{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://rig.works/schemas/rig.sensor.wrench.schema.json",
  "title": "rig.sensor.wrench",
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "rateHz": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "force": {
      "$ref": "./_defs.schema.json#/$defs/vec3"
    },
    "torque": {
      "$ref": "./_defs.schema.json#/$defs/vec3"
    },
    "device": {
      "$ref": "./_defs.schema.json#/$defs/entity"
    }
  },
  "x-rig-maturity": "draft"
}