{
  "schema_version": "1.0",
  "id": "relation.joint.revolute",
  "version": "1.0.0",
  "relation_type": "revolute_joint",
  "endpoint_rules": {
    "source_port": "port.joint.revolute",
    "target_port": "port.joint.revolute",
    "axis_relation": "coaxial_local"
  },
  "constraint_rules": ["joint_axis_defined", "carrier_pin_orbit_matches_layout"],
  "kinematic_effect": null,
  "capability_refs": ["capability.validation.revolute_joint"],
  "maturity": "production"
}