init
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# trimesh/resources/schemas
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Contain schemas for formats when available. They are currently mostly [JSON schema](https://json-schema.org/) although if formats have an XSD, DTD, or other schema format we are happy to include it here.
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The `primitive` schema directory is a [JSON schema](https://json-schema.org/) for `trimesh` exports. The goal is if we implement a `to_dict` method to have a well-defined schema we can validate in unit tests.
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/box.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 3D box primitive.",
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"properties": {
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"extents": {
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"description": "The length of each side of the 3D box. The center of mass will be at the origin, and the minimum values will be at (-extents / 2) and the maximum values will be at (extents / 2).",
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"items": {
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"maxItems": 3,
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"minItems": 3,
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"type": "number"
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},
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"type": "array"
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},
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"kind": {
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"pattern": "(^box$)",
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"type": "string"
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},
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"transform": {
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"$ref": "transform.schema.json"
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}
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},
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"required": [
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"extents",
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"kind"
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],
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"type": "object"
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}
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+29
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/capsule.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 3D capsule primitive: a cylinder capped by tangent hemispheres.",
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"properties": {
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"height": {
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"description": "The total height of the capsule including caps.",
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"type": "number"
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},
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"kind": {
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"pattern": "(^capsule$)",
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"type": "string"
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},
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"radius": {
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"description": "The radius of the cylinder and hemispherical caps.",
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"type": "number"
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},
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"transform": {
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"$ref": "transform.schema.json"
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}
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},
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"required": [
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"radius",
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"height",
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"kind"
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],
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"type": "object"
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}
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+29
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/cylinder.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 3D cylinder primitive.",
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"properties": {
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"height": {
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"description": "The height of the cylinder along Z. The maximum Z value will be at (height / 2) and the minimum will be at (-height / 2)",
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"type": "number"
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},
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"kind": {
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"pattern": "(^cylinder$)",
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"type": "string"
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},
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"radius": {
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"description": "The radius of the cylinder.",
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"type": "number"
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},
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"transform": {
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"$ref": "transform.schema.json"
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}
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},
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"required": [
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"radius",
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"height",
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"kind"
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],
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"type": "object"
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}
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/extrusion.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 2D polygon extruded from Z=0 along positive Z by `height` then transformed by the `transform` matrix.",
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"properties": {
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"height": {
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"type": "number"
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},
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"kind": {
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"pattern": "(^extrusion$)",
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"type": "string"
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},
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"polygon": {
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"$ref": "wkt.polygon.schema.json"
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},
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"transform": {
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"$ref": "transform.schema.json"
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}
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},
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"required": [
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"kind",
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"polygon",
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"height"
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],
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"type": "object"
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}
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+22
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/primitive.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"anyOf": [
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{
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"$ref": "box.schema.json"
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},
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{
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"$ref": "sphere.schema.json"
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},
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{
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"$ref": "capsule.schema.json"
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},
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{
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"$ref": "cylinder.schema.json"
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},
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{
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"$ref": "extrusion.schema.json"
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}
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],
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"description": "A geometric primitive."
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}
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+25
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/scenegraph.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"description": "A scene graph in the simplest possible JSON format.",
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"type": "array",
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"items": {
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"type": "array",
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"prefixItems": [
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{ "type": "string", "description": "Node name of frame from." },
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{ "type": "string", "description": "Node name of frame to." },
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{
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"type": "object",
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"additionalProperties": false,
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"properties": {
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"geometry": {
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"type": "string",
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"description": "Name of the geometry transformed to this frame."
