{
  "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": {
    "exsce:scenario_c_bundle": {
      "prefix": {
        "exsce": "https://www.sesame-project.org/scenarios/",
        "mission": "https://www.sesame-project.org/scenarios/missions/",
        "env": "https://www.sesame-project.org/scenarios/environments/",
        "robot": "https://www.sesame-project.org/scenarios/robots/",
        "scenario_c": "https://www.sesame-project.org/scenarios/scenario_c/",
        "tiago1": "https://www.sesame-project.org/scenarios/robots/tiago1/",
        "pose": "https://www.sesame-project.org/scenarios/tasks/waypoints/",
        "tiago2": "https://www.sesame-project.org/scenarios/robots/tiago2/",
        "mission_c": "https://www.sesame-project.org/scenarios/missions/mission_c/",
        "task": "https://www.sesame-project.org/scenarios/tasks/"
      },
      "entity": {
        "exsce:scenario_c": {
          "prov:type": "exsce:ConcreteScenario"
        },
        "mission:mission_c": {
          "prov:type": "exsce:mission",
          "exsce:missionType": "parallel"
        },
        "mission_c:tiago1-task_01": {
          "prov:type": "prov:Plan"
        },
        "mission_c:tiago2-task_01": {
          "prov:type": "prov:Plan"
        },
        "mission_c:tiago1-task_02": {
          "prov:type": "prov:Plan"
        },
        "mission_c:tiago2-task_02": {
          "prov:type": "prov:Plan"
        }
      },
      "hadMember": {
        "_:id1": {
          "prov:collection": "exsce:scenario_c",
          "prov:entity": "mission:mission_c"
        },
        "_:id2": {
          "prov:collection": "exsce:scenario_c",
          "prov:entity": "env:brsu_building_c_with_doors"
        },
        "_:id3": {
          "prov:collection": "exsce:scenario_c",
          "prov:entity": "robot:tiago1"
        },
        "_:id4": {
          "prov:collection": "exsce:scenario_c",
          "prov:entity": "robot:tiago2"
        },
        "_:id5": {
          "prov:collection": "mission:mission_c",
          "prov:entity": "mission_c:tiago1-task_01"
        },
        "_:id7": {
          "prov:collection": "mission:mission_c",
          "prov:entity": "mission_c:tiago2-task_01"
        },
        "_:id9": {
          "prov:collection": "mission:mission_c",
          "prov:entity": "mission_c:tiago1-task_02"
        },
        "_:id11": {
          "prov:collection": "mission:mission_c",
          "prov:entity": "mission_c:tiago2-task_02"
        }
      },
      "wasDerivedFrom": {
        "scenario_c:tiago1-start-pose": {
          "prov:generatedEntity": "tiago1:gazebo_model",
          "prov:usedEntity": "pose:classroom_c025-w001-R0.00_P0.00_Y0.00",
          "prov:role": "start_pose",
          "exsce:scenario": "scenario_c"
        },
        "scenario_c:tiago2-start-pose": {
          "prov:generatedEntity": "tiago2:gazebo_model",
          "prov:usedEntity": "pose:classroom_c025-w002-R0.00_P0.00_Y0.00",
          "prov:role": "start_pose",
          "exsce:scenario": "scenario_c"
        },
        "_:id6": {
          "prov:generatedEntity": "mission_c:tiago1-task_01",
          "prov:usedEntity": "task:delivery_a.yaml",
          "prov:type": "prov:PrimarySource"
        },
        "_:id8": {
          "prov:generatedEntity": "mission_c:tiago2-task_01",
          "prov:usedEntity": "task:delivery_b.yaml",
          "prov:type": "prov:PrimarySource"
        },
        "_:id10": {
          "prov:generatedEntity": "mission_c:tiago1-task_02",
          "prov:usedEntity": "task:navigate_home_1.yaml",
          "prov:type": "prov:PrimarySource"
        },
        "_:id12": {
          "prov:generatedEntity": "mission_c:tiago2-task_02",
          "prov:usedEntity": "task:navigate_home_2.yaml",
          "prov:type": "prov:PrimarySource"
        }
      }
    }
  }
}