(channel: &str, values: &[f64]) -> Output\n\n    \u002F\u002F optional fields, chained\n    pub fn format(self, format: TextFormat) -> Output\n    pub fn transcript(self, text: &str) -> Output\n    pub fn caption(self, text: &str) -> Output\n    pub fn units(self, units: &[&str]) -> Output\n    pub fn labels(self, labels: &[&str]) -> Output\n    pub fn profile(self, profile: &str) -> Output\n    pub fn basis(self, sensed: f64) -> Output\n    pub fn chunk(self, of: &str, last: bool) -> Output\n}\n",[49,594,595,606,639,669,707,740,744,750,777,803,828,855,881,907,933,968],{"__ignoreMap":59},[69,596,597,600,603],{"class":71,"line":72},[69,598,599],{"class":92},"impl",[69,601,602],{"class":88}," Output",[69,604,605],{"class":79}," {\n",[69,607,608,611,614,617,619,621,624,626,628,630,632,634,636],{"class":71,"line":239},[69,609,610],{"class":92},"    pub",[69,612,613],{"class":92}," fn",[69,615,616],{"class":157}," text",[69,618,160],{"class":79},[69,620,249],{"class":75},[69,622,623],{"class":79},": &",[69,625,201],{"class":88},[69,627,110],{"class":79},[69,629,260],{"class":75},[69,631,623],{"class":79},[69,633,201],{"class":88},[69,635,169],{"class":79},[69,637,638],{"class":88},"Output\n",[69,640,641,643,645,648,650,652,654,656,658,661,663,665,667],{"class":71,"line":297},[69,642,610],{"class":92},[69,644,613],{"class":92},[69,646,647],{"class":157}," audio",[69,649,160],{"class":79},[69,651,249],{"class":75},[69,653,623],{"class":79},[69,655,201],{"class":88},[69,657,110],{"class":79},[69,659,660],{"class":75},"r#ref",[69,662,105],{"class":79},[69,664,318],{"class":88},[69,666,169],{"class":79},[69,668,638],{"class":88},[69,670,671,673,675,678,680,682,684,686,688,690,692,694,696,698,700,703,705],{"class":71,"line":350},[69,672,610],{"class":92},[69,674,613],{"class":92},[69,676,677],{"class":157}," visual",[69,679,160],{"class":79},[69,681,249],{"class":75},[69,683,623],{"class":79},[69,685,201],{"class":88},[69,687,110],{"class":79},[69,689,660],{"class":75},[69,691,105],{"class":79},[69,693,318],{"class":88},[69,695,110],{"class":79},[69,697,374],{"class":75},[69,699,105],{"class":79},[69,701,702],{"class":88},"VisualKind",[69,704,169],{"class":79},[69,706,638],{"class":88},[69,708,709,711,713,716,718,720,722,724,726,729,732,735,738],{"class":71,"line":406},[69,710,610],{"class":92},[69,712,613],{"class":92},[69,714,715],{"class":157}," vector",[69,717,160],{"class":79},[69,719,249],{"class":75},[69,721,623],{"class":79},[69,723,201],{"class":88},[69,725,110],{"class":79},[69,727,728],{"class":75},"values",[69,730,731],{"class":79},": &[",[69,733,734],{"class":88},"f64",[69,736,737],{"class":79},"]) -> ",[69,739,638],{"class":88},[69,741,742],{"class":71,"line":415},[69,743,520],{"emptyLinePlaceholder":10},[69,745,746],{"class":71,"line":426},[69,747,749],{"class":748},"sOLPB","    \u002F\u002F optional fields, chained\n",[69,751,752,754,756,759,761,764,766,768,770,773,775],{"class":71,"line":439},[69,753,610],{"class":92},[69,755,613],{"class":92},[69,757,758],{"class":157}," format",[69,760,160],{"class":79},[69,762,763],{"class":92},"self",[69,765,110],{"class":79},[69,767,269],{"class":75},[69,769,105],{"class":79},[69,771,772],{"class":88},"TextFormat",[69,774,169],{"class":79},[69,776,638],{"class":88},[69,778,779,781,783,786,788,790,792,795,797,799,801],{"class":71,"line":449},[69,780,610],{"class":92},[69,782,613],{"class":92},[69,784,785],{"class":157}," transcript",[69,787,160],{"class":79},[69,789,763],{"class":92},[69,791,110],{"class":79},[69,793,794],{"class":75},"text",[69,796,623],{"class":79},[69,798,201],{"class":88},[69,800,169],{"class":79},[69,802,638],{"class":88},[69,804,805,807,809,812,814,816,818,820,822,824,826],{"class":71,"line":461},[69,806,610],{"class":92},[69,808,613],{"class":92},[69,810,811