{
    "@context": {
        "@version": 1.1,
        "cstr": "https://comp-rob2b.github.io/metamodels/task/constraint#",
        "cstr-ext": "https://secorolab.github.io/metamodels/task/constraint#",

        "ConstraintExpression": "cstr-ext:ConstraintExpression",
        "ConstraintConjunction": "cstr-ext:ConstraintConjunction",
        "ConstraintDisjunction": "cstr-ext:ConstraintDisjunction",
        "has-constraint": {
            "@id": "cstr-ext:has-constraint",
            "@type": "@id",
            "@container": "@set"
        },

        "OutsideConstraint": {
            "@id": "cstr-ext:OutsideConstraint",
            "@context": {
                "lower-threshold": { "@id": "cstr:lower-threshold", "@type": "@id" },
                "upper-threshold": { "@id": "cstr:upper-threshold", "@type": "@id" }
            }
        },
        "AngleConstraint": "cstr-ext:AngleConstraint",
        "AngularDistanceConstraint": "cstr-ext:AngularDistanceConstraint",
        "OrientationConstraint": "cstr-ext:OrientationConstraint",
        "TimeConstraint": "cstr-ext:TimeConstraint",
        "tolerance": { "@id": "cstr-ext:tolerance", "@type": "@id" }
    }
}