feat(schema): add joint positions to application schema (#215)

schemas/applications/CHANGELOG.md

@@ -18,6 +18,7 @@ Release Versions:
 ## Upcoming changes
 
 - feat: add intra process comms field to component schema (#192)
+- feat: add joint positions to application schema (#215)
 
 ## 2-0-2
 

schemas/applications/schema/application.schema.json

@@ -145,6 +145,9 @@
     "frames": {
       "$ref": "frames.schema.json"
     },
+    "joint_positions": {
+      "$ref": "joint_positions.schema.json"
+    },
     "graph": {
       "$ref": "graph.schema.json"
     }

schemas/applications/schema/joint_positions.schema.json

@@ -0,0 +1,44 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "title": "Joint Positions",
+  "description": "A description of the joint configurations available in the application",
+  "type": "object",
+  "additionalProperties": false,
+  "patternProperties": {
+    "^[a-z]([a-z0-9_]?[a-z0-9])*$": {
+      "title": "Joint Positions",
+      "description": "The names and positions of a static joint configuration in the application",
+      "type": "object",
+      "additionalProperties": false,
+      "properties": {
+        "joint_names": {
+          "title": "Joint Names",
+          "description": "The names of the joints in the same order as the positions",
+          "type": "array",
+          "minItems": 1,
+          "uniqueItems": true,
+          "items": {
+            "type": "string",
+            "example": [
+              "joint_1",
+              "shoulder_joint"
+            ]
+          }
+        },
+        "positions": {
+          "title": "Joint Positions",
+          "description": "The positions of the joints in the same order as the names (in SI units)",
+          "type": "array",
+          "minItems": 1,
+          "items": {
+            "type": "number"
+          }
+        }
+      },
+      "required": [
+        "joint_names",
+        "positions"
+      ]
+    }
+  }
+}