],{"class":157}," caption",[69,813,160],{"class":79},[69,815,763],{"class":92},[69,817,110],{"class":79},[69,819,794],{"class":75},[69,821,623],{"class":79},[69,823,201],{"class":88},[69,825,169],{"class":79},[69,827,638],{"class":88},[69,829,830,832,834,837,839,841,843,846,849,851,853],{"class":71,"line":473},[69,831,610],{"class":92},[69,833,613],{"class":92},[69,835,836],{"class":157}," units",[69,838,160],{"class":79},[69,840,763],{"class":92},[69,842,110],{"class":79},[69,844,845],{"class":75},"units",[69,847,848],{"class":79},": &[&",[69,850,201],{"class":88},[69,852,737],{"class":79},[69,854,638],{"class":88},[69,856,857,859,861,864,866,868,870,873,875,877,879],{"class":71,"line":483},[69,858,610],{"class":92},[69,860,613],{"class":92},[69,862,863],{"class":157}," labels",[69,865,160],{"class":79},[69,867,763],{"class":92},[69,869,110],{"class":79},[69,871,872],{"class":75},"labels",[69,874,848],{"class":79},[69,876,201],{"class":88},[69,878,737],{"class":79},[69,880,638],{"class":88},[69,882,883,885,887,890,892,894,896,899,901,903,905],{"class":71,"line":494},[69,884,610],{"class":92},[69,886,613],{"class":92},[69,888,889],{"class":157}," profile",[69,891,160],{"class":79},[69,893,763],{"class":92},[69,895,110],{"class":79},[69,897,898],{"class":75},"profile",[69,900,623],{"class":79},[69,902,201],{"class":88},[69,904,169],{"class":79},[69,906,638],{"class":88},[69,908,909,911,913,916,918,920,922,925,927,929,931],{"class":71,"line":505},[69,910,610],{"class":92},[69,912,613],{"class":92},[69,914,915],{"class":157}," basis",[69,917,160],{"class":79},[69,919,763],{"class":92},[69,921,110],{"class":79},[69,923,924],{"class":75},"sensed",[69,926,105],{"class":79},[69,928,734],{"class":88},[69,930,169],{"class":79},[69,932,638],{"class":88},[69,934,935,937,939,942,944,946,948,950,952,954,956,959,961,964,966],{"class":71,"line":511},[69,936,610],{"class":92},[69,938,613],{"class":92},[69,940,941],{"class":157}," chunk",[69,943,160],{"class":79},[69,945,763],{"class":92},[69,947,110],{"class":79},[69,949,534],{"class":75},[69,951,623],{"class":79},[69,953,201],{"class":88},[69,955,110],{"class":79},[69,957,958],{"class":75},"last",[69,960,105],{"class":79},[69,962,963],{"class":88},"bool",[69,965,169],{"class":79},[69,967,638],{"class":88},[69,969,970],{"class":71,"line":517},[69,971,514],{"class":79},[57,973,974],{"v-slot:py":59},[61,975,977],{"className":185,"code":976,"language":187,"meta":59,"style":59},"# type, then the fields as keywords\nrun.kernel.output(\"text\", channel=..., content=..., format=None, chunk=None)\nrun.kernel.output(\"audio\", channel=..., ref=..., transcript=None, duration_ms=None, chunk=None)\nrun.kernel.output(\"visual\", channel=..., ref=..., kind=..., caption=None, chunk=None)\nrun.kernel.output(\"vector\", channel=..., values=..., unit=None, units=None, labels=None,\n                        profile=None, basis=None, chunk=None)\n\nclass Chunk: of: str; final: bool = False\n",[49,978,979,984,1021,1063,1100,1143,1171,1175],{"__ignoreMap":59},[69,980,981],{"class":71,"line":72},[69,982,983],{"class":748},"# type, then the fields as keywords\n",[69,985,986,988,991,993,995,998,1000,1002,1004,1007,1010,1012,1014,1016,1018],{"class":71,"line":239},[69,987,194],{"class":79},[69,989,990],{"class":242},"\"text\"",[69,992,110],{"class":79},[69,994,249],{"class":75},[69,996,997],{"class":79},"=..., 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Required — never defaulted",[1210,1239,1240,1244,1246],{},[1228,1241,1242],{},[49,1243,260],{},[1228,1245,794],{},[1228,1247,1248],{},"the text",[1210,1250,1251,1255,1257],{},[1228,1252,1253],{},[49,1254,269],{},[1228,1256,794],{},[1228,1258,1259,1262,1263,1266],{},[49,1260,1261],{},"json"," or ",[49,1264,1265],{},"markdown","; absent is plain