{
  "title": "foxglove.JointState",
  "description": "The state of a single joint (revolute or prismatic).",
  "$comment": "Generated by https://github.com/foxglove/foxglove-sdk",
  "type": "object",
  "properties": {
    "name": {
      "type": "string",
      "description": "Joint name"
    },
    "position": {
      "type": "number",
      "description": "Joint position. Radians for revolute joints, meters for prismatic joints."
    },
    "velocity": {
      "type": "number",
      "description": "Joint velocity. Rad/s for revolute joints, m/s for prismatic joints."
    },
    "acceleration": {
      "type": "number",
      "description": "Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints."
    },
    "effort": {
      "type": "number",
      "description": "Joint effort (force or torque). Nm for revolute joints, N for prismatic joints."
    }
  },
  "required": [
    "name"
  ]
}