trial.json

{
  "definitions": {
    "point": {
      "title": "geometry_msgs/Point",
      "description": "This contains the position of a point in free space",
      "type": "object",
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "z": {
          "type": "number"
        }
      },
      "required": [
        "x",
        "y",
        "z"
      ]},
  "quaternion": {
    "title": "geometry_msgs/Quaternion",
    "description": "This represents an orientation in free space in quaternion form",
    "type": "object",
    "properties": {
      "x": {
        "type": "number"
      },
      "y": {
        "type": "number"
      },
      "z": {
        "type": "number"
      },
      "w": {
        "type": "number"
      }
    },
    "required": [
      "x",
      "y",
      "z",
      "w"
    ]
  },
  "pose": {
    "title": "geometry_msgs/Pose",
    "description": "A representation of pose in free space, composed of position and orientation",
    "type": "object",
    "properties": {
      "position": {
        "$ref": "#/definitions/point"
      },
      "orientation": {
        "$ref": "#/definitions/quaternion"
      }
    },
    "required": [
      "position",
      "orientation"
    ]
  }
},
  "allOf": [
    { "$ref": "#/definitions/pose" },
    {"properties": {
      "position": { 
        "properties": {
          "x": { "minimum": 1 }
        }
      }
    }
    }
  ]
}


{
  "position": {
    "x": 2.0,
    "y": 0.0,
    "z": 0.0
  },
  "orientation": {
    "x": 0.0,
    "y": 0.0,
    "z": 0.0,
    "w": 1.0
  }
}