Schemas / I/O
rig.sensor.imu
v1.0.0 · stable maturity: draft 4 fields 0 required
Fields
| Field | Type | Meaning | |
|---|---|---|---|
rateHz |
number> 0 | optional | Optional. Samples per second. Absent = host default |
acceleration |
vec3 | optional | Optional. Specific force at load, scene units per second squared, in the sensor frame. Includes gravity. Absent = not measured |
angularVelocityDegrees |
vec3 | optional | Optional. Angular rate at load, degrees per second, in the sensor frame. Absent = not measured |
device |
entity | optional | Optional board / network entity; absent = local |
Inertial sample. Format when present. Pose is rig.spatial.transform.
acceleration and angularVelocityDegrees are the sample when the document is loaded. An author writes a known reading. A host that saves a running sensor writes the current sample. At rest in +Y-up, acceleration is about [0, g, 0].
Orientation is the entity transform. Do not store a second quaternion here. Covariance, bias, and the sample history stay in the host. A ROS 2 node entity is a valid device - docs/ros.md.
JSON Schema
Resolves at https://rig.works/schemas/rig.sensor.imu.schema.json —
raw file.
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://rig.works/schemas/rig.sensor.imu.schema.json",
"title": "rig.sensor.imu",
"type": "object",
"additionalProperties": false,
"properties": {
"rateHz": {
"type": "number",
"exclusiveMinimum": 0
},
"acceleration": {
"$ref": "./_defs.schema.json#/$defs/vec3"
},
"angularVelocityDegrees": {
"$ref": "./_defs.schema.json#/$defs/vec3"
},
"device": {
"$ref": "./_defs.schema.json#/$defs/entity"
}
},
"x-rig-maturity": "draft"
}