{
    "@context": [
        "https://comp-rob2b.github.io/metamodels/geometry/structural-entities.json",
        "https://comp-rob2b.github.io/metamodels/geometry/coordinates.json",
        "https://comp-rob2b.github.io/metamodels/geometry/spatial-relations.json",
        "https://comp-rob2b.github.io/metamodels/qudt.json",
        "https://secorolab.github.io/metamodels/acceptance-criteria/bdd/bdd.json",
        "https://secorolab.github.io/metamodels/acceptance-criteria/bdd/time.json",
        "https://secorolab.github.io/metamodels/acceptance-criteria/bdd/observation.json",
        "https://secorolab.github.io/metamodels/languages/python.json",
        {
            "tmpl": "https://secorolab.github.io/models/acceptance-criteria/bdd/templates/",
            "obs-ros": "https://secorolab.github.io/models/observation/ros/",
            "lab-geom": "https://secorolab.github.io/models/environments/secorolab/geometry/"
        }
    ],
    "@graph": [
        {
            "@id": "obs-ros:target-obj-com",
            "@type": ["Point", "Euclidean", "3D"]
        },
        {
            "@id": "lab-geom:bin1-origin",
            "@type": ["Point", "Euclidean", "3D"]
        },
        {
            "@id": "lab-geom:base-link-frame",
            "@type": [ "Frame", "HasFrameId"],
            "frame-id": "/base_link"
        },
        {
            "@id": "obs-ros:position-target-obj-bin1",
            "@type": "Position",
            "of": "obs-ros:target-obj-com",
            "with-respect-to": "lab-geom:bin1-origin",
            "quantity-kind": "Length"
        },
        {
            "@id": "obs-ros:obj-bin1-position",
            "@type": [
                "ObservationProvider",
                "ROSTopic",
                "PositionReference",
                "PositionCoordinate",
                "VectorXYZ"
            ],
            "unit": "M",
            "message-type": "geometry_msgs/msg/PointStamped",
            "as-seen-by": "lab-geom:base-link-frame",
            "topic-name": "/obj-bin1-position"
        },
        { "@id": "tmpl:flc-located-at-pick-ws", "horizon-seconds": 1.5 },
        { "@id": "tmpl:flc-located-at-place-ws", "horizon-seconds": 1.5 },
        {
            "@id": "tmpl:flc-located-at-pick-ws", "@type": [ "ObservationPolicy", "ROSTopic" ],
            "message-type": "bdd_ros2_interfaces/TrinaryStamped",
            "topic-name": "/obs_policy/located_at_pick_ws"
        },
        {
            "@id": "tmpl:flc-is-held", "@type": [ "ObservationPolicy", "ROSTopic" ],
            "message-type": "bdd_ros2_interfaces/TrinaryStamped",
            "topic-name": "/obs_policy/is_held"
        },
        {
            "@id": "tmpl:flc-located-at-place-ws", "@type": [ "ObservationPolicy", "ROSTopic" ],
            "message-type": "bdd_ros2_interfaces/TrinaryStamped",
            "topic-name": "/obs_policy/located_at_place_ws"
        }
    ]
}