fpk-algorithm.json

{
    "@context": [
        "https://comp-rob2b.github.io/metamodels/geometry/spatial-operators.json",
        "https://comp-rob2b.github.io/metamodels/kinematic-chain/operators.json",
        "https://comp-rob2b.github.io/metamodels/algorithm.json",
        {
            "rob": "https://comp-rob2b.github.io/modelling-tutorial/robot#"
        }
    ],
    "@id": "rob:fpk",
    "@graph": [
        {
            "@id": "rob:fpk1",
            "@type": "ForwardPositionKinematics",
            "joint": "rob:joint1",
            "joint-space-motion": "rob:q1",
            "cartesian-space-motion": "rob:pose-link2-root-wrt-link1-joint1"
        },
        {
            "@id": "rob:compose-pose1",
            "@type": "ComposePose",
            "pose1": "rob:pose-link1-joint1-wrt-link1-root",
            "pose2": "rob:pose-link2-root-wrt-link1-joint1",
            "pose-out": "rob:pose-link2-root-wrt-link1-root"
        },
        {
            "@id": "rob:schedule1",
            "@type": "Schedule",
            "trigger-chain": [ "rob:fpk1", "rob:compose-pose1" ]
        }
    ]
}