feat(schema): add custom tf prefix and reference frame options in har…

…dware schema (#216)
aica-technology · Feb 6, 2025 · f282df2 · f282df2
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diff --git a/schemas/applications/CHANGELOG.md b/schemas/applications/CHANGELOG.md
@@ -19,6 +19,7 @@ Release Versions:
 
 - feat: add intra process comms field to component schema (#192)
 - feat: add joint positions to application schema (#215)
+- feat: add custom tf_prefix and reference_frame support in schema (#216)
 
 ## 2-0-2
 

diff --git a/schemas/applications/schema/hardware.schema.json b/schemas/applications/schema/hardware.schema.json
@@ -26,6 +26,23 @@
             250
           ]
         },
+        "tf_prefix": {
+            "description": "An optional TF prefix to apply to all of the links in the URDF to distinguish multiple instances of the same robot",
+            "type": "string",
+            "default": "",
+            "examples": [
+              "my_robot_",
+              "left_robot_",
+              "robot_1_"
+            ]
+        },
+        "reference_frame": {
+            "description": "An optional reference frame to relocate the hardware in the 3D scene. If left empty, the root link in the URDF will be used as the reference frame of the hardware instead.",
+            "type": "string",
+            "examples": [
+              "world"
+            ]
+        },
         "strict": {
           "title": "Strict Hardware",
           "description": "If true, automatically stop controller execution on error or if the execution rate drops below the rate tolerance threshold",