prose",[1210,1268,1269,1273,1276],{},[1228,1270,1271],{},[49,1272,313],{},[1228,1274,1275],{},"audio, visual",[1228,1277,1278],{},"where the bytes are",[1210,1280,1281,1285,1288],{},[1228,1282,1283],{},[49,1284,323],{},[1228,1286,1287],{},"audio",[1228,1289,1290],{},"what it says",[1210,1292,1293,1297,1300],{},[1228,1294,1295],{},[49,1296,389],{},[1228,1298,1299],{},"visual",[1228,1301,1302],{},"what it 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AudioControl",[69,2036,531],{"class":79},[69,2038,374],{"class":75},[69,2040,105],{"class":79},[69,2042,1027],{"class":242},[69,2044,257],{"class":79},[69,2046,249],{"class":75},[69,2048,105],{"class":79},[69,2050,254],{"class":88},[69,2052,257],{"class":79},[69,2054,898],{"class":75},[69,2056,272],{"class":79},[69,2058,254],{"class":88},[69,2060,257],{"class":79},[69,2062,2063],{"class":75},"sampleRate",[69,2065,105],{"class":79},[69,2067,337],{"class":88},[69,2069,257],{"class":79},[69,2071,2072],{"class":75},"channels",[69,2074,105],{"class":79},[69,2076,337],{"class":88},[69,2078,294],{"class":79},[69,2080,2081],{"class":71,"line":511},[69,2082,520],{"emptyLinePlaceholder":10},[69,2084,2085,2087,2090],{"class":71,"line":517},[69,2086,102],{"class":92},[69,2088,2089],{"class":88}," ControlComponent",[69,2091,236],{"class":79},[69,2093,2094,2097,2099],{"class":71,"line":523},[69,2095,2096],{"class":75},"    name",[69,2098,105],{"class":79},[69,2100,423],{"class":88},[69,2102,2103,2106,2108],{"class":71,"line":553},[69,2104,2105],{"class":75},"    unit",[69,2107,105],{"class":79},[69,2109,423],{"class":88},[69,2111,2113,2116,2119,2121,2123,2125],{"class":71,"line":2112},19,[69,2114,2115],{"class":75},"    range",[69,2117,2118],{"class":79},"?: [",[69,2120,337],{"class":88},[69,2122,110],{"class":79},[69,2124,337],{"class":88},[69,2126,2127],{"class":79},"]\n",[69,2129,2131,2134,2136,2138],{"class":71,"line":2130},20,[69,2132,2133],{"class":75},"    categories",[69,2135,272],{"class":79},[69,2137,254],{"class":88},[69,2139,436],{"class":79},[69,2141,2143,2146,2148,2151,2153,2156,2158,2161,2163,2166,2168,2171,2173],{"class":71,"line":2142},21,[69,2144,2145],{"class":75},"    interface",[69,2147,105],{"class":79},[69,2149,2150],{"class":242},"\"switch\"",[69,2152,278],{"class":79},[69,2154,2155],{"class":242},"\"axis\"",[69,2157,278],{"class":79},[69,2159,2160],{"class":242},"\"choice\"",[69,2162,278],{"class":79},[69,2164,2165],{"class":242},"\"position\"",[69,2167,278],{"class":79},[69,2169,2170],{"class":242},"\"velocity\"",[69,2172,278],{"class":79},[69,2174,2175],{"class":242},"\"effort\"\n",[69,2177,2179,2182,2184],{"class":71,"line":2178},22,[69,2180,2181],{"class":75},"    joint",[69,2183,272],{"class":79},[69,2185,423],{"class":88},[69,2187,2189,2192,2194],{"class":71,"line":2188},23,[69,2190,2191],{"class":75},"    slew",[69,2193,272],{"class":79},[69,2195,491],{"class":88},[69,2197,2198],{"class":71,"line":5},[69,2199,514],{"class":79},[69,2201,2203],{"class":71,"line":2202},25,[69,2204,520],{"emptyLinePlaceholder":10},[69,2206,2208,2210,2213],{"class":71,"line":2207},26,[69,2209,102],{"class":92},[69,2211,2212],{"class":88}," Lapse",[69,2214,2215],{"class":79}," =\n",[69,2217,2219,2222,2224,2226,2229,2231,2234,2236,2238],{"class":71,"line":2218},27,[69,2220,2221],{"class":79},"    | { ",[69,2223,374],{"class":75},[69,2225,105],{"class":79},[69,2227,2228],{"class":242},"\"release\"",[69,2230,257],{"class":79},[69,2232,2233],{"class":75},"after",[69,2235,105],{"class":79},[69,2237,337],{"class":88},[69,2239,294],{"class":79},[69,2241,2243,2245,2247,2249,2252],{"class":71,"line":2242},28,[69,2244,2221],{"class":79},[69,2246,374],{"class":75},[69,2248,105],{"class":79},[69,2250,2251],{"class":242},"\"keep\"",[69,2253,294],{"class":79},[69,2255,2257,2259,2261,2263,2266,2268,2270,2272,2274,2276,2279,2281,2283,2285,2288,2290,2292],{"class":71,"line":2256},29,[69,2258,2221],{"class":79},[69,2260,374],{"class":75},[69,2262,105],{"class":79},[69,2264,2265],{"class":242},"\"behaviour\"",[69,2267,257],{"class":79},[69,2269,2233],{"class":75},[69,2271,105],{"class":79},[69,2273,337],{"class":88},[69,2275,257],{"class":79},[69,2277,2278],{"class":75},"name",[69,2280,105],{"class":79},[69,2282,254],{"class":88},[69,2284,257],{"class":79},[69,2286,2287],{"class":75},"describe",[69,2289,105],{"class":79},[69,2291,254],{"class":88},[69,2293,294],{"class":79},[57,2295,2296],{"v-slot:rs":59},[61,2297,2299],{"className":142,"code":2298,"language":144,"meta":59,"style":59},"pub enum Control {\n    Vector(VectorControl),\n    Text { channel: String, profile: Option\u003CString> },\n    Audio { channel: String, profile: Option\u003CString>, sample_rate: u32, channels: u32 },\n}\n\npub struct VectorControl {\n    pub channel: String,\n    pub profile: Option\u003CString>,\n    pub frame: Option\u003CString>,\n    pub components: Vec\u003CControlComponent>,\n    pub lapse: Lapse,\n    pub rate: Option\u003Cf64>,\n    pub trajectory: Option\u003CTrajectory>,\n}\n\npub struct ControlComponent {\n    pub name: String,\n    pub unit: String,\n    pub range: Option\u003C[f64; 2]>,\n    pub categories: Option\u003CVec\u003CString>>,\n    pub interface: Interface,\n    pub joint: Option\u003CString>,\n    pub slew: Option\u003Cf64>,\n}\n\npub enum Interface { Switch, Axis, Choice, Position, Velocity, Effort }\npub enum Lapse { Release { after: f64 }, Keep, Behaviour { after: f64, name: String, describe: String } }\n",[49,2300,2301,2313,2325,2355,2402,2406,2410,2421,2434,2451,2468,2486,2500,2517,2535,2539,2543,2553,2566,2579,2603,2625,2639,2656,2673,2677,2681,2722],{"__ignoreMap":59},[69,2302,2303,2306,2309,2311],{"class":71,"line":72},[69,2304,2305],{"class":92},"pub",[69,2307,2308],{"class":92}," enum",[69,2310,1862],{"class":88},[69,2312,605],{"class":79},[69,2314,2315,2318,2320,2322],{"class":71,"line":239},[69,2316,2317],{"class":157},"    Vector",[69,2319,160],{"class":79},[69,2321,1867],{"class":88},[69,2323,2324],{"class":79},"),\n",[69,2326,2327,2330,2332,2334,2336,2339,2341,2343,2345,2348,2350,2352],{"class":71,"line":297},[69,2328,2329],{"class":88},"    Text",[69,2331,1506],{"class":79},[69,2333,249],{"class":75},[69,2335,105],{"class":79},[69,2337,2338],{"class":88},"String",[69,2340,110],{"class":79},[69,2342,898],{"class":75},[69,2344,105],{"class":79},[69,2346,2347],{"class":88},"Option",[69,2349,85],{"class":79},[69,2351,2338],{"class":88},[69,2353,2354],{"class":79},"> },\n",[69,2356,2357,2360,2362,2364,2366,2368,2370,2372,2374,2376,2378,2380,2383,2386,2388,2391,2393,2395,2397,2399],{"class":71,"line":350},[69,2358,2359],{"class":88},"    Audio",[69,2361,1506],{"class":79},[69,2363,249],{"class":75},[69,2365,105],{"class":79},[69,2367,2338],{"class":88},[69,2369,110],{"class":79},[69,2371,898],{"class":75},[69,2373,105],{"class":79},[69,2375,2347],{"class":88},[69,2377,85],{"class":79},[69,2379,2338],{"class":88},[69,2381,2382],{"class":79},">, ",[69,2384,2385],{"class":75},"sample_rate",[69,2387,105],{"class":79},[69,2389,2390],{"class":88},"u32",[69,2392,110],{"class":79},[69,2394,2072],{"class":75},[69,2396,105],{"class":79},[69,2398,2390],{"class":88},[69,2400,2401],{"class":79}," },\n",[69,2403,2404],{"class":71,"line":406},[69,2405,514],{"class":79},[69,2407,2408],{"class":71,"line":415},[69,2409,520],{"emptyLinePlaceholder":10},[69,2411,2412,2414,2417,2419],{"class":71,"line":426},[69,2413,2305],{"class":92},[69,2415,2416],{"class":92}," struct",[69,2418,1888],{"class":88},[69,2420,605],{"class":79},[69,2422,2423,2425,2428,2430,2432],{"class":71,"line":439},[69,2424,610],{"class":92},[69,2426,2427],{"class