spatial-relations.json

{
    "@context": [
        "https://comp-rob2b.github.io/metamodels/geometry/spatial-relations.json",
        "https://comp-rob2b.github.io/metamodels/qudt.json",
        {
            "rob": "https://comp-rob2b.github.io/modelling-tutorial/robot#"
        }
    ],
    "@id": "rob:spatial-relations",
    "@graph": [
        {
            "@id": "rob:pose-link1-joint1-wrt-link1-root",
            "@type": "Pose",
            "of": "rob:link1-joint1",
            "with-respect-to": "rob:link1-root",
            "quantity-kind": [ "Angle", "Length" ]
        },
        {
            "@id": "rob:pose-link2-root-wrt-link1-joint1",
            "@type": "Pose",
            "of": "rob:link2-root",
            "with-respect-to": "rob:link1-joint1",
            "quantity-kind": [ "Angle", "Length" ]
        },
        {
            "@id": "rob:joint1-offset",
            "@type": "Position",
            "of": "rob:link2-root-origin",
            "with-respect-to": "rob:link1-joint1-origin",
            "quantity-kind": "Length"
        },
        {
            "@id": "rob:pose-link2-root-wrt-link1-root",
            "@type": "Pose",
            "of": "rob:link2-root",
            "with-respect-to": "rob:link1-root",
            "quantity-kind": [ "Angle", "Length" ]
        },
        {
            "@id": "rob:joint1-common-axis",
            "@type": "LineCollinearity",
            "lines": [ "rob:link1-joint1-z", "rob:link2-root-z" ]
        }
    ]
}