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skeleton.json
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skeleton.json
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{
"@context": [
"https://comp-rob2b.github.io/metamodels/geometry/structural-entities.json",
{
"rob": "https://comp-rob2b.github.io/modelling-tutorial/robot#"
}
],
"@id": "rob:skeleton",
"@graph": [
{
"@id": "rob:link1-joint1-origin",
"@type": [ "3D", "Euclidean", "Point" ]
},
{
"@id": "rob:link2-root-origin",
"@type": [ "3D", "Euclidean", "Point" ]
},
{
"@id": "rob:link1-joint1-x",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link1-joint1-origin"
},
{
"@id": "rob:link1-joint1-y",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link1-joint1-origin"
},
{
"@id": "rob:link1-joint1-z",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link1-joint1-origin"
},
{
"@id": "rob:link2-root-x",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link2-root-origin"
},
{
"@id": "rob:link2-root-y",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link2-root-origin"
},
{
"@id": "rob:link2-root-z",
"@type": [ "3D", "Euclidean", "Vector", "BoundVector", "UnitLength" ],
"start": "rob:link2-root-origin"
},
{
"@id": "rob:link1-root",
"@type": [ "3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded" ]
},
{
"@id": "rob:link1-joint1",
"@type": [ "3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded", "OriginVectorsXYZ" ],
"origin": "rob:link1-joint1-origin",
"vector-x": "rob:link1-joint1-x",
"vector-y": "rob:link1-joint1-y",
"vector-z": "rob:link1-joint1-z"
},
{
"@id": "rob:link2-root",
"@type": [ "3D", "Euclidean", "Frame", "Orthonormal", "RigidBody", "RightHanded", "OriginVectorsXYZ" ],
"origin": "rob:link2-root-origin",
"vector-x": "rob:link2-root-x",
"vector-y": "rob:link2-root-y",
"vector-z": "rob:link2-root-z"
},
{
"@id": "rob:link1",
"@type": [ "SimplicialComplex", "RigidBody" ],
"simplices": [
"rob:link1-root",
"rob:link1-joint1",
"rob:link1-joint1-origin",
"rob:link1-joint1-x",
"rob:link1-joint1-y",
"rob:link1-joint1-z"
]
},
{
"@id": "rob:link2",
"@type": [ "SimplicialComplex", "RigidBody" ],
"simplices": [
"rob:link2-root",
"rob:link2-root-origin",
"rob:link2-root-x",
"rob:link2-root-y",
"rob:link2-root-z"
]
}
]
}