":75}," channel",[69,2429,105],{"class":79},[69,2431,2338],{"class":88},[69,2433,1142],{"class":79},[69,2435,2436,2438,2440,2442,2444,2446,2448],{"class":71,"line":449},[69,2437,610],{"class":92},[69,2439,889],{"class":75},[69,2441,105],{"class":79},[69,2443,2347],{"class":88},[69,2445,85],{"class":79},[69,2447,2338],{"class":88},[69,2449,2450],{"class":79},">,\n",[69,2452,2453,2455,2458,2460,2462,2464,2466],{"class":71,"line":461},[69,2454,610],{"class":92},[69,2456,2457],{"class":75}," frame",[69,2459,105],{"class":79},[69,2461,2347],{"class":88},[69,2463,85],{"class":79},[69,2465,2338],{"class":88},[69,2467,2450],{"class":79},[69,2469,2470,2472,2475,2477,2480,2482,2484],{"class":71,"line":473},[69,2471,610],{"class":92},[69,2473,2474],{"class":75}," components",[69,2476,105],{"class":79},[69,2478,2479],{"class":88},"Vec",[69,2481,85],{"class":79},[69,2483,1937],{"class":88},[69,2485,2450],{"class":79},[69,2487,2488,2490,2493,2495,2498],{"class":71,"line":483},[69,2489,610],{"class":92},[69,2491,2492],{"class":75}," lapse",[69,2494,105],{"class":79},[69,2496,2497],{"class":88},"Lapse",[69,2499,1142],{"class":79},[69,2501,2502,2504,2507,2509,2511,2513,2515],{"class":71,"line":494},[69,2503,610],{"class":92},[69,2505,2506],{"class":75}," rate",[69,2508,105],{"class":79},[69,2510,2347],{"class":88},[69,2512,85],{"class":79},[69,2514,734],{"class":88},[69,2516,2450],{"class":79},[69,2518,2519,2521,2524,2526,2528,2530,2533],{"class":71,"line":505},[69,2520,610],{"class":92},[69,2522,2523],{"class":75}," trajectory",[69,2525,105],{"class":79},[69,2527,2347],{"class":88},[69,2529,85],{"class":79},[69,2531,2532],{"class":88},"Trajectory",[69,2534,2450],{"class":79},[69,2536,2537],{"class":71,"line":511},[69,2538,514],{"class":79},[69,2540,2541],{"class":71,"line":517},[69,2542,520],{"emptyLinePlaceholder":10},[69,2544,2545,2547,2549,2551],{"class":71,"line":523},[69,2546,2305],{"class":92},[69,2548,2416],{"class":92},[69,2550,2089],{"class":88},[69,2552,605],{"class":79},[69,2554,2555,2557,2560,2562,2564],{"class":71,"line":553},[69,2556,610],{"class":92},[69,2558,2559],{"class":75}," name",[69,2561,105],{"class":79},[69,2563,2338],{"class":88},[69,2565,1142],{"class":79},[69,2567,2568,2570,2573,2575,2577],{"class":71,"line":2112},[69,2569,610],{"class":92},[69,2571,2572],{"class":75}," unit",[69,2574,105],{"class":79},[69,2576,2338],{"class":88},[69,2578,1142],{"class":79},[69,2580,2581,2583,2586,2588,2590,2593,2595,2597,2600],{"class":71,"line":2130},[69,2582,610],{"class":92},[69,2584,2585],{"class":75}," range",[69,2587,105],{"class":79},[69,2589,2347],{"class":88},[69,2591,2592],{"class":79},"\u003C[",[69,2594,734],{"class":88},[69,2596,257],{"class":79},[69,2598,2599],{"class":75},"2",[69,2601,2602],{"class":79},"]>,\n",[69,2604,2605,2607,2610,2612,2614,2616,2618,2620,2622],{"class":71,"line":2142},[69,2606,610],{"class":92},[69,2608,2609],{"class":75}," categories",[69,2611,105],{"class":79},[69,2613,2347],{"class":88},[69,2615,85],{"class":79},[69,2617,2479],{"class":88},[69,2619,85],{"class":79},[69,2621,2338],{"class":88},[69,2623,2624],{"class":79},">>,\n",[69,2626,2627,2629,2632,2634,2637],{"class":71,"line":2178},[69,2628,610],{"class":92},[69,2630,2631],{"class":75}," interface",[69,2633,105],{"class":79},[69,2635,2636],{"class":88},"Interface",[69,2638,1142],{"class":79},[69,2640,2641,2643,2646,2648,2650,2652,2654],{"class":71,"line":2188},[69,2642,610],{"class":92},[69,2644,2645],{"class":75}," joint",[69,2647,105],{"class":79},[69,2649,2347],{"class":88},[69,2651,85],{"class":79},[69,2653,2338],{"class":88},[69,2655,2450],{"class":79},[69,2657,2658,2660,2663,2665,2667,2669,2671],{"class":71,"line":5},[69,2659,610],{"class":92},[69,2661,2662],{"class":75}," slew",[69,2664,105],{"class":79},[69,2666,2347],{"class