{
    "@context": {
        "xsd": "http://www.w3.org/2001/XMLSchema#",
        "obs": "https://secorolab.github.io/metamodels/observation#",
        "sens": "https://secorolab.github.io/metamodels/robot/sensors#",

        "ObservationProvider": { "@id": "obs:ObservationProvider" },
        "has-provider": { "@id": "obs:has-provider", "@type": "@id" },

        "ObservationPolicy": { "@id": "obs:ObservationPolicy" },
        "DirectTrinaryPolicy": { "@id": "obs:DirectTrinaryPolicy" },
        "EvaluatedObservationPolicy": { "@id": "obs:EvaluatedObservationPolicy" },
        "has-policy": { "@id": "obs:has-policy", "@type": "@id" },
        "time-extractor": { "@id": "obs:time-extractor", "@type": "@id" },
        "entity-mapper": { "@id": "obs:entity-mapper", "@type": "@id" },
        "has-evaluator": { "@id": "obs:has-evaluator", "@type": "@id" },
        "max-time-offset": { "@id": "obs:max-time-offset", "@type": "@id" },
        "LinearDistanceEvaluator": { "@id": "obs:LinearDistanceEvaluator" },

        "Observation": { "@id": "obs:Observation" },
        "has-observation": { "@id": "obs:has-observation", "@type": "@id" },
        "observes-target": { "@id": "obs:observes-target", "@type": "@id" },

        "PoseProvider": { "@id": "obs:PoseProvider" },
        "VelocityTwistProvider": { "@id": "obs:VelocityTwistProvider" },
        "AccelerationTwistProvider": { "@id": "obs:AccelerationTwistProvider" },
        "WrenchProvider": { "@id": "obs:WrenchProvider" },
        "JointPositionProvider": { "@id": "obs:JointPositionProvider" },
        "JointVelocityProvider": { "@id": "obs:JointVelocityProvider" },
        "JointAccelerationProvider": { "@id": "obs:JointAccelerationProvider" },
        "JointForceProvider": { "@id": "obs:JointForceProvider" },
        "update-rate": { "@id": "sens:update-rate", "@type": "@id" }
    }
}