{
    "@context": {
        "@version": 1.1,
        "xsd": "http://www.w3.org/2001/XMLSchema#",
        "act": "https://secorolab.github.io/metamodels/robot/actuation#",

        "JointCurrent": { "@id": "act:JointCurrent" },
        "act-joint": { "@id": "act:joint", "@type": "@id" },

        "Actuation": {
            "@id": "act:Actuation",
            "@context": {
                "joint": {
                    "@id": "act:joint",
                    "@type": "@id"
                },
                "gear-ratio": {
                    "@id": "act:gear-ratio",
                    "@type": "xsd:double"
                },
                "rotor-inertia": {
                    "@id": "act:rotor-inertia",
                    "@type": "@id"
                },
                "command-interface": {
                    "@id": "act:command-interface",
                    "@type": "@vocab",
                    "@container": "@set"
                },
                "state-interface": {
                    "@id": "act:state-interface",
                    "@type": "@vocab",
                    "@container": "@set"
                }
            }
        }
    }
}