":88},[69,2668,85],{"class":79},[69,2670,734],{"class":88},[69,2672,2450],{"class":79},[69,2674,2675],{"class":71,"line":2202},[69,2676,514],{"class":79},[69,2678,2679],{"class":71,"line":2207},[69,2680,520],{"emptyLinePlaceholder":10},[69,2682,2683,2685,2687,2690,2692,2695,2697,2700,2702,2705,2707,2710,2712,2715,2717,2720],{"class":71,"line":2218},[69,2684,2305],{"class":92},[69,2686,2308],{"class":92},[69,2688,2689],{"class":88}," Interface",[69,2691,1506],{"class":79},[69,2693,2694],{"class":88},"Switch",[69,2696,110],{"class":79},[69,2698,2699],{"class":88},"Axis",[69,2701,110],{"class":79},[69,2703,2704],{"class":88},"Choice",[69,2706,110],{"class":79},[69,2708,2709],{"class":88},"Position",[69,2711,110],{"class":79},[69,2713,2714],{"class":88},"Velocity",[69,2716,110],{"class":79},[69,2718,2719],{"class":88},"Effort",[69,2721,294],{"class":79},[69,2723,2724,2726,2728,2730,2732,2735,2737,2739,2741,2743,2746,2749,2751,2754,2756,2758,2760,2762,2764,2766,2768,2770,2772,2774,2776,2778],{"class":71,"line":2242},[69,2725,2305],{"class":92},[69,2727,2308],{"class":92},[69,2729,2212],{"class":88},[69,2731,1506],{"class":79},[69,2733,2734],{"class":88},"Release",[69,2736,1506],{"class":79},[69,2738,2233],{"class":75},[69,2740,105],{"class":79},[69,2742,734],{"class":88},[69,2744,2745],{"class":79}," }, ",[69,2747,2748],{"class":88},"Keep",[69,2750,110],{"class":79},[69,2752,2753],{"class":88},"Behaviour",[69,2755,1506],{"class":79},[69,2757,2233],{"class":75},[69,2759,105],{"class":79},[69,2761,734],{"class":88},[69,2763,110],{"class":79},[69,2765,2278],{"class":75},[69,2767,105],{"class":79},[69,2769,2338],{"class":88},[69,2771,110],{"class":79},[69,2773,2287],{"class":75},[69,2775,105],{"class":79},[69,2777,2338],{"class":88},[69,2779,2780],{"class":79}," } }\n",[57,2782,2783],{"v-slot:py":59},[61,2784,2786],{"className":185,"code":2785,"language":187,"meta":59,"style":59},"Control = VectorControl | TextControl | AudioControl\n\nclass VectorControl:\n    channel: str\n    profile: str | None\n    frame: str | None\n    components: list[ControlComponent]\n    lapse: Lapse\n    rate: float | None\n    trajectory: Trajectory | None\n\nclass ControlComponent:\n    name: str\n    unit: str\n    range: tuple[float, float] | None\n    categories: list[str] | None\n    interface: str          # \"switch\" | \"axis\" | \"choice\" | \"position\" | \"velocity\" | \"effort\"\n    joint: str | None\n    slew: float | None\n\nclass Lapse: kind: str; after: float | None; name: str | None; describe: str | None\n",[49,2787,2788,2793,2797,2806,2814,2826,2837,2842,2847,2859,2866,2870,2878,2885,2892,2910,2921,2931,2942,2953,2957],{"__ignoreMap":59},[69,2789,2790],{"class":71,"line":72},[69,2791,2792],{"class":79},"Control = VectorControl | TextControl | AudioControl\n",[69,2794,2795],{"class":71,"line":239},[69,2796,520],{"emptyLinePlaceholder":10},[69,2798,2799,2801,2803],{"class":71,"line":297},[69,2800,1179],{"class":92},[69,2802,1888],{"class":88},[69,2804,2805],{"class":79},":\n",[69,2807,2808,2811],{"class":71,"line":350},[69,2809,2810],{"class":79},"    channel: ",[69,2812,2813],{"class":88},"str\n",[69,2815,2816,2819,2821,2823],{"class":71,"line":406},[69,2817,2818],{"class":79},"    profile: ",[69,2820,201],{"class":88},[69,2822,278],{"class":79},[69,2824,2825],{"class":92},"None\n",[69,2827,2828,2831,2833,2835],{"class":71,"line":415},[69,2829,2830],{"class":79},"    frame: ",[69,2832,201],{"class":88},[69,2834,278],{"class":79},[69,2836,2825],{"class":92},[69,2838,2839],{"class":71,"line":426},[69,2840,2841],{"class":79},"    components: list[ControlComponent]\n",[69,2843,2844],{"class":71,"line":439},[69,2845,2846],{"class":79},"    lapse: Lapse\n",[69,2848,2849,2852,2855,2857],{"class":71,"line":449},[69,2850,2851],{"class":79},"    