Schemas / Simulation
rig.sim.articulation
v1.0.0 · stable maturity: draft 2 fields 0 required
Fields
| Field | Type | Meaning | |
|---|---|---|---|
selfCollide |
bool | optional | Optional. Links of this robot collide with each other. Absent = false |
fixedBase |
bool | optional | Optional. Root welded to the world. Absent = false (a mobile base) |
One robot: a tree of links solved together. Format when present. Compose on the root link.
Links are child entities. Each link that moves carries rig.sim.rigidbody, rig.spatial.transform, and rig.spatial.relationship. Contact is rig.sim.collider. A drive is rig.sim.joint plus rig.sim.actuator. A visual is rig.geometry.mesh or a rig.cad.* solid on that link.
A host that has no articulation solver uses ordinary bodies and joints. The tree is the same either way.
JSON Schema
Resolves at https://rig.works/schemas/rig.sim.articulation.schema.json —
raw file.
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://rig.works/schemas/rig.sim.articulation.schema.json",
"title": "rig.sim.articulation",
"type": "object",
"additionalProperties": false,
"properties": {
"selfCollide": {
"$ref": "./_defs.schema.json#/$defs/bool"
},
"fixedBase": {
"$ref": "./_defs.schema.json#/$defs/bool"
}
},
"x-rig-maturity": "draft"
}