{
    "@context": {
        "@version": 1.1,
        "xsd": "http://www.w3.org/2001/XMLSchema#",
        "kc-ext": "https://secorolab.github.io/metamodels/kinematic-chain/structural-entities-extension#",

        "Scleronomic": "kc-ext:Scleronomic",

        "JointLimit": {
            "@id": "kc-ext:JointLimit",
            "@context": {
                "of-joint": {
                    "@id": "kc-ext:of-joint",
                    "@type": "@id"
                },
                "lower": {
                    "@id": "kc-ext:lower"
                },
                "upper": {
                    "@id": "kc-ext:upper"
                }
            }
        },

        "JointCoupling": {
            "@id": "kc-ext:JointCoupling",
            "@context": {
                "independent-joint": {
                    "@id": "kc-ext:independent-joint",
                    "@type": "@id"
                },
                "dependent-joint": {
                    "@id": "kc-ext:dependent-joint",
                    "@type": "@id"
                },
                "multiplier": {
                    "@id": "kc-ext:multiplier",
                    "@type": "xsd:double"
                },
                "offset": {
                    "@id": "kc-ext:offset"
                }
            }
        }
    }
}