{ "$id": "https://botrail.github.io/botrail/schema/project.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "title": "botrail project (.botrail)", "description": "A `.botrail` project: one robot cell as text — robots and their\nplacement, obstacles, frames, motions, sequences, signals, sensors,\ndevices, scenarios, toolpaths, the I/O map and the parts pinned to all\nof them. Every list is additive: a field a file does not carry is\nempty. `version` is 2.", "type": "object", "properties": { "allowed_contacts": { "description": "Process-contact exemptions, by names (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/AllowedContactMsg" } }, "applicators": { "description": "Spray applicators by name (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/ApplicatorMsg" } }, "brushes": { "description": "Brushes — named process settings toolpath strokes run with (absent\nin older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/Brush" } }, "cameras": { "description": "Cameras (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/CameraMsg" } }, "connection_plan": { "description": "Physical interface requirements and utility connections. These do\nnot execute the cell; the I/O assignment remains in `io`.", "$ref": "#/$defs/ConnectionPlan" }, "devices": { "description": "Auxiliary devices (absent in older v2 files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/DeviceMsg" } }, "flashes": { "description": "Weld-flash bindings (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/FlashMsg" } }, "frames": { "description": "Named world frames (absent in older v2 files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/FrameMsg" } }, "io": { "description": "The I/O map's assignment layer — controller nodes, point → channel\nbindings, declarations (absent in older files). The points\nthemselves are derived, never stored.", "$ref": "#/$defs/IoMap", "default": {} }, "lidars": { "description": "LiDAR scanners (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/LidarMsg" } }, "motions": { "type": "array", "items": { "$ref": "#/$defs/MotionMsg" } }, "obstacles": { "type": "array", "items": { "$ref": "#/$defs/ObstacleMsg" } }, "parts": { "description": "Part identity pinned to residents and groups (absent in older\nfiles). The BOM itself is derived, never stored.", "type": "array", "items": { "$ref": "#/$defs/PartEntry" } }, "robots": { "type": "array", "items": { "$ref": "#/$defs/ProjectRobotMsg" } }, "scenarios": { "description": "Scenarios — named initial-state deltas (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/ScenarioMsg" } }, "sensors": { "description": "Pseudo-sensors (absent in older v2 files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/SensorMsg" } }, "sequences": { "description": "PLC-style sequences (absent in older v2 files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/SequenceMsg" } }, "signals": { "description": "Internal signal declarations (absent in older v2 files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/SignalDefMsg" } }, "toolpaths": { "description": "Toolpaths — Cartesian process paths (absent in older files).", "type": "array", "default": [], "items": { "$ref": "#/$defs/ToolpathMsg" } }, "version": { "description": "Project file format version (currently 2).", "type": "integer", "format": "uint32", "minimum": 0 } }, "required": [ "version", "robots", "obstacles", "motions" ], "$defs": { "ActionMsg": { "description": "Robot-addressed actions carry `robot` — the instance name, or `None`\nfor the scene's sole robot (ambiguous, and rejected, with several).", "oneOf": [ { "description": "Start a named motion (its owning robot drives); await it with the\n`done` condition.", "type": "object", "properties": { "motion": { "type": "string" }, "type": { "type": "string", "const": "start_motion" } }, "required": [ "type", "motion" ] }, { "description": "Start a toolpath (continuous Cartesian process path) on `robot`;\nawait with `done`.", "type": "object", "properties": { "robot": { "type": [ "string", "null" ], "default": null }, "toolpath": { "type": "string" }, "type": { "type": "string", "const": "start_toolpath" } }, "required": [ "type", "toolpath" ] }, { "description": "Linearly ramp joints (gripper open/close); await with `done`.", "type": "object", "properties": { "duration": { "type": "number", "format": "double" }, "robot": { "type": [ "string", "null" ], "default": null }, "targets": { "type": "array", "items": { "$ref": "#/$defs/RampTargetMsg" } }, "type": { "type": "string", "const": "start_ramp" } }, "required": [ "type", "targets", "duration" ] }, { "description": "Grasp an obstacle at its current relative pose (instantaneous).", "type": "object", "properties": { "link": { "type": [ "string", "null" ], "default": null }, "object": { "type": "string" }, "robot": { "type": [ "string", "null" ], "default": null }, "touch_links": { "type": [ "array", "null" ], "default": null, "items": { "type": "string" } }, "type": { "type": "string", "const": "attach" } }, "required": [ "type", "object" ] }, { "description": "Release an obstacle where it is (instantaneous; the carrier is\nlooked up from the attachment).", "type": "object", "properties": { "object": { "type": "string" }, "type": { "type": "string", "const": "detach" } }, "required": [ "type", "object" ] }, { "description": "Latch onto a moving part: taught poses ride its motion until the\ntrack is released (conveyor tracking).", "type": "object", "properties": { "link": { "type": [ "string", "null" ], "default": null }, "object": { "type": "string" }, "robot": { "type": [ "string", "null" ], "default": null }, "type": { "type": "string", "const": "track" } }, "required": [ "type", "object" ] }, { "description": "Stop following the tracked part (instantaneous).", "type": "object", "properties": { "robot": { "type": [ "string", "null" ], "default": null }, "type": { "type": "string", "const": "untrack" } }, "required": [ "type" ] }, { "description": "Write an internal signal.", "type": "object", "properties": { "signal": { "type": "string" }, "type": { "type": "string", "const": "set" }, "value": { "type": "boolean" } }, "required": [ "type", "signal", "value" ] }, { "description": "Command an auxiliary device (output coil).", "type": "object", "properties": { "command": { "$ref": "#/$defs/DeviceCommandMsg" }, "device": { "type": "string" }, "type": { "type": "string", "const": "device" } }, "required": [ "type", "device", "command" ] } ] }, "AerialMsg": { "description": "The aerial drive of a flying vehicle: present on the wire means the\nmachine flies its legs — z is free, each axis at its own rate.", "type": "object", "properties": { "climb_speed": { "type": "number", "format": "double" }, "descent_speed": { "type": "number", "format": "double" }, "fixed_yaw": { "description": "Hold this yaw over the whole flight; absent flies course-facing.", "type": [ "number", "null" ], "format": "double" } }, "required": [ "climb_speed", "descent_speed" ] }, "AllowedContactMsg": { "description": "One [`crate::AllowedContact`] by names: robot instance, link, obstacle.", "type": "object", "properties": { "link": { "type": "string" }, "obstacle": { "type": "string" }, "robot": { "type": "string" } }, "required": [ "robot", "link", "obstacle" ] }, "ApplicatorMsg": { "description": "One named [`crate::coat::Applicator`].", "type": "object", "properties": { "flow": { "description": "Paint delivered at the nozzle [m^3/s].", "type": "number", "format": "double" }, "max_range": { "description": "Nothing lands past this axial distance [m].", "type": "number", "format": "double" }, "name": { "type": "string" }, "pattern": { "$ref": "#/$defs/Pattern" }, "standoff": { "description": "Distance the pattern was measured at [m]. The whole model is a\nprojection of that plane, so this is the number the authored\nstandoff should match.", "type": "number", "format": "double" }, "transfer_efficiency": { "description": "Fraction of `flow` that reaches the reference plane. The rest is\noverspray before the paint ever gets to the part.", "type": "number", "format": "double" } }, "required": [ "name", "standoff", "pattern", "flow", "transfer_efficiency", "max_range" ] }, "Aspect": { "description": "The second facet a device or robot point carries when one name owns\nseveral wires: a device's numeric commands and a robot's handshake.