rate: ",[69,2853,2854],{"class":88},"float",[69,2856,278],{"class":79},[69,2858,2825],{"class":92},[69,2860,2861,2864],{"class":71,"line":461},[69,2862,2863],{"class":79},"    trajectory: Trajectory | ",[69,2865,2825],{"class":92},[69,2867,2868],{"class":71,"line":473},[69,2869,520],{"emptyLinePlaceholder":10},[69,2871,2872,2874,2876],{"class":71,"line":483},[69,2873,1179],{"class":92},[69,2875,2089],{"class":88},[69,2877,2805],{"class":79},[69,2879,2880,2883],{"class":71,"line":494},[69,2881,2882],{"class":79},"    name: ",[69,2884,2813],{"class":88},[69,2886,2887,2890],{"class":71,"line":505},[69,2888,2889],{"class":79},"    unit: ",[69,2891,2813],{"class":88},[69,2893,2894,2896,2899,2901,2903,2905,2908],{"class":71,"line":511},[69,2895,2115],{"class":157},[69,2897,2898],{"class":79},": tuple[",[69,2900,2854],{"class":88},[69,2902,110],{"class":79},[69,2904,2854],{"class":88},[69,2906,2907],{"class":79},"] | ",[69,2909,2825],{"class":92},[69,2911,2912,2915,2917,2919],{"class":71,"line":517},[69,2913,2914],{"class":79},"    categories: list[",[69,2916,201],{"class":88},[69,2918,2907],{"class":79},[69,2920,2825],{"class":92},[69,2922,2923,2926,2928],{"class":71,"line":523},[69,2924,2925],{"class":79},"    interface: ",[69,2927,201],{"class":88},[69,2929,2930],{"class":748},"          # \"switch\" | \"axis\" | \"choice\" | \"position\" | \"velocity\" | \"effort\"\n",[69,2932,2933,2936,2938,2940],{"class":71,"line":553},[69,2934,2935],{"class":79},"    joint: ",[69,2937,201],{"class":88},[69,2939,278],{"class":79},[69,2941,2825],{"class":92},[69,2943,2944,2947,2949,2951],{"class":71,"line":2112},[69,2945,2946],{"class":79},"    slew: ",[69,2948,2854],{"class":88},[69,2950,278],{"class":79},[69,2952,2825],{"class":92},[69,2954,2955],{"class":71,"line":2130},[69,2956,520],{"emptyLinePlaceholder":10},[69,2958,2959,2961,2963,2966,2968,2971,2973,2975,2977,2980,2982,2984,2986,2989,2991,2993],{"class":71,"line":2142},[69,2960,1179],{"class":92},[69,2962,2212],{"class":88},[69,2964,2965],{"class":79},": kind: ",[69,2967,201],{"class":88},[69,2969,2970],{"class":79},"; after: ",[69,2972,2854],{"class":88},[69,2974,278],{"class":79},[69,2976,1009],{"class":92},[69,2978,2979],{"class":79},"; name: ",[69,2981,201],{"class":88},[69,2983,278],{"class":79},[69,2985,1009],{"class":92},[69,2987,2988],{"class":79},"; describe: ",[69,2990,201],{"class":88},[69,2992,278],{"class":79},[69,2994,2825],{"class":92},[1204,2996,2997,3005],{},[1207,2998,2999],{},[1210,3000,3001,3003],{},[1213,3002,1215],{},[1213,3004,1221],{},[1223,3006,3007,3016,3026,3039,3049,3059],{},[1210,3008,3009,3013],{},[1228,3010,3011],{},[49,3012,249],{},[1228,3014,3015],{},"where outputs for it go",[1210,3017,3018,3023],{},[1228,3019,3020],{},[49,3021,3022],{},"frame",[1228,3024,3025],{},"whose axes its values are in — a part of the body, or a place",[1210,3027,3028,3033],{},[1228,3029,3030],{},[49,3031,3032],{},"components",[1228,3034,3035,3036,3038],{},"each value in ",[49,3037,728],{},", in order",[1210,3040,3041,3046],{},[1228,3042,3043],{},[49,3044,3045],{},"lapse",[1228,3047,3048],{},"what the body does when outputs stop",[1210,3050,3051,3056],{},[1228,3052,3053],{},[49,3054,3055],{},"rate",[1228,3057,3058],{},"how often the body reads it — outputs sent faster are superseded unseen",[1210,3060,3061,3066],{},[1228,3062,3063],{},[49,3064,3065],{},"trajectory",[1228,3067,3068,3069,3071,3072,3075,3076,3079],{},"it takes up to ",[49,3070,1969],{}," timed points, held (",[49,3073,3074],{},"step",") or moved towards (",[49,3077,3078],{},"linear",")",[1199,3081,3083],{"id":3082},"interface",[49,3084,3082],{},[1204,3086,3087,3097],{},[1207,3088,3089],{},[1210,3090,3091,3094],{},[1213,3092,3093],{},"Value",[1213,3095,3096],{},"Driven