{
    "@context": {
        "@base": "https://hbrs-sesame.github.io/models/coordination/pickup-events/",
        "evt": "https://hbrs-sesame.github.io/metamodels/coordination/event#",

        "event-loop": { "@id": "evt:event-loop", "@type": "@id" },
        "has-event": { "@id": "evt:has-event", "@type": "@id" }
    },
    "@graph": [
        { "@id": "approach-start", "@type": "evt:Event" },
        { "@id": "approach-end", "@type": "evt:Event" },
        { "@id": "grasp-start", "@type": "evt:Event" },
        { "@id": "grasp-end", "@type": "evt:Event" },
        { "@id": "lift-start", "@type": "evt:Event" },
        { "@id": "lift-end", "@type": "evt:Event" },
        { "@id": "pickup-event-loop", "@type": "evt:EventLoop" },
        {
            "@id": "single-arm-pickup-el", "@type": "evt:EventLoopConn",
            "event-loop": "pickup-event-loop",
            "has-event": [
                "approach-start", "approach-end", "grasp-start", "grasp-end", "lift-start", "lift-end"
            ]
        },
        { "@id": "approach-arm1-start", "@type": "evt:Event" },
        { "@id": "approach-arm1-end", "@type": "evt:Event" },
        { "@id": "approach-arm2-start", "@type": "evt:Event" },
        { "@id": "approach-arm2-end", "@type": "evt:Event" },
        {
            "@id": "dual-arm-pickup-el", "@type": "evt:EventLoopConn",
            "event-loop": "pickup-event-loop",
            "has-event": [
                "approach-arm1-start", "approach-arm1-end",
                "approach-arm2-start", "approach-arm2-end",
                "grasp-start", "grasp-end", "lift-start", "lift-end"
            ]
        }
    ]
}