\nRendered as `name.aspect`.", "oneOf": [ { "description": "Indexed-transfer start (`Advance`).", "type": "string", "const": "index" }, { "description": "Vehicle dispatch (`Goto`).", "type": "string", "const": "dispatch" }, { "description": "Vehicle station select (`Goto`, word).", "type": "string", "const": "station" }, { "description": "Axis position command (`MoveTo`, word).", "type": "string", "const": "position" }, { "description": "Speed command (`SetSpeed`, analog).", "type": "string", "const": "speed" }, { "description": "Robot start (motion / ramp / toolpath from another host).", "type": "string", "const": "start" }, { "description": "Robot done / idle contact.", "type": "string", "const": "done" }, { "description": "Robot program-number word.", "type": "string", "const": "program" } ] }, "AttachmentMsg": { "description": "Attachment state of a grasped obstacle (see `ObstacleMsg::attached_to`).", "type": "object", "properties": { "grasp": { "description": "Fixed relative pose: `link ← object`.", "$ref": "#/$defs/PoseMsg" }, "link": { "description": "Carrying link name.", "type": "string" }, "robot": { "description": "Carrying robot instance name; `None` means the first robot.", "type": [ "string", "null" ], "default": null }, "touch_links": { "description": "Links allowed to touch the object (carrying link, gripper fingers).", "type": "array", "items": { "type": "string" } } }, "required": [ "link", "grasp", "touch_links" ] }, "Brush": { "description": "A process setting a stroke runs with — ABB's *brush*: which applicator,\nat what fraction of its flow, and how the trigger is timed around the\nstroke. Named on the scene, referenced from a toolpath's feed moves.\nAnalog process values live here, in the authoring, because signals are\nbool: the PLC enables the gun, the program picks the brush.", "type": "object", "properties": { "applicator": { "description": "A [`Scene::applicator`] name.", "type": "string" }, "flow": { "description": "Multiplier on the applicator's flow. `1.0` is the flow it was\ncalibrated at; a primer at half flow is `0.5`.", "type": "number", "format": "double", "default": 1.0 }, "lag": { "description": "Seconds it keeps flowing after the stroke ends.", "type": "number", "format": "double", "default": 0.0 }, "lead": { "description": "Seconds the paint starts flowing *before* a stroke with this brush\nbegins — the programmed lead that compensates the fluid system's\ndelay, and coats the run-in. Zero is \"opens exactly at the\nstroke's first point\".", "type": "number", "format": "double", "default": 0.0 }, "name": { "type": "string" } }, "required": [ "name", "applicator" ] }, "CameraMountMsg": { "description": "What a camera is bolted to.", "oneOf": [ { "description": "A fixture; the pose is a world pose.", "type": "object", "properties": { "kind": { "type": "string", "const": "world" } }, "required": [ "kind" ] }, { "description": "Rides a vehicle device.", "type": "object", "properties": { "device": { "type": "string" }, "kind": { "type": "string", "const": "vehicle" } }, "required": [ "kind", "device" ] }, { "description": "Bolted to a robot link (a wrist camera).", "type": "object", "properties": { "kind": { "type": "string", "const": "link" }, "link": { "type": "string" }, "robot": { "type": "string" } }, "required": [ "kind", "robot", "link" ] } ] }, "CameraMsg": { "description": "A camera: a named viewpoint with pinhole optics. Presentation only —\nit publishes no signal (a vision sensor referencing it is the planned\nsignal path).", "type": "object", "properties": { "far": { "type": "number", "format": "double" }, "fov_deg": { "description": "Horizontal field of view, degrees.", "type": "number", "format": "double" }, "mount": { "$ref": "#/$defs/CameraMountMsg" }, "name": { "type": "string" }, "near": { "type": "number", "format": "double" }, "pose": { "description": "Offset in the mount frame (world pose for a `world` mount).\n-Z is the view direction, +Y is image-up.", "$ref": "#/$defs/PoseMsg" }, "resolution": { "description": "Image size in pixels (frustum aspect, export pixel size).", "type": "array", "items": { "type": "integer", "format": "uint32", "minimum": 0 }, "maxItems": 2, "minItems": 2 } }, "required": [ "name", "mount", "pose", "fov_deg", "resolution", "near", "far" ] }, "CatalogRef": { "description": "A catalog package reference: the id as resolved plus, when known, the\ndataset revision it was fetched at. `revision: None` is a hand-written\nreference that has not been pinned (a part named by its catalog id\nwithout going through `Robot.from_catalog`).", "type": "object", "properties": { "id": { "type": "string" }, "revision": { "type": [ "string", "null" ] } }, "required": [ "id" ] }, "ChannelKind": { "description": "The channel type a point needs. Only `Di`/`Do` take part in the bake\nand the URScript lowering; `Word`/`Ao` are table vocabulary — the\nnumeric commands a bool coil cannot carry.", "type": "string", "enum": [ "di", "do", "ai", "ao", "safe_di", "safe_do", "word" ] }, "ConditionMsg": { "oneOf": [ { "description": "Always true — fire the actions and move on.", "type": "object", "properties": { "type": { "type": "string", "const": "immediately" } }, "required": [ "type" ] }, { "description": "Every motion/ramp started by this step has finished.", "type": "object", "properties": { "type": { "type": "string", "const": "done" } }, "required": [ "type" ] }, { "description": "The named robot has no motion/ramp in flight (interlock building\nblock).", "type": "object", "properties": { "robot": { "type": "string" }, "type": { "type": "string", "const": "robot_done" } }, "required": [ "type", "robot" ] }, { "description": "On-delay timer from step entry (TON).", "type": "object", "properties": { "seconds": { "type": "number", "format": "double" }, "type": { "type": "string", "const": "elapsed" } }, "required": [ "type", "seconds" ] }, { "description": "Level test of a signal.", "type": "object", "properties": { "name": { "type": "string" }, "type": { "type": "string", "const": "signal" }, "value": { "type": "boolean" } }, "required": [ "type", "name", "value" ] }, { "description": "Rising edge: on this scan, off the previous one (`-|P|-`).", "type": "object", "properties": { "name": { "type": "string" }, "type": { "type": "string", "const": "rising" } }, "required": [ "type", "name" ] }, { "description": "Falling edge: off this scan, on the previous one (`-|N|-`).", "type": "object", "properties": { "name": { "type": "string" }, "type": { "type": "string", "const": "falling" } }, "required": [ "type", "name" ] }, { "description": "A linear axis reached its commanded position.", "type": "object", "properties": { "device": { "type": "string" }, "type": { "type": "string", "const": "device_done" } }, "required": [ "type", "device" ] }, { "description": "Series contacts (AND).", "type": "object", "properties": { "conditions": { "type": "array", "items": { "$ref": "#/$defs/ConditionMsg" } }, "type": { "type": "string", "const": "all" } }, "required": [ "type", "conditions" ] }, { "description": "Parallel contacts (OR).", "type": "object", "properties": { "conditions": { "type": "array", "items": { "$ref": "#/$defs/ConditionMsg" } }, "type": { "type": "string", "const": "any" } }, "required": [ "type", "conditions" ] } ] }, "Connection": { "type": "object", "properties": { "cable": { "type": [ "string", "null" ], "default": null }, "name": { "type": "string" }, "reference": { "type": [ "string", "null" ], "default": null }, "source": { "type": "string" }, "target": { "type": "string" } }, "additionalProperties": false, "required": [ "name", "source", "target" ] }, "ConnectionPlan": { "type": "object", "properties": { "links": { "type": "array", "default": [], "items": { "$ref": "#/$defs/Connection" } }, "ports": { "type": "array", "default": [], "items": { "$ref": "#/$defs/Port" } } }, "additionalProperties": false }, "ConstraintMsg": { "description": "A TCP path constraint (see `motion::Constraint`).", "oneOf": [ { "type": "object", "properties": { "angle": { "description": "Half-angle of the cone (rad).", "type": "number", "format": "double" }, "axis_local": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "axis_world": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "type": { "type": "string", "const": "orientation_cone" } }, "required": [ "type", "axis_local", "axis_world", "angle" ] }, { "type": "object", "properties": { "max": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "min": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "type": { "type": "string", "const": "position_box" } }, "required": [ "type", "min", "max" ] } ] }, "Contact": { "description": "Contact type of the field device — documentation for the connection\ntable. Independent of `invert`: an E-stop button is an NC contact whose\nhealthy state reads high, so `estop_ok` needs no inversion.", "type": "string", "enum": [ "no", "nc" ] }, "DeclRole": { "oneOf": [ { "description": "An external input, whatever the sequences do with the name.", "type": "string", "const": "input" }, { "description": "An output coil, whatever the sequences do with the name.", "type": "string", "const": "output" }, { "description": "A relay: no I/O even if only read (a constant flag).", "type": "string", "const": "internal" }, { "description": "Not on the table at all.", "type": "string", "const": "exclude" } ] }, "DeviceCommandMsg": { "oneOf": [ { "type": "object", "properties": { "type": { "type": "string", "const": "start" } }, "required": [ "type" ] }, { "type": "object", "properties": { "type": { "type": "string", "const": "stop" } }, "required": [ "type" ] }, { "type": "object", "properties": { "speed": { "type": "number", "format": "double" }, "type": { "type": "string", "const": "set_speed" } }, "required": [ "type", "speed" ] }, { "type": "object", "properties": { "position": { "type": "number", "format": "double" }, "type": { "type": "string", "const": "move_to" } }, "required": [ "type", "position" ] }, { "description": "Send a vehicle to a named station; await with `device_done`.", "type": "object", "properties": { "station": { "type": "string" }, "type": { "type": "string", "const": "goto" } }, "required": [ "type", "station" ] }, { "description": "Run a stopped conveyor for exactly `distance` metres, then stop\n(indexed transfer); await with `device_done`.", "type": "object", "properties": { "distance": { "type": "number", "format": "double" }, "type": { "type": "string", "const": "advance" } }, "required": [ "type", "distance" ] }, { "description": "Send a lift to a named stop; await with `device_done`. The cargo\nis fixed the moment this fires (the doors are closed).", "type": "object", "properties": { "stop": { "type": "string" }, "type": { "type": "string", "const": "move_to_stop" } }, "required": [ "type", "stop" ] } ] }, "DeviceKindMsg": { "oneOf": [ { "description": "Advects unattached obstacles whose origin lies inside the zone.", "type": "object", "properties": { "kind": { "type": "string", "const": "conveyor" }, "running": { "type": "boolean" }, "velocity": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "zone_pose": { "$ref": "#/$defs/PoseMsg" }, "zone_size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "zone_pose", "zone_size", "velocity", "running" ] }, { "description": "Moves the listed obstacles along `axis` within `range`; `stops`\nare its named positions (each a `/` input lane).", "type": "object", "properties": { "axis": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "kind": { "type": "string", "const": "linear_axis" }, "objects": { "type": "array", "items": { "type": "string" } }, "position": { "type": "number", "format": "double" }, "range": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 2, "minItems": 2 }, "speed": { "type": "number", "format": "double" }, "stops": { "type": "array", "default": [], "items": { "$ref": "#/$defs/LiftStopMsg" } } }, "required": [ "kind", "objects", "axis", "speed", "position", "range" ] }, { "description": "Feeds parked carriers onto the line every `interval` seconds.", "type": "object", "properties": { "interval": { "type": "number", "format": "double" }, "kind": { "type": "string", "const": "source" }, "park": { "$ref": "#/$defs/PoseMsg" }, "pitch": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "pool": { "type": "array", "items": { "type": "string" } }, "pose": { "$ref": "#/$defs/PoseMsg" }, "running": { "type": "boolean" } }, "required": [ "kind", "pool", "park", "pitch", "pose", "interval", "running" ] }, { "description": "Returns carriers that reach its zone to `source`'s magazine.", "type": "object", "properties": { "kind": { "type": "string", "const": "sink" }, "source": { "type": "string" }, "zone_pose": { "$ref": "#/$defs/PoseMsg" }, "zone_size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "zone_pose", "zone_size", "source" ] }, { "description": "A guided transport vehicle: drives station to station along an\nauthored path, carrying its body obstacles rigidly.", "type": "object", "properties": { "aerial": { "description": "Aerial drive: present means the machine flies its legs (z free,\neach axis at its own rate); `allow_reverse` / `max_grade` are\nthen unused.", "anyOf": [ { "$ref": "#/$defs/AerialMsg" }, { "type": "null" } ] }, "allow_reverse": { "description": "May it drive a leg backwards instead of turning around for it?", "type": "boolean" }, "body": { "type": "array", "items": { "type": "string" } }, "holonomic": { "description": "Holonomic drive: the machine translates while holding its\nheading — no pivot turns. `allow_reverse` is then unused;\n`max_grade` still applies (it is a ground drive).", "type": "boolean" }, "kind": { "type": "string", "const": "vehicle" }, "max_grade": { "description": "Steepest grade the drive may climb, as rise over horizontal run\n(0.10 = 10 %). Absent means level paths only.", "type": [ "number", "null" ], "format": "double" }, "path": { "$ref": "#/$defs/VehiclePathMsg" }, "speed": { "type": "number", "format": "double" }, "start": { "type": "string" }, "tray": { "description": "Load deck in the vehicle frame: pose plus full size.", "anyOf": [ { "$ref": "#/$defs/VehicleTrayMsg" }, { "type": "null" } ] }, "turn_speed": { "type": "number", "format": "double" } }, "required": [ "kind", "path", "body", "speed", "turn_speed", "start" ] }, { "description": "A lift (elevator): the car obstacles ride along `axis` between\nnamed stops, carrying what the capture zone held at dispatch —\nloose parts by origin, vehicles whole.", "type": "object", "properties": { "axis": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "car": { "type": "array", "items": { "type": "string" } }, "kind": { "type": "string", "const": "lift" }, "speed": { "type": "number", "format": "double" }, "start": { "type": "string" }, "stops": { "type": "array", "items": { "$ref": "#/$defs/LiftStopMsg" } }, "zone_pose": { "description": "Capture zone at the reference position (`position = 0`).", "$ref": "#/$defs/PoseMsg" }, "zone_size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "car", "zone_pose", "zone_size", "axis", "speed", "stops", "start" ] } ] }, "DeviceMsg": { "description": "A scripted auxiliary device commanded from sequences.", "type": "object", "properties": { "kind": { "$ref": "#/$defs/DeviceKindMsg" }, "name": { "type": "string" } }, "required": [ "name", "kind" ] }, "Electrical": { "description": "Electrical facts about a channel or a field device: what a lint can\ncompare when both sides state them.", "type": "object", "properties": { "logic": { "description": "The sensor output type a channel accepts / a device provides. Not\n\"sink\"/\"source\": those words swap meaning between vendors.", "anyOf": [ { "$ref": "#/$defs/Logic" }, { "type": "null" } ] }, "voltage": { "type": [ "number", "null" ], "format": "double" } } }, "FaultMsg": { "description": "A