Jerry
19 lines
544 B
JSON
19 lines
544 B
JSON
{
|
|
"schema_version": "1.0",
|
|
"id": "relation.joint.rigid",
|
|
"version": "1.0.0",
|
|
"relation_type": "rigid",
|
|
"endpoint_rules": {
|
|
"source_port": "port.rotation.coaxial",
|
|
"target_port": "port.rotation.coaxial",
|
|
"axis_relation": "coaxial"
|
|
},
|
|
"constraint_rules": ["axes_coaxial", "angular_speeds_equal", "torque_capacity_compatible"],
|
|
"kinematic_effect": {"equation": "omega_source = omega_target"},
|
|
"capability_refs": [
|
|
"capability.kinematics.graph",
|
|
"capability.validation.rigid"
|
|
],
|
|
"maturity": "production"
|
|
}
|