`rig.sensor.range`

v1.0.0 · stable maturity: draft 6 fields 0 required

Fields

Field	Type		Meaning
`rangeMin`	number0 – *	optional	Optional. Near distance, scene units. Absent = 0
`rangeMax`	number> 0	optional	Optional. Far distance. Absent = the host default
`fovDegrees`	number0 – 180	optional	Optional. Cone, 0-180. Absent = 0, a single ray
`distance`	number0 – *	optional	Optional. Reading at load, scene units. Absent = not measured
`rateHz`	number> 0	optional	Optional. Samples per second. Absent = the host default
`device`	entity	optional	Optional. Absent = local

One distance beam. Format when present. Looks along local −Z.

Ultrasonic, infrared, and a one-beam laser share this component. A scan with many columns is rig.sensor.lidar. An image of distances is rig.sensor.depth.

The echo waveform stays in the host. Pose is rig.spatial.transform.

JSON Schema

Resolves at https://rig.works/schemas/rig.sensor.range.schema.json — raw file.

{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://rig.works/schemas/rig.sensor.range.schema.json",
  "title": "rig.sensor.range",
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "rangeMin": {
      "type": "number",
      "minimum": 0
    },
    "rangeMax": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "fovDegrees": {
      "type": "number",
      "minimum": 0,
      "maximum": 180
    },
    "distance": {
      "type": "number",
      "minimum": 0
    },
    "rateHz": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "device": {
      "$ref": "./_defs.schema.json#/$defs/entity"
    }
  },
  "x-rig-maturity": "draft"
}

Seen in

robot-lab.json