{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://rig.works/schemas/rig.sim.actuator.schema.json",
  "title": "rig.sim.actuator",
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "joint": {
      "$ref": "./_defs.schema.json#/$defs/entity"
    },
    "mode": {
      "type": "string",
      "enum": [
        "position",
        "velocity",
        "effort"
      ]
    },
    "effort": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "maxSpeed": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "stiffness": {
      "type": "number",
      "minimum": 0
    },
    "damping": {
      "type": "number",
      "minimum": 0
    },
    "target": {
      "$ref": "./_defs.schema.json#/$defs/float"
    }
  },
  "required": [
    "joint"
  ],
  "x-rig-maturity": "draft"
}