$schema: https://json-schema.org/draft/2020-12/schema
title: LinkerHand calibration profile
type: object
additionalProperties: false
required:
  - schema_version
  - profile_id
  - namespace
  - sdk_adapter
  - command
  - vision
  - motion
  - measurement
  - zero
  - quality
  - scope
  - artifacts
  - urdf
properties:
  schema_version: {const: 1}
  profile_id: {type: string, pattern: "^[A-Za-z0-9_-]+/(left|right)/[a-z0-9_-]+/v[1-9][0-9]*$"}
  namespace: {type: string, pattern: "^/[^/].*[^/]$"}
  sdk_adapter: {type: string, minLength: 1}
  command: {type: object}
  vision: {type: object}
  motion: {type: object}
  measurement: {type: object}
  zero: {type: object}
  quality: {type: object}
  scope: {type: object}
  artifacts: {type: object}
  acquisition: {type: object}
  urdf:
    type: object
    required: [authorized_fields]
    properties:
      authorized_fields:
        type: object
        additionalProperties:
          type: array
          uniqueItems: true
          items:
            enum: [origin.rpy, limit.lower, limit.upper, mimic.multiplier, mimic.offset]
  joint_coverage: {type: object}