dynamics.json

{
    "@context": [
        "https://comp-rob2b.github.io/metamodels/geometry/spatial-relations.json",
        "https://comp-rob2b.github.io/metamodels/newtonian-rigid-body-dynamics.json",
        "https://comp-rob2b.github.io/metamodels/qudt.json",
        {
            "rob": "https://comp-rob2b.github.io/modelling-tutorial/robot#"
        }
    ],
    "@id": "rob:dynamics",
    "@graph": [
        {
            "@id": "rob:link2-inertia",
            "@type": [ "RigidBodyInertia", "Mass", "RotationalInertia", "PrincipalMomentsOfInertiaXYZ" ],
            "of-body": "rob:link2",
            "reference-point": "rob:link2-root-origin",
            "as-seen-by": "rob:link2-root",
            "quantity-kind": [ "MomentOfInertia", "Mass" ],
            "unit": [ "KiloGM-M2", "KiloGM" ],
            "xx": 0.1,
            "yy": 0.1,
            "zz": 0.1,
            "mass": 1.0
        }
    ]
}