{
  "prefix": {
    "ros": "http://wiki.ros.org/",
    "exsce": "https://www.sesame-project.org/scenarios/",
    "geom": "https://robot-schema.org/",
    "coord": "https://robot-schema.org/coordinates/",
    "angle": "https://robot-schema.org/rotation/",
    "oracle": "https://www.sesame-project.org/scenarios/oracles/"
  },
  "bundle": {
    "robot:tiago1_bundle": {
      "prefix": {
        "robot": "https://www.sesame-project.org/scenarios/robots/",
        "tiago1": "https://www.sesame-project.org/scenarios/robots/tiago1/",
        "ros": "http://wiki.ros.org/"
      },
      "entity": {
        "robot:tiago1": {
          "prov:type": "exsce:robot"
        },
        "tiago1:software-config": {
          "prov:type": "software-config"
        },
        "tiago1:hardware-config": {
          "prov:type": "hardware-config"
        },
        "tiago1:gazebo_model": {
          "prov:type": {
            "$": "ros:GazeboModel",
            "type": "prov:QUALIFIED_NAME"
          }
        }
      },
      "agent": {
        "tiago1:agent": {
          "prov:type": "prov:SoftwareAgent"
        }
      },
      "hadMember": {
        "_:id1": {
          "prov:collection": "robot:tiago1",
          "prov:entity": "tiago1:gazebo_model"
        },
        "_:id2": {
          "prov:collection": "robot:tiago1",
          "prov:entity": "tiago1:software-config"
        },
        "_:id3": {
          "prov:collection": "robot:tiago1",
          "prov:entity": "tiago1:hardware-config"
        }
      }
    }
  }
}