diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
index 94de010..3591872 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
@@ -24,6 +24,7 @@ set(msg_files
   "msg/LicenseInfo.msg"
   "msg/Log.msg"
   "msg/PlanningGroup.msg"
+  "msg/RobotJointState.msg"
   "msg/Waypoint.msg"
 )
 
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/msg/RobotJointState.msg b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/RobotJointState.msg
new file mode 100644
index 0000000..dfc1c8e
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/RobotJointState.msg
@@ -0,0 +1,5 @@
+# Contains the joint positions of single-dof joints (i.e. REVOLUTE, PRISMATIC)
+sensor_msgs/JointState joint_state
+
+# Contains the joint positions of multi-dof joints (i.e. PLANAR, FLOATING).
+sensor_msgs/MultiDOFJointState multi_dof_joint_state
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/RetrieveJointState.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/RetrieveJointState.srv
index 802c418..dec60f5 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/RetrieveJointState.srv
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/RetrieveJointState.srv
@@ -6,4 +6,4 @@ builtin_interfaces/Duration timeout
 ---
 
 bool success
-sensor_msgs/JointState joint_state
+moveit_studio_agent_msgs/RobotJointState robot_joint_state
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/StoreJointState.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/StoreJointState.srv
index 0f6ff87..2b8e8e9 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/StoreJointState.srv
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/StoreJointState.srv
@@ -1,6 +1,7 @@
 # Service to store a joint state in the Parameter Manager
 
 sensor_msgs/JointState joint_state
+sensor_msgs/MultiDOFJointState multi_dof_joint_state
 
 ---