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

        "Camera": {
            "@id": "sens:Camera",
            "@context": {
                "camera-kind": {
                    "@id": "sens:camera-kind",
                    "@type": "@vocab",
                    "@context": {
                        "rgb": "sens:rgb",
                        "depth": "sens:depth",
                        "rgbd": "sens:rgbd"
                    }
                },
                "resolution-width": {
                    "@id": "sens:resolution-width",
                    "@type": "xsd:integer"
                },
                "resolution-height": {
                    "@id": "sens:resolution-height",
                    "@type": "xsd:integer"
                },
                "field-of-view": {
                    "@id": "sens:field-of-view"
                }
            }
        },
        "ForceTorqueSensor": "sens:ForceTorqueSensor",
        "IMU": "sens:IMU",

        "frame": {
            "@id": "sens:frame",
            "@type": "@id"
        },
        "update-rate": {
            "@id": "sens:update-rate"
        },

        "orientation": "sens:orientation",
        "image": "sens:image",
        "depth-image": "sens:depth-image"
    }
}