forced input of a scenario: a contact stuck at a value, or an open\nwire (input level low — the functional value follows the binding's\npolarity).", "oneOf": [ { "type": "object", "properties": { "kind": { "type": "string", "const": "stuck" }, "target": { "type": "string" }, "value": { "type": "boolean" } }, "required": [ "kind", "target", "value" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "open" }, "target": { "type": "string" } }, "required": [ "kind", "target" ] }, { "description": "An I/O node dropped off: every input wired on it opens.", "type": "object", "properties": { "kind": { "type": "string", "const": "node_down" }, "target": { "type": "string" } }, "required": [ "kind", "target" ] } ] }, "FlashKindMsg": { "type": "string", "enum": [ "flash", "trace", "spray" ] }, "FlashMsg": { "description": "A weld-flash binding: while `signal` is true, draw an arc flash at\n`robot`'s TCP.", "type": "object", "properties": { "cone": { "description": "Spray-cone size, `[length, radius]` in meters (spray effects only).", "type": [ "array", "null" ], "items": { "type": "number", "format": "double" }, "maxItems": 2, "minItems": 2 }, "kind": { "description": "Rendering kind; absent in older payloads (= flash).", "$ref": "#/$defs/FlashKindMsg", "default": "flash" }, "name": { "type": "string" }, "robot": { "type": "string" }, "signal": { "type": "string" }, "spin_link": { "description": "Link spun visually while the signal is on (cut traces).", "type": [ "string", "null" ], "default": null } }, "required": [ "name", "signal", "robot" ] }, "FrameMsg": { "description": "A named world-frame pose (mount point / teach reference).", "type": "object", "properties": { "name": { "type": "string" }, "pose": { "$ref": "#/$defs/PoseMsg" } }, "required": [ "name", "pose" ] }, "GaitLegMsg": { "type": "object", "properties": { "contact": { "description": "`point`, `sole` or `sole_yaw_free`.", "type": "string" }, "foot": { "type": "string" }, "name": { "type": "string" } }, "required": [ "name", "foot", "contact" ] }, "GaitMsg": { "description": "[`crate::seq::GaitSpec`] as a project carries it.", "type": "object", "properties": { "arm_swing": { "description": "`(joint, amplitude)` swung in step with the first leg.", "type": "array", "items": { "type": "array", "maxItems": 2, "minItems": 2, "prefixItems": [ { "type": "string" }, { "type": "number", "format": "double" } ] } }, "bob": { "type": "number", "format": "double", "default": 0.0 }, "body_link": { "type": [ "string", "null" ] }, "foot_radius": { "type": "number", "format": "double", "default": 0.0 }, "lateral": { "type": "number", "format": "double", "default": 0.0 }, "legs": { "type": "array", "items": { "$ref": "#/$defs/GaitLegMsg" } }, "lift": { "type": "number", "format": "double" }, "max_step": { "description": "Tallest step the machine may take, metres (see `GaitSpec::max_step`).", "type": [ "number", "null" ], "format": "double" }, "max_stride": { "type": "number", "format": "double" }, "pattern": { "$ref": "#/$defs/GaitPatternMsg" }, "period": { "type": "number", "format": "double" }, "stance": { "description": "The standing configuration, `(joint, value)`.", "type": "array", "items": { "type": "array", "maxItems": 2, "minItems": 2, "prefixItems": [ { "type": "string" }, { "type": "number", "format": "double" } ] } } }, "required": [ "legs", "pattern", "period", "lift", "stance", "max_stride" ] }, "GaitPatternMsg": { "oneOf": [ { "type": "object", "properties": { "kind": { "type": "string", "const": "walk" } }, "required": [ "kind" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "trot" } }, "required": [ "kind" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "biped" } }, "required": [ "kind" ] }, { "type": "object", "properties": { "duty": { "type": "number", "format": "double" }, "kind": { "type": "string", "const": "custom" }, "phases": { "type": "array", "items": { "type": "number", "format": "double" } } }, "required": [ "kind", "duty", "phases" ] } ] }, "GeometryMsg": { "oneOf": [ { "type": "object", "properties": { "kind": { "type": "string", "const": "box" }, "size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "size" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "cylinder" }, "length": { "type": "number", "format": "double" }, "radius": { "type": "number", "format": "double" } }, "required": [ "kind", "radius", "length" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "sphere" }, "radius": { "type": "number", "format": "double" } }, "required": [ "kind", "radius" ] }, { "type": "object", "properties": { "ext": { "description": "Lower-case file extension so the client can pick a loader.", "type": "string" }, "kind": { "type": "string", "const": "mesh" }, "scale": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "url": { "description": "URL the studio can fetch the mesh from (e.g. `/meshes/0`).", "type": "string" } }, "required": [ "kind", "url", "ext", "scale" ] } ] }, "GripperDriveMsg": { "description": "A gripper drive as a project carries it: the declaration, re-resolved\nagainst the model on load (empty `joints` = derived from the tool\nmount, `None` numbers = the kind-scaled defaults).", "type": "object", "properties": { "damping": { "type": [ "number", "null" ], "format": "double" }, "finger_mass": { "type": [ "number", "null" ], "format": "double" }, "joints": { "type": "array", "items": { "type": "string" } }, "max_force": { "type": [ "number", "null" ], "format": "double" }, "stiffness": { "type": [ "number", "null" ], "format": "double" } } }, "IoBinding": { "description": "One point wired to one channel. `(point, node)` is the key: a signal\nfanning out to two controllers is two bindings.", "type": "object", "properties": { "auto": { "description": "Placed by `auto_assign_io` rather than by hand. Hand bindings are\nnever moved; `auto_assign_io(reassign)` drops only these.", "type": "boolean" }, "channel": { "type": "string" }, "contact": { "anyOf": [ { "$ref": "#/$defs/Contact" }, { "type": "null" } ] }, "device": { "description": "The field device's electrical facts (voltage, output type).", "anyOf": [ { "$ref": "#/$defs/Electrical" }, { "type": "null" } ] }, "field": { "description": "The field device on the far end (`\"BEAM1\"`, `\"-B1\"`, `\"YV1\"`) —\nthe connection table's other column.", "type": [ "string", "null" ] }, "invert": { "description": "Logical inversion between the cell's value and the wire level.\nProjection only: the URScript lowering inverts its tests and\nwrites; the bake is untouched.", "type": "boolean" }, "node": { "type": "string" }, "note": { "type": [ "string", "null" ] }, "point": { "$ref": "#/$defs/IoPointId" }, "safety": { "type": "boolean" }, "tag": { "description": "PLC tag / symbol.", "type": [ "string", "null" ] } }, "required": [ "point", "node", "channel" ] }, "IoChannel": { "type": "object", "properties": { "address": { "description": "PLC address as the controller spells it (`\"%IX0.2\"`, `\"X02\"`) —\na string; dialects live in the Python templates.", "type": [ "string", "null" ] }, "electrical": { "anyOf": [ { "$ref": "#/$defs/Electrical" }, { "type": "null" } ] }, "id": { "description": "Node-unique id, `\"DI2\"`.", "type": "string" }, "kind": { "$ref": "#/$defs/ChannelKind" }, "port": { "description": "The vendor's standard-I/O number, when the channel is one — what\nthe URScript lowering writes (`set_standard_digital_out(port, …)`).", "type": [ "integer", "null" ], "format": "uint32", "minimum": 0 } }, "required": [ "id", "kind" ] }, "IoDecl": { "description": "An exception to the derivation, or an unmodelled point.", "type": "object", "properties": { "kind": { "anyOf": [ { "$ref": "#/$defs/ChannelKind" }, { "type": "null" } ] }, "name": { "type": "string" }, "note": { "type": [ "string", "null" ] }, "pair": { "description": "The other channel of a two-channel safety input.", "type": [ "string", "null" ] }, "role": { "anyOf": [ { "$ref": "#/$defs/DeclRole" }, { "type": "null" } ] }, "safety": { "type": "boolean" } }, "required": [ "name" ] }, "IoDirection": { "description": "Which way a point faces, from the host's point of view.", "type": "string", "enum": [ "input", "output" ] }, "IoMap": { "description": "The assignment layer of a scene: nodes, bindings, declarations. Stored\non the scene and in the project; everything else in this module is\nderived from it.", "type": "object", "properties": { "bindings": { "type": "array", "items": { "$ref": "#/$defs/IoBinding" } }, "decls": { "type": "array", "items": { "$ref": "#/$defs/IoDecl" } }, "nodes": { "type": "array", "items": { "$ref": "#/$defs/IoNode" } } } }, "IoNode": { "description": "The controller box a program runs on and the channels it owns.", "type": "object", "properties": { "channels": { "type": "array", "items": { "$ref": "#/$defs/IoChannel" } }, "kind": { "$ref": "#/$defs/IoNodeKind" }, "model": { "description": "Part number / model (optional, a table column).", "type": [ "string", "null" ] }, "name": { "type": "string" }, "place": { "description": "A frame or obstacle name marking where the box stands (optional,\ndisplay only).", "type": [ "string", "null" ] }, "programs": { "description": "Sequences this node executes (`Plc` / `RobotController` only).