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},
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"matrix": { "$ref": "transform.schema.json" }
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}
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}
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]
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}
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}
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+23
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/sphere.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 3D sphere primitive.",
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"properties": {
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"kind": {
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"pattern": "(^sphere$)",
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"type": "string"
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},
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"radius": {
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"type": "number"
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},
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"transform": {
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"$ref": "transform.schema.json"
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}
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},
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"required": [
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"radius",
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"kind"
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],
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"type": "object"
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}
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+16
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/transform.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"description": "A homogeneous transformation matrix. If not passed it is assumed to be an identity matrix ",
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"items": {
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"items": {
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"maxItems": 4,
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"minItems": 4,
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"type": "number"
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},
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"maxItems": 4,
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"minItems": 4,
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"type": "array"
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},
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"type": "array"
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}
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+39
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/trimesh.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"additionalProperties": false,
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"description": "A 3D triangular mesh in the simplest possible JSON format.",
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"properties": {
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"faces": {
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"items": {
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"items": {
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"maxItems": 3,
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"minItems": 3,
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"type": "integer"
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},
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"type": "array"
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},
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"type": "array"
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},
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"kind": {
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"pattern": "(^trimesh$)",
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"type": "string"
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},
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"vertices": {
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"items": {
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"items": {
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"maxItems": 3,
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"minItems": 3,
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"type": "number"
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},
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"type": "array"
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},
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"type": "array"
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}
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},
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"required": [
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"vertices",
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"faces"
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],
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"type": "object"
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}
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+7
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{
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"$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/wkt.polygon.schema.json",
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"description": "A single polygon in the Well Known Text format (WKT).",
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"pattern": " *POLYGON *\\( *\\( *([+-]?([0-9]*[.])?[0-9]+ *[+-]?([0-9]*[.])?[0-9]+ *,* *)*\\) *\\) *",
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"type": "string"
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}
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<?xml version="1.0" ?>
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<!--
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XML Schema for URDF v1.0
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This is a proposal XML Schema to validate the original URDF file
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format. It supports PR2 extensions (transmission) but not the
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Gazebo ones.
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-->
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<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
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targetNamespace="http://www.ros.org"
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xmlns="http://www.ros.org"
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elementFormDefault="qualified">
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<!-- pose node type -->
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<xs:complexType name="pose">
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<xs:attribute name="xyz" type="xs:string" default="0 0 0" />
