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