\nPrograms listed nowhere are placed implicitly (one robot driven →\nthat robot's controller, none or several → ``).", "type": "array", "items": { "type": "string" } }, "uplink": { "description": "The controller this node's I/O belongs to (a remote I/O station or\na safety module hangs off a PLC). Beyond that ownership, a label:\nno bus semantics.", "anyOf": [ { "$ref": "#/$defs/Uplink" }, { "type": "null" } ] } }, "required": [ "name", "kind" ] }, "IoNodeKind": { "oneOf": [ { "type": "object", "properties": { "kind": { "type": "string", "const": "plc" } }, "required": [ "kind" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "safety_plc" } }, "required": [ "kind" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "remote_io" } }, "required": [ "kind" ] }, { "description": "A robot controller, possibly driving several arms (a two-arm\nstation on one cabinet).", "type": "object", "properties": { "kind": { "type": "string", "const": "robot_controller" }, "robots": { "type": "array", "items": { "type": "string" } } }, "required": [ "kind", "robots" ] }, { "description": "Anything else — documentation only, cannot host programs or take\nbindings.", "type": "object", "properties": { "kind": { "type": "string", "const": "other" }, "label": { "type": "string" } }, "required": [ "kind", "label" ] } ] }, "IoPointId": { "description": "`(name, aspect, direction)` — with the host, the identity of a point.", "type": "object", "properties": { "aspect": { "anyOf": [ { "$ref": "#/$defs/Aspect" }, { "type": "null" } ] }, "direction": { "$ref": "#/$defs/IoDirection" }, "name": { "type": "string" } }, "required": [ "name", "direction" ] }, "IoRef": { "description": "A reference into the existing I/O map. The assigned channel is derived.", "type": "object", "properties": { "aspect": { "anyOf": [ { "$ref": "#/$defs/Aspect" }, { "type": "null" } ], "default": null }, "direction": { "$ref": "#/$defs/IoDirection" }, "node": { "type": "string" }, "point": { "type": "string" } }, "additionalProperties": false, "required": [ "point", "direction", "node" ] }, "LegendMsg": { "description": "A colour key for an obstacle whose colours mean something.", "type": "object", "properties": { "stops": { "description": "Swatches top to bottom; an empty label is a swatch with no text.", "type": "array", "items": { "$ref": "#/$defs/LegendStopMsg" } }, "title": { "type": "string" } }, "required": [ "title", "stops" ] }, "LegendStopMsg": { "type": "object", "properties": { "color": { "description": "Linear RGB, like every colour on the wire.", "type": "array", "items": { "type": "number", "format": "float" }, "maxItems": 3, "minItems": 3 }, "label": { "type": "string" } }, "required": [ "color", "label" ] }, "LidarMountMsg": { "description": "What a LiDAR scanner is bolted to.", "oneOf": [ { "description": "A fixture; the pose is a world pose.", "type": "object", "properties": { "kind": { "type": "string", "const": "world" } }, "required": [ "kind" ] }, { "description": "Rides a vehicle device.", "type": "object", "properties": { "device": { "type": "string" }, "kind": { "type": "string", "const": "vehicle" } }, "required": [ "kind", "device" ] }, { "description": "Bolted to a robot link.", "type": "object", "properties": { "kind": { "type": "string", "const": "link" }, "link": { "type": "string" }, "robot": { "type": "string" } }, "required": [ "kind", "robot", "link" ] } ] }, "LidarMsg": { "description": "A LiDAR scanner: a named scan origin with a planar sweep. Presentation\nonly — it publishes no signal (a field sensor referencing it is the\nplanned signal path).", "type": "object", "properties": { "channels": { "description": "Vertical channels (scan rings); `1` is a planar scanner.", "type": "integer", "format": "uint32", "default": 1, "minimum": 0 }, "fov_deg": { "description": "Full scan angle, degrees, up to 360.", "type": "number", "format": "double" }, "mount": { "$ref": "#/$defs/LidarMountMsg" }, "name": { "type": "string" }, "pose": { "description": "Offset in the mount frame (world pose for a `world` mount). The\nscan plane is local XY, angle 0 along +X, CCW toward +Y (the ROS\nlaser frame).", "$ref": "#/$defs/PoseMsg" }, "range": { "description": "Measuring range `[min, max]`, meters.", "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 2, "minItems": 2 }, "resolution_deg": { "description": "Angular resolution, degrees (the scan API's default step).", "type": "number", "format": "double" }, "vfov_deg": { "description": "Full vertical field of view, degrees, centered on the scan\nplane; `0` for a planar scanner.", "type": "number", "format": "double", "default": 0.0 } }, "required": [ "name", "mount", "pose", "fov_deg", "range", "resolution_deg" ] }, "LiftStopMsg": { "description": "One named stop of a lift, metres along its axis from the reference.", "type": "object", "properties": { "at": { "type": "number", "format": "double" }, "name": { "type": "string" } }, "required": [ "name", "at" ] }, "LinkMaterialMsg": { "description": "One link's authored contact material.", "type": "object", "properties": { "friction": { "type": "number", "format": "double" }, "link": { "type": "string" }, "restitution": { "type": "number", "format": "double" } }, "required": [ "link", "friction", "restitution" ] }, "Logic": { "type": "string", "enum": [ "pnp", "npn" ] }, "MaterialMsg": { "description": "Metalness/roughness, the pair every viewer botrail hands a scene to\nalready speaks (glTF, USD Preview Surface, three.js).", "type": "object", "properties": { "metalness": { "type": "number", "format": "float" }, "roughness": { "type": "number", "format": "float" } }, "required": [ "metalness", "roughness" ] }, "Medium": { "type": "string", "enum": [ "power", "pneumatic", "signal", "network" ] }, "MotionMsg": { "type": "object", "properties": { "name": { "type": "string" }, "robot": { "description": "Owning robot instance name; `None` means the first robot.", "type": [ "string", "null" ], "default": null }, "segments": { "type": "array", "items": { "$ref": "#/$defs/SegmentMsg" } } }, "required": [ "name", "segments" ] }, "ObstacleMsg": { "type": "object", "properties": { "attached_to": { "description": "Present while the obstacle is attached to (grasped by) a robot link.", "anyOf": [ { "$ref": "#/$defs/AttachmentMsg" }, { "type": "null" } ], "default": null }, "color": { "description": "Display colour, linear RGB, from the scene file's\n`primvars:displayColor`. Absent means \"no authored appearance\": the\nstudio then draws the obstacle as a neutral collision proxy.", "type": [ "array", "null" ], "items": { "type": "number", "format": "float" }, "maxItems": 3, "minItems": 3 }, "enabled": { "description": "Disabled obstacles render but are excluded from collision checking.", "type": "boolean", "default": true }, "geometry": { "$ref": "#/$defs/GeometryMsg" }, "legend": { "description": "What the colours mean, when they mean something (a film