@prefix td: <https://www.w3.org/2019/wot/td#> .
@prefix hctl: <https://www.w3.org/2019/wot/hypermedia#> .
@prefix dct: <http://purl.org/dc/terms/> .
@prefix eve: <http://w3id.org/eve#> .
@prefix wotsec: <https://www.w3.org/2019/wot/security#> .
@prefix js: <https://www.w3.org/2019/wot/json-schema#> .
@prefix htv: <http://www.w3.org/2011/http#> .
@prefix onto: <https://ci.mines-stetienne.fr/kg/ontology#> .
@prefix foaf: <http://xmlns.com/foaf/0.1/> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<http://yggdrasil.interactions.ics.unisg.ch/environments/61/workspaces/102/artifacts/leubot1>
  a td:Thing, eve:Artifact, onto:PhantomX;
  td:title "leubot1";
  td:hasSecurityConfiguration [ a wotsec:APIKeySecurityScheme;
      wotsec:in "header";
      wotsec:name "X-API-Key"
    ];
  td:hasBase <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/>;
  td:hasPropertyAffordance [ a td:PropertyAffordance, onto:Base, js:ObjectSchema;
      td:name "base";
      td:title "Read Base State";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/base>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:Shoulder, js:ObjectSchema;
      td:name "shoulder";
      td:title "Read Shoulder Angle";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/shoulder>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:Elbow, js:ObjectSchema;
      td:name "elbow";
      td:title "Read Elbow Angle";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/elbow>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:WristAngle, js:ObjectSchema;
      td:name "wristAngle";
      td:title "Read Wrist Angle";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/wrist/angle>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:WristRotation, js:ObjectSchema;
      td:name "wristRotation";
      td:title "Read Wrist Rotation";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/wrist/rotation>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:Gripper, js:ObjectSchema;
      td:name "gripper";
      td:title "Read Gripper";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/gripper>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty, td:writeProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, onto:JointName;
          js:propertyName "name"
        ], [ a js:IntegerSchema, onto:JointValue;
          js:propertyName "value"
        ];
      js:required "name", "value"
    ], [ a td:PropertyAffordance, onto:Posture, js:ObjectSchema;
      td:name "posture";
      td:title "Read Posture Information";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/posture>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:IntegerSchema, onto:WristAngleJointValue;
          js:propertyName "WristAngle"
        ], [ a js:IntegerSchema, onto:GripperJointValue;
          js:propertyName "