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<xs:attribute name="rpy" type="xs:string" default="0 0 0" />
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</xs:complexType>
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<!-- pose node type -->
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<xs:complexType name="color">
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<xs:attribute name="rgba" type="xs:string" default="0 0 0 0" />
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</xs:complexType>
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<!-- verbose node type -->
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<xs:complexType name="verbose">
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<xs:attribute name="value" type="xs:string" />
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</xs:complexType>
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<!-- name only node type -->
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<xs:complexType name="name">
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<xs:attribute name="name" type="xs:string" />
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</xs:complexType>
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<!-- mass node type -->
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<xs:complexType name="mass">
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<!-- FIXME: is value optional? -->
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<xs:attribute name="value" type="xs:double" default="0" />
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</xs:complexType>
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<!-- inertia node type -->
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<xs:complexType name="inertia">
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<!-- FIXME: is it optional? default value? -->
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<xs:attribute name="ixx" type="xs:double" default="0" />
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<xs:attribute name="ixy" type="xs:double" default="0" />
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<xs:attribute name="ixz" type="xs:double" default="0" />
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<xs:attribute name="iyy" type="xs:double" default="0" />
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<xs:attribute name="iyz" type="xs:double" default="0" />
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<xs:attribute name="izz" type="xs:double" default="0" />
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</xs:complexType>
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<!-- inertial node type -->
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<xs:complexType name="inertial">
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<xs:all>
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<xs:element name="origin"
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type="pose" minOccurs="0" maxOccurs="1" />
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<xs:element name="mass"
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type="mass" minOccurs="0" maxOccurs="1" />
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<xs:element name="inertia"
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type="inertia" minOccurs="0" maxOccurs="1" />
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</xs:all>
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</xs:complexType>
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<!-- box node type -->
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<xs:complexType name="box">
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<xs:attribute name="size" type="xs:string" default="0 0 0" />
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</xs:complexType>
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<!-- cylinder node type -->
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<xs:complexType name="cylinder">
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<xs:attribute name="radius" type="xs:double" use="required" />
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<xs:attribute name="length" type="xs:double" use="required" />
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</xs:complexType>
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<!-- sphere node type -->
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<xs:complexType name="sphere">
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<xs:attribute name="radius" type="xs:double" use="required" />
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</xs:complexType>
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<!-- mesh node type -->
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<xs:complexType name="mesh">
|
||||
<xs:attribute name="filename" type="xs:anyURI" use="required" />
|
||||
<xs:attribute name="scale" type="xs:string" default="1 1 1" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- geometry node type -->
|
||||
<xs:complexType name="geometry">
|
||||
<xs:choice>
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<xs:element name="box" type="box" />
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||||
<xs:element name="cylinder" type="cylinder" />
|
||||
<xs:element name="sphere" type="sphere" />
|
||||
<xs:element name="mesh" type="mesh" />
|
||||
</xs:choice>
|
||||
</xs:complexType>
|
||||
|
||||
<!-- texture node type -->
|
||||
<xs:complexType name="texture">
|
||||
<xs:attribute name="filename" type="xs:anyURI" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- material node type -->
|
||||
<xs:complexType name="material">
|
||||
<xs:sequence>
|
||||
<xs:element name="color" type="color" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="texture" type="texture" minOccurs="0" maxOccurs="1" />
|
||||
</xs:sequence>
|
||||
<xs:attribute name="name" type="xs:string" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- material (global) node type -->
|
||||
<xs:complexType name="material_global">
|
||||
<xs:sequence>
|
||||
<xs:element name="color" type="color" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="texture" type="texture" minOccurs="0" maxOccurs="1" />
|
||||
</xs:sequence>
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
|
||||
<!-- visual node type -->
|
||||
<xs:complexType name="visual">
|
||||
<xs:sequence>
|
||||
<xs:element name="origin"
|
||||
type="pose" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="geometry"
|
||||
type="geometry" minOccurs="1" maxOccurs="1" />
|
||||
<xs:element name="material"
|
||||
type="material" minOccurs="0" maxOccurs="1" />
|
||||
</xs:sequence>
|
||||
</xs:complexType>
|
||||
|
||||
<!-- collision node type -->
|
||||
<xs:complexType name="collision">
|
||||
<xs:sequence>
|
||||
<xs:element name="origin"
|
||||
type="pose" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="geometry"
|
||||
type="geometry" minOccurs="1" maxOccurs="1" />
|
||||
<xs:element name="verbose"
|
||||
type="verbose" minOccurs="0" maxOccurs="1" />
|
||||
</xs:sequence>
|
||||
<!-- FIXME: used but not documented -->
|
||||
<xs:attribute name="name" type="xs:string" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- link node type -->
|
||||