map's\nmicron ramp). Absent for ordinary scenery.", "anyOf": [ { "$ref": "#/$defs/LegendMsg" }, { "type": "null" } ] }, "material": { "description": "How the surface takes light. Absent means \"no authored appearance\",\nsame as `color`: the studio picks. Projects written before this\nexisted simply have no material, which is the same thing.", "anyOf": [ { "$ref": "#/$defs/MaterialMsg" }, { "type": "null" } ] }, "name": { "type": "string" }, "physics": { "description": "Authored physics properties. Absent for ordinary scenery — files\nwritten before this existed simply have none, which is what they\nmeant.", "anyOf": [ { "$ref": "#/$defs/PhysicsMsg" }, { "type": "null" } ] }, "pose": { "description": "World pose.", "$ref": "#/$defs/PoseMsg" }, "visible": { "description": "Invisible obstacles still collide; they are simply not drawn. Files\nwritten before this existed have every obstacle visible, which is\nwhat they meant.", "type": "boolean", "default": true }, "walkable": { "description": "A walkable top face — a stair tread, a mezzanine slab: footfalls of\na walking machine snap onto it. Files written before this existed\nhave no walkable surfaces, which is what they meant.", "type": "boolean" } }, "required": [ "name", "geometry", "pose" ] }, "Part": { "description": "What a resident *is*: identity and count, nothing else. Every field is\noptional so a part can be as thin as `model=\"GVL-1200\"` and still land\non the BOM; the catalog reference is what `Robot.from_catalog` fills\nin by itself.", "type": "object", "properties": { "attributes": { "description": "Free attributes, summed by [`Bom::total`] when numeric. botrail\nnever validates them.", "type": "object", "additionalProperties": { "$ref": "#/$defs/PartAttr" } }, "catalog": { "anyOf": [ { "$ref": "#/$defs/CatalogRef" }, { "type": "null" } ] }, "category": { "description": "BOM category (`conveyor`, `sensor.photoelectric`, `structure.fence`,\n...). Overrides the category the resident's kind implies.", "type": [ "string", "null" ] }, "description": { "type": [ "string", "null" ] }, "manufacturer": { "type": [ "string", "null" ] }, "model": { "description": "Model / part number.", "type": [ "string", "null" ] }, "qty": { "description": "How many of them this target stands for. One resident is one part\nby default; a group generated as twelve fence panels says 12.", "type": "integer", "format": "uint32", "default": 1, "minimum": 0 } } }, "PartAttr": { "description": "A free part attribute: a number (summable — `mass_kg`, `power_w`, a\nprice) or a text (`ip_rating`, a note). Untagged on the wire, so a\nproject file reads `{\"mass_kg\": 45, \"finish\": \"RAL 7035\"}`.", "anyOf": [ { "type": "number", "format": "double" }, { "type": "string" } ] }, "PartEntry": { "description": "One authored part pinning: `part` describes the resident (or group)\n`target` of kind `kind`.", "type": "object", "properties": { "kind": { "$ref": "#/$defs/PartTargetKind" }, "part": { "$ref": "#/$defs/Part" }, "target": { "type": "string" } }, "required": [ "target", "kind", "part" ] }, "PartTargetKind": { "description": "Which kind of resident a part entry is pinned to. Kinds have separate\nname spaces (a conveyor device and its belt slab may both be `belt`),\nso the kind is part of the key.", "oneOf": [ { "type": "string", "enum": [ "robot", "obstacle", "sensor", "device", "io_node" ] }, { "description": "Every obstacle under `/` — an imported subtree, a generated\nassembly. Counted as one line.", "type": "string", "const": "group" }, { "description": "A camera fixture (the purchasable `sensor.camera` article).", "type": "string", "const": "camera" }, { "description": "A LiDAR scanner (the purchasable `sensor.lidar` article).", "type": "string", "const": "lidar" }, { "description": "An end-effector in a robot's tool stack, by the name its BOM row\ncarries (`/tool`, `/tool2`, `/tool/tool3` for\na tool that is itself a stack). A catalog tool brings its own\nidentity; a made one — a bracket welded on from a URDF string —\ngets it pinned here.", "type": "string", "const": "tool" } ] }, "PathTargetMsg": { "description": "Serialized form (project files, Python boundary). Positions and axes in\nthe part frame; `spin` optional.", "type": "object", "properties": { "position": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "spin": { "type": [ "number", "null" ], "format": "double", "default": null }, "tool_axis": { "type": "array", "default": [ 0.0, 0.0, 1.0 ], "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "position" ] }, "Pattern": { "description": "The footprint an applicator lays on its reference plane, as a *shape*:\nthe integrator normalizes whatever this returns so it integrates to\none over the plane, and [`Applicator::flow`] supplies the magnitude.\nCoordinates are meters on the reference plane, origin on the spray\naxis, `u` across the fan and `w` along it.", "oneOf": [ { "description": "Elliptic dual-beta — the literature's standard fit for a flat-fan\nair gun: thick down the middle, thin at the edges, and the extent\nalong `w` narrows toward the ends of the fan. `beta = 1` is a flat\ntop hat, larger is more peaked.", "type": "object", "properties": { "beta_across": { "type": "number", "format": "double" }, "beta_along": { "type": "number", "format": "double" }, "height": { "description": "Full fan height along (`w` extent at mid-fan) [m].", "type": "number", "format": "double" }, "kind": { "type": "string", "const": "dual_beta" }, "width": { "description": "Full fan width across (`u` extent) [m].", "type": "number", "format": "double" } }, "required": [ "kind", "width", "height", "beta_across", "beta_along" ] }, { "description": "Axisymmetric cone — a rotary bell or a round nozzle. `beta = 1` is\na flat disc, 2 is parabolic.", "type": "object", "properties": { "beta": { "type": "number", "format": "double" }, "diameter": { "type": "number", "format": "double" }, "kind": { "type": "string", "const": "round" } }, "required": [ "kind", "diameter", "beta" ] }, { "description": "A measured static-pattern profile, sampled radially: what a shop\nactually has after spraying a coupon for a fixed time at a fixed\ndistance. `radii` ascending from 0, `weight` the film measured\nthere (any unit — only the shape survives normalization).", "type": "object", "properties": { "kind": { "type": "string", "const": "measured" }, "radii": { "type": "array", "items": { "type": "number", "format": "double" } }, "weight": { "type": "array", "items": { "type": "number", "format": "double" } } }, "required": [ "kind", "radii", "weight" ] } ] }, "PhysicsMsg": { "description": "Authored physics of an obstacle (design-physics.md). Inert on a\nkinematic bake: absent props — and present ones, when `physics` is not\nrequested — leave the obstacle the static body it always was.", "type": "object", "properties": { "angular_damping": { "type": "number", "format": "double" }, "ccd": { "description": "Continuous collision detection, for small fast parts.", "type": "boolean" }, "dynamic": { "description": "A dynamic body: gravity, contact and friction own its pose during a\nphysics bake. (Kinematic bodies are rollout-internal — robot links,\ndevice-driven scenery — and never authored on an obstacle.)", "type": "boolean" }, "friction": { "type": "number", "format": "double" }, "linear_damping": { "type": "number", "format": "double" }, "mass": { "description": "Total mass in kg; absent derives it from the collision shape's\nvolume at 1000 kg/m³.", "type": [ "number", "null" ], "format": "double" }, "restitution": { "type": "number", "format": "double" } }, "required": [ "dynamic", "friction", "restitution", "linear_damping", "angular_damping" ] }, "Port": { "type": "object", "properties": { "io": { "anyOf": [ { "$ref": "#/$defs/IoRef" }, { "type": "null" } ], "default": null }, "medium": { "$ref": "#/$defs/Medium" }, "name": { "type": "string" }, "reference": { "type": [ "string", "null" ], "default": null }, "required": { "type": "boolean" }, "role": { "$ref": "#/$defs/Role" }, "specs": { "$ref": "#/$defs/Specs", "default": { "capacity_a": null, "capacity_l_min": null, "current_a": null, "flow_l_min": null, "flow_reference": null, "logic": null, "pressure_bar": null, "pressure_max_bar": null, "pressure_min_bar": null, "protocol": null, "signal_type": null, "voltage_max_v": null, "voltage_min_v": null, "voltage_v": null } }, "target": { "type": "string" }, "target_kind": { "$ref": "#/$defs/PartTargetKind" }, "terminal": { "description": "External drawing/terminal reference only; never a channel address.", "type": [ "string", "null" ], "default": null } }, "additionalProperties": false, "required": [ "name", "target", "target_kind", "medium", "role", "required" ] }, "PoseMsg": { "description": "Position + quaternion (x, y, z, w), in meters / world frame unless noted.", "type": "object", "properties": { "position": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "quaternion": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 4, "minItems": 4 } }, "required": [ "position", "quaternion" ] }, "ProjectRobotMsg": { "description": "One robot in a project.", "type": "object", "properties": { "base_pose": { "description": "World pose of the robot's root link.", "$ref": "#/$defs/PoseMsg" }, "gripper_drive": { "description": "Force-limited gripper drive (`set_gripper_drive`), the friction-\ngrasp declaration. Absent in older files and for undriven robots.", "anyOf": [ { "$ref": "#/$defs/GripperDriveMsg" }, { "type": "null" } ] }, "joint_positions": { "type": "array", "items": { "type": "number", "format": "double" } }, "link_materials": { "description": "Per-link contact materials for physics bakes (`set_link_material`) —\na fingertip's rubber pad. Absent in older files.", "type": "array", "items": { "$ref": "#/$defs/LinkMaterialMsg" } }, "mount": { "description": "The vehicle this robot rides, if any (absent in older files, and\nfor a robot bolted to the floor).", "anyOf": [ { "$ref": "#/$defs/RobotMountMsg" }, { "type": "null" } ] }, "name": { "description": "Scene-unique instance name; `None` (older files) falls back to the\nmodel name.", "type": [ "string", "null" ], "default": null }, "source": { "$ref": "#/$defs/RobotSourceMsg" } }, "required": [ "source", "base_pose", "joint_positions" ] }, "RampTargetMsg": { "type": "object", "properties": { "joint": { "type": "string" }, "value": { "type": "number", "format": "double" } }, "required": [ "joint", "value" ] }, "RobotMountMsg": { "description": "A robot riding a vehicle (`Scene::mount_robot`): the device, where the\nbase sits in its frame, and — for a machine whose legs are the robot —\nthe gait that walks it.", "type": "object", "properties": { "device": { "type": "string" }, "gait": { "anyOf": [ { "$ref": "#/$defs/GaitMsg" }, { "type": "null" } ] }, "offset": { "$ref": "#/$defs/PoseMsg" }, "spin": { "description": "Presentation: `(joint, rad/s)` spun while the vehicle flies or\nmoves (a multirotor's propellers). Absent in older files.", "type": "array", "items": { "type": "array", "maxItems": 2, "minItems": 2, "prefixItems": [ { "type": "string" }, { "type": "number", "format": "double" } ] } } }, "required": [ "device", "offset" ] }, "RobotSourceMsg": { "description": "Where a project robot comes from.", "oneOf": [ { "description": "URDF XML (xacro already expanded), embedded verbatim.", "type": "object", "properties": { "kind": { "type": "string", "const": "urdf" }, "xml": { "type": "string" } }, "required": [ "kind", "xml" ] }, { "description": "USD stage reference (local path until asset bundling lands). The\napplication layer re-imports it via botrail-usd on load.", "type": "object", "properties": { "articulation_root": { "type": "string" }, "kind": { "type": "string", "const": "usd" }, "path": { "type": "string" } }, "required": [ "kind", "path", "articulation_root" ] }, { "description": "A catalog package (`Robot.from_catalog`): id + pinned revision for\nprovenance and script export, plus the fetched inner source so\nloading needs no network.", "type": "object", "properties": { "category": { "type": [ "string", "null" ] }, "flange": { "type": [ "string", "null" ], "default": null }, "grasp": { "description": "Grasp-surface frames (`frames.grasp_frames`), reapplied on\nrebuild. Absent in older files.", "type": "array", "items": { "type": "string" } }, "id": { "type": "string" }, "inner": { "$ref": "#/$defs/RobotSourceMsg" }, "kind": { "type": "string", "const": "catalog" }, "manufacturer": { "description": "Manifest identity (maker, product name, category, numeric\nspecs) — what the BOM names the package by. Absent in files\nwritten before parts existed; those lines then show the id only.", "type": [ "string", "null" ] }, "mount": { "type": [ "string", "null" ], "default": null }, "product": { "type": [ "string", "null" ] }, "revision": { "type": "string" }, "specs": { "type": "array", "items": { "type": "array", "maxItems": 2, "minItems": 2, "prefixItems": [ { "type": "string" }, { "type": "number", "format": "double" } ] } }, "tcp": { "type": [ "string", "null" ], "default": null } }, "required": [ "kind", "id", "revision", "inner" ] }, { "description": "A tool welded onto a base robot (`Robot.attach_tool`): both part\nsources plus the weld parameters, so loading re-runs the attach.", "type": "object", "properties": { "base": { "$ref": "#/$defs/RobotSourceMsg" }, "flange": { "type": "string" }, "kind": { "type": "string", "const": "composite" }, "mount": { "type": "string" }, "offset": { "$ref": "#/$defs/PoseMsg" }, "prefix": { "type": [ "string", "null" ], "default": null }, "tcp": { "type": [ "string", "null" ], "default": null }, "tool": { "$ref": "#/$defs/RobotSourceMsg" } }, "required": [ "kind", "base", "tool", "flange", "mount", "offset" ] } ] }, "Role": { "type": "string", "enum": [ "supply", "load", "input", "output", "peer" ] }, "ScenarioJointsMsg": { "description": "A robot start configuration a scenario overrides.", "type": "object", "properties": { "positions": { "type": "array", "items": { "type": "number", "format": "double" } }, "robot": { "type": "string" } }, "required": [ "robot", "positions" ] }, "ScenarioMsg": { "description": "A named initial-state delta — one row of the cell's test-case matrix.\nThe unmodified scene is the reserved scenario `baseline`.", "type": "object", "properties": { "faults": { "description": "Inputs forced for the whole run (absent in older files).", "type": "array", "items": { "$ref": "#/$defs/FaultMsg" } }, "joints": { "type": "array", "items": { "$ref": "#/$defs/ScenarioJointsMsg" } }, "name": { "type": "string" }, "obstacles": { "type": "array", "items": { "$ref": "#/$defs/ScenarioObstacleMsg" } }, "signals": { "type": "array", "items": { "$ref": "#/$defs/ScenarioSignalMsg" } } }, "required": [ "name" ] }, "ScenarioObstacleMsg": { "description": "An obstacle pose a scenario overrides.", "type": "object", "properties": { "name": { "type": "string" }, "pose": { "$ref": "#/$defs/PoseMsg" } }, "required": [ "name", "pose" ] }, "ScenarioSignalMsg": { "description": "An internal-signal initial value a scenario overrides.", "type": "object", "properties": { "name": { "type": "string" }, "value": { "type": "boolean" } }, "required": [ "name", "value" ] }, "SegmentKindMsg": { "type": "string", "enum": [ "joint", "cartesian_line" ] }, "SegmentMsg": { "type": "object", "properties": { "constraints": { "type": "array", "items": { "$ref": "#/$defs/ConstraintMsg" } }, "goal_positions": { "description": "Goal configuration in DOF order.", "type": "array", "items": { "type": "number", "format": "double" } }, "kind": { "$ref": "#/$defs/SegmentKindMsg" } }, "required": [ "kind", "goal_positions", "constraints" ] }, "SelectArmMsg": { "description": "One arm of a branching step: its guard plus the steps it runs.", "type": "object", "properties": { "condition": { "$ref": "#/$defs/ConditionMsg" }, "steps": { "type": "array", "items": { "$ref": "#/$defs/StepMsg" } } }, "required": [ "condition", "steps" ] }, "SensorKindMsg": { "oneOf": [ { "description": "Presence/area sensor: ON while a watched body overlaps the