{
    "@context": {
        "@version": 1.1,
        "xsd": "http://www.w3.org/2001/XMLSchema#",
        "cstr-hdl-ext": "https://secorolab.github.io/metamodels/task/constraint-handler#",

        "solver": { "@id": "cstr-hdl-ext:solver", "@type": "@id" },
        "runs-solver": { "@id": "cstr-hdl-ext:runs-solver", "@type": "@id", "@container": "@set" },

        "reference-signal": { "@id": "cstr-hdl-ext:reference-signal", "@type": "@id" },
        "FeedForwardController": "cstr-hdl-ext:FeedForwardController",
        "SetpointGenerator": "cstr-hdl-ext:SetpointGenerator",
        "fallback-motion": {
            "@id": "cstr-hdl-ext:fallback-motion",
            "@type": "@id"
        },
        "debounce-duration": {
            "@id": "cstr-hdl-ext:debounce-duration",
            "@type": "@id"
        }
    }
}