<xs:complexType name="link">
|
||||
<xs:all>
|
||||
<xs:element name="inertial"
|
||||
type="inertial" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="visual"
|
||||
type="visual" minOccurs="0"/>
|
||||
<xs:element name="collision"
|
||||
type="collision" minOccurs="0"/>
|
||||
</xs:all>
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
|
||||
<!-- FIXME: undocumented but used by PR2 -->
|
||||
<xs:attribute name="type" type="xs:string" />
|
||||
</xs:complexType>
|
||||
|
||||
|
||||
<!-- parent node type -->
|
||||
<xs:complexType name="parent">
|
||||
<xs:attribute name="link" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- child node type -->
|
||||
<xs:complexType name="child">
|
||||
<xs:attribute name="link" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- axis node type -->
|
||||
<xs:complexType name="axis">
|
||||
<xs:attribute name="xyz" type="xs:string" default="1 0 0" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- calibration node type -->
|
||||
<xs:complexType name="calibration">
|
||||
<xs:attribute name="reference_position" type="xs:double"/>
|
||||
<xs:attribute name="rising" type="xs:double"/>
|
||||
<xs:attribute name="falling" type="xs:double"/>
|
||||
</xs:complexType>
|
||||
|
||||
<!-- dynamics node type -->
|
||||
<xs:complexType name="dynamics">
|
||||
<xs:attribute name="damping" type="xs:double" default="0" />
|
||||
<xs:attribute name="friction" type="xs:double" default="0" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- limit node type -->
|
||||
<xs:complexType name="limit">
|
||||
<xs:attribute name="lower" type="xs:double" default="0" />
|
||||
<xs:attribute name="upper" type="xs:double" default="0" />
|
||||
<xs:attribute name="effort" type="xs:double" default="0" />
|
||||
<xs:attribute name="velocity" type="xs:double" default="0" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- safety controller node type -->
|
||||
<xs:complexType name="safety_controller">
|
||||
<xs:attribute name="soft_lower_limit" type="xs:double" default="0" />
|
||||
<xs:attribute name="soft_upper_limit" type="xs:double" default="0" />
|
||||
<xs:attribute name="k_position" type="xs:double" default="0" />
|
||||
<xs:attribute name="k_velocity" type="xs:double" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- mimic node type -->
|
||||
<xs:complexType name="mimic">
|
||||
<xs:attribute name="joint" type="xs:string" use="required" />
|
||||
<xs:attribute name="multiplier" type="xs:double" default="1" />
|
||||
<xs:attribute name="offset" type="xs:double" default="0" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- actuator transmission node type -->
|
||||
<xs:complexType name="actuator_transmission">
|
||||
<xs:attribute name="mechanicalReduction" type="xs:double" use="required" />
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- gap joint transmission node type -->
|
||||
<xs:complexType name="gap_joint_transmission">
|
||||
<xs:attribute name="L0" type="xs:double" use="required" />
|
||||
<xs:attribute name="a" type="xs:double" use="required" />
|
||||
<xs:attribute name="b" type="xs:double" use="required" />
|
||||
<xs:attribute name="gear_ratio" type="xs:double" use="required" />
|
||||
<xs:attribute name="h" type="xs:double" use="required" />
|
||||
<xs:attribute name="mechanical_reduction" type="xs:double" use="required" />
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
<xs:attribute name="phi0" type="xs:double" use="required" />
|
||||
<xs:attribute name="r" type="xs:double" use="required" />
|
||||
<xs:attribute name="screw_reduction" type="xs:double" use="required" />
|
||||
<xs:attribute name="t0" type="xs:double" use="required" />
|
||||
<xs:attribute name="theta0" type="xs:double" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- passive joint transmission node type -->
|
||||
<xs:complexType name="passive_joint_transmission">
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- transmission node type -->
|
||||
<xs:complexType name="transmission">
|
||||
<xs:sequence minOccurs="0" maxOccurs="unbounded">
|
||||
<xs:element name="leftActuator"
|
||||
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="rightActuator"
|
||||
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="flexJoint"
|
||||
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="rollJoint"
|
||||
type="actuator_transmission" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="gap_joint"
|
||||
type="gap_joint_transmission" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="passive_joint"
|
||||
type="passive_joint_transmission" minOccurs="0" maxOccurs="unbounded" />
|
||||
<xs:element name="use_simulated_gripper_joint" minOccurs="0" maxOccurs="1">
|
||||
<xs:complexType>
|
||||
</xs:complexType>
|
||||
</xs:element>
|
||||
<xs:element name="mechanicalReduction" type="xs:double"
|
||||
minOccurs="0" maxOccurs="1" />
|
||||
|
||||
<xs:element name="actuator" type="name" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="joint" type="name" minOccurs="0" maxOccurs="1" />
|
||||
</xs:sequence>
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
<xs:attribute name="type" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- joint node type -->
|
||||
<xs:complexType name="joint">
|
||||
<xs:all>
|
||||
<xs:element name="origin"
|
||||
type="pose" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="parent"
|
||||
type="parent" minOccurs="1" maxOccurs="1" />
|
||||
<xs:element name="child"
|
||||
type="child" minOccurs="1" maxOccurs="1" />
|
||||
<xs:element name="axis"
|
||||
type="axis" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="calibration"
|
||||
type="calibration" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="dynamics"
|
||||
type="dynamics" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="limit"
|
||||
type="limit" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="safety_controller"
|
||||
type="safety_controller" minOccurs="0" maxOccurs="1" />
|
||||
<xs:element name="mimic"
|
||||
type="mimic" minOccurs="0" maxOccurs="1" />
|
||||
</xs:all>
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
<xs:attribute name="type" type="xs:string" use="required" />
|
||||
</xs:complexType>
|
||||
|
||||
<!-- root node is always robot -->
|
||||
<xs:element name="robot">
|
||||
<xs:complexType>
|
||||
<xs:sequence minOccurs="0" maxOccurs="unbounded">
|
||||
<xs:element name="joint"
|
||||
type="joint" minOccurs="0" maxOccurs="unbounded" />
|
||||
<xs:element name="link"
|
||||
type="link" minOccurs="0" maxOccurs="unbounded" />
|
||||
|
||||
<!-- FIXME: this is used but undocumented -->
|
||||
<xs:element name="material"
|
||||
type="material_global" minOccurs="0" maxOccurs="unbounded" />
|
||||
|
||||
<!-- FIXME: this is used but undocumented -->
|
||||
<xs:element name="transmission"
|
||||
type="transmission" minOccurs="0" maxOccurs="unbounded" />
|
||||
|
||||
<!-- FIXME: gazebo extension not supported -->
|
||||
</xs:sequence>
|
||||
<xs:attribute name="name" type="xs:string" use="required" />
|
||||
|
||||
<!-- TM: I suggest adding the following attribute. -->
|
||||
<xs:attribute name="version" type="xs:string" default="1.0" />
|
||||
</xs:complexType>
|
||||
</xs:element>
|
||||
</xs:schema>
|
||||
Reference in New Issue
Block a user