box.", "type": "object", "properties": { "kind": { "type": "string", "const": "zone" }, "pose": { "$ref": "#/$defs/PoseMsg" }, "size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "pose", "size" ] }, { "description": "Photoelectric beam: ON while the segment is interrupted.", "type": "object", "properties": { "from": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 }, "kind": { "type": "string", "const": "beam" }, "radius": { "type": "number", "format": "double" }, "to": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "kind", "from", "to", "radius" ] }, { "description": "Vision presence: ON while a watched body overlaps the named\ncamera's view frustum (occlusion-tested against other obstacles).", "type": "object", "properties": { "camera": { "type": "string" }, "detect_range": { "description": "Detection band along the view axis (m); `None` = the camera's\nnear/far clip.", "type": [ "array", "null" ], "items": { "type": "number", "format": "double" }, "maxItems": 2, "minItems": 2 }, "kind": { "type": "string", "const": "vision" }, "occlusion": { "type": "boolean" } }, "required": [ "kind", "camera", "occlusion" ] }, { "description": "Laser-scanner field: ON while a watched body crosses the named\nlidar's scan-plane sector (shadow-tested against other obstacles).", "type": "object", "properties": { "kind": { "type": "string", "const": "field" }, "lidar": { "type": "string" }, "range": { "description": "Field radius (m); `None` = the lidar's max range.", "type": [ "number", "null" ], "format": "double" }, "sector": { "description": "Angular window `[start, end]` in the scan frame (deg, 0 = +X,\nCCW); `None` = the lidar's full sweep.", "type": [ "array", "null" ], "items": { "type": "number", "format": "double" }, "maxItems": 2, "minItems": 2 }, "shadowing": { "type": "boolean" } }, "required": [ "kind", "lidar", "shadowing" ] } ] }, "SensorMsg": { "description": "A pseudo-sensor: geometric test published as a read-only input signal.", "type": "object", "properties": { "kind": { "$ref": "#/$defs/SensorKindMsg" }, "mount": { "description": "Vehicle this sensor rides on; its geometry is then read in that\nvehicle's frame. `None` (the usual case) is a floor fixture.", "type": [ "string", "null" ] }, "name": { "type": "string" }, "watch": { "$ref": "#/$defs/SensorWatchMsg" } }, "required": [ "name", "kind", "watch" ] }, "SensorWatchMsg": { "oneOf": [ { "type": "object", "properties": { "kind": { "type": "string", "const": "objects" }, "names": { "type": "array", "items": { "type": "string" } } }, "required": [ "kind", "names" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "all_objects" } }, "required": [ "kind" ] }, { "description": "Any robot's links trip it.", "type": "object", "properties": { "kind": { "type": "string", "const": "robot" } }, "required": [ "kind" ] }, { "description": "Only the named robot instances' links trip it.", "type": "object", "properties": { "kind": { "type": "string", "const": "robots" }, "names": { "type": "array", "items": { "type": "string" } } }, "required": [ "kind", "names" ] }, { "type": "object", "properties": { "kind": { "type": "string", "const": "all" } }, "required": [ "kind" ] } ] }, "SequenceMsg": { "type": "object", "properties": { "name": { "type": "string" }, "steps": { "type": "array", "items": { "$ref": "#/$defs/StepMsg" } } }, "required": [ "name", "steps" ] }, "SignalDefMsg": { "description": "A user-defined internal signal (PLC internal relay).", "type": "object", "properties": { "initial": { "type": "boolean" }, "name": { "type": "string" } }, "required": [ "name", "initial" ] }, "Specs": { "description": "Values apply to this endpoint in total, not to an inferred BOM quantity.", "type": "object", "properties": { "capacity_a": { "type": [ "number", "null" ], "format": "double", "default": null }, "capacity_l_min": { "type": [ "number", "null" ], "format": "double", "default": null }, "current_a": { "type": [ "number", "null" ], "format": "double", "default": null }, "flow_l_min": { "type": [ "number", "null" ], "format": "double", "default": null }, "flow_reference": { "description": "The reference conditions used for both flow and capacity numbers.", "type": [ "string", "null" ], "default": null }, "logic": { "type": [ "string", "null" ], "default": null }, "pressure_bar": { "type": [ "number", "null" ], "format": "double", "default": null }, "pressure_max_bar": { "type": [ "number", "null" ], "format": "double", "default": null }, "pressure_min_bar": { "type": [ "number", "null" ], "format": "double", "default": null }, "protocol": { "type": [ "string", "null" ], "default": null }, "signal_type": { "description": "digital, safe_digital, analog or word; not a second channel table.", "type": [ "string", "null" ], "default": null }, "voltage_max_v": { "type": [ "number", "null" ], "format": "double", "default": null }, "voltage_min_v": { "type": [ "number", "null" ], "format": "double", "default": null }, "voltage_v": { "type": [ "number", "null" ], "format": "double", "default": null } }, "additionalProperties": false }, "StepMsg": { "type": "object", "properties": { "actions": { "description": "Entry actions, fired when the step becomes active.", "type": "array", "items": { "$ref": "#/$defs/ActionMsg" } }, "name": { "type": "string" }, "select": { "description": "SFC selection divergence: when non-empty this is a branching step\n— no actions, `transition` unused, the arms' conditions are the\noutgoing transitions (first to hold wins, authored order =\npriority) and every arm rejoins at the next step.", "type": "array", "items": { "$ref": "#/$defs/SelectArmMsg" } }, "transition": { "description": "The step completes when this condition holds.", "$ref": "#/$defs/ConditionMsg" } }, "required": [ "name", "actions", "transition" ] }, "ToolMoveMsg": { "oneOf": [ { "type": "object", "properties": { "targets": { "type": "array", "items": { "$ref": "#/$defs/PathTargetMsg" } }, "type": { "type": "string", "const": "rapid" } }, "required": [ "type", "targets" ] }, { "type": "object", "properties": { "brush": { "description": "Brush name (absent in files written before brushes existed,\nwhich is the same as none).", "type": [ "string", "null" ] }, "feed": { "type": "number", "format": "double" }, "targets": { "type": "array", "items": { "$ref": "#/$defs/PathTargetMsg" } }, "type": { "type": "string", "const": "feed" } }, "required": [ "type", "feed", "targets" ] } ] }, "ToolpathMsg": { "type": "object", "properties": { "frame": { "type": [ "string", "null" ], "default": null }, "moves": { "type": "array", "items": { "$ref": "#/$defs/ToolMoveMsg" } }, "name": { "description": "Defaults to empty: the Python boundary passes the name separately\n(`scene.add_toolpath(name, tp)`) and overrides this field.", "type": "string", "default": "" } }, "required": [ "moves" ] }, "Uplink": { "type": "object", "properties": { "bus": { "type": [ "string", "null" ] }, "parent": { "type": "string" } }, "required": [ "parent" ] }, "VehiclePathMsg": { "description": "An authored vehicle guide path: waypoints on the guidance surface\n(`[x, y, z]` — z is the floor height there) plus named station stops\n(as waypoint indices).", "type": "object", "properties": { "ring": { "type": "boolean" }, "stations": { "type": "array", "items": { "$ref": "#/$defs/VehicleStationMsg" } }, "waypoints": { "description": "Written as `[x, y, z]`; a legacy two-element `[x, y]` is read as\nz = 0, so pre-3D projects and recordings load unchanged.", "type": "array", "items": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } } }, "required": [ "waypoints", "stations", "ring" ] }, "VehicleStationMsg": { "type": "object", "properties": { "index": { "type": "integer", "format": "uint", "minimum": 0 }, "name": { "type": "string" } }, "required": [ "name", "index" ] }, "VehicleTrayMsg": { "description": "A vehicle's load deck, in the vehicle frame.", "type": "object", "properties": { "pose": { "$ref": "#/$defs/PoseMsg" }, "size": { "type": "array", "items": { "type": "number", "format": "double" }, "maxItems": 3, "minItems": 3 } }, "required": [ "pose", "size" ] } } }