{
  "title": "foxglove.JointStates",
  "description": "The state of a set of joints at a given time.",
  "$comment": "Generated by https://github.com/foxglove/foxglove-sdk",
  "type": "object",
  "properties": {
    "timestamp": {
      "type": "object",
      "title": "time",
      "properties": {
        "sec": {
          "type": "integer",
          "minimum": 0
        },
        "nsec": {
          "type": "integer",
          "minimum": 0,
          "maximum": 999999999
        }
      },
      "description": "Timestamp of the joint states"
    },
    "joints": {
      "type": "array",
      "items": {
        "title": "foxglove.JointState",
        "description": "The state of a single joint (revolute or prismatic).",
        "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"
        ]
      },
      "description": "Joint states"
    }
  },
  "required": [
    "timestamp",
    "joints"
  ]
}