# This is a message that holds data to describe the state of a set of torque controlled joints.
    #
    # The state of each joint (revolute or prismatic) is defined by:
    #  * the position of the joint (rad or m),
    #  * the velocity of the joint (rad/s or m/s) and
    #  * the effort that is applied in the joint (Nm or N).
    #
    # Each joint is uniquely identified by its name
    # The header specifies the time at which the joint states were recorded. All the joint states
    # in one message have to be recorded at the same time.
    #
    # This message consists of a multiple arrays, one for each part of the joint state.
    # The goal is to make each of the fields optional. When e.g. your joints have no
    # effort associated with them, you can leave the effort array empty.
    #
    # All arrays in this message should have the same size, or be empty.
    # This is the only way to uniquely associate the joint name with the correct
    # states.

    Header header

    string[] name
    float64[] position
    float64[] velocity
    float64[] effort
  

std_msgs/Header header
string[] name
float64[] position
float64[] velocity
float64[] effort