as",[1223,3098,3099,3109,3119,3132,3144,3156],{},[1210,3100,3101,3106],{},[1228,3102,3103],{},[49,3104,3105],{},"switch",[1228,3107,3108],{},"on or off",[1210,3110,3111,3116],{},[1228,3112,3113],{},[49,3114,3115],{},"axis",[1228,3117,3118],{},"−1 to 1",[1210,3120,3121,3126],{},[1228,3122,3123],{},[49,3124,3125],{},"choice",[1228,3127,3128,3129],{},"an index into ",[49,3130,3131],{},"categories",[1210,3133,3134,3139],{},[1228,3135,3136],{},[49,3137,3138],{},"position",[1228,3140,3141,3142],{},"a target, in its ",[49,3143,1119],{},[1210,3145,3146,3151],{},[1228,3147,3148],{},[49,3149,3150],{},"velocity",[1228,3152,3153,3154],{},"a speed, in its ",[49,3155,1119],{},[1210,3157,3158,3163],{},[1228,3159,3160],{},[49,3161,3162],{},"effort",[1228,3164,3165,3166],{},"a force or torque, in its ",[49,3167,1119],{},[45,3169,3170,3171,3174,3175,3178],{},"A component's ",[49,3172,3173],{},"range"," and ",[49,3176,3177],{},"slew"," — the most it may change in a second — are enforced by the body.",[1199,3180,3181],{"id":3045},[49,3182,3045],{},[1204,3184,3185,3198],{},[1207,3186,3187],{},[1210,3188,3189,3192],{},[1213,3190,3191],{},"Kind",[1213,3193,3194,3195,3197],{},"After ",[49,3196,2233],{}," ms with no output",[1223,3199,3200,3210,3220],{},[1210,3201,3202,3207],{},[1228,3203,3204],{},[49,3205,3206],{},"release",[1228,3208,3209],{},"every component lets go: off, zero, limp",[1210,3211,3212,3217],{},[1228,3213,3214],{},[49,3215,3216],{},"keep",[1228,3218,3219],{},"the last output stays applied — targets only, never a velocity or effort",[1210,3221,3222,3227],{},[1228,3223,3224],{},[49,3225,3226],{},"behaviour",[1228,3228,3229,3230,3232,3233],{},"the body runs a behaviour of its own, ",[49,3231,2278],{},", described in ",[49,3234,2287],{},[213,3236,3238],{"id":3237},"skills","Skills",[45,3240,3241,3242,3246,3247,3250,3251,80],{},"A task the body can carry out — walk to a place, craft a tool — is a ",[3243,3244,3245],"strong",{},"skill",", not an output.\nIt goes through ",[49,3248,3249],{},"kernel.run",", checked against policy, and answers with progress and a result.\nA control loop never uses ",[49,3252,3249],{},[3254,3255,3256],"style",{},"html pre.shiki code .s3F5K, html code.shiki .s3F5K{--shiki-default:#9CDCFE}html pre.shiki code .sTNBD, html code.shiki .sTNBD{--shiki-default:#D4D4D4}html pre.shiki code .sNl3T, html code.shiki .sNl3T{--shiki-default:#4EC9B0}html pre.shiki code .scz_3, html code.shiki .scz_3{--shiki-default:#569CD6}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html pre.shiki code .sCudf, html code.shiki .sCudf{--shiki-default:#DCDCAA}html pre.shiki code .sHkYM, html code.shiki .sHkYM{--shiki-default:#F44747}html pre.shiki code .sKc5r, html code.shiki .sKc5r{--shiki-default:#CE9178}html pre.shiki code .sOLPB, html code.shiki .sOLPB{--shiki-default:#6A9955}html pre.shiki code .sYbnZ, html code.shiki .sYbnZ{--shiki-default:#C586C0}html pre.shiki code .sDGX8, html code.shiki .sDGX8{--shiki-default:#B5CEA8}",{"title":59,"searchDepth":239,"depth":239,"links":3258},[3259,3262,3263,3267],{"id":215,"depth":239,"text":36,"children":3260},[3261],{"id":1201,"depth":297,"text":1202},{"id":1389,"depth":239,"text":1390},{"id":1830,"depth":239,"text":1833,"children":3264},[3265,3266],{"id":3082,"depth":297,"text":3082},{"id":3045,"depth":297,"text":3045},{"id":3237,"depth":239,"text":3238},"kernel.output — every act a mind takes: its four kinds, their fields, and the controls a body declares.","md",{},"\u002Fdocs\u002Fv2\u002Fcognets\u002Fapi\u002Foutput",{"title":36,"description":3268},"docs\u002Fv2\u002Fcognets\u002Fapi\u002Foutput","gPxEodJCRJQ3QCCI6rmFJtZTvc3G3D-59wfi2_DEAvQ",{"left":4,"top":4,"width":20,"height":20,"rotate":4,"vFlip":6,"hFlip":6,"body":3276},"\u003Cpath fill=\"#a4b100\" d=\"M27.5 5.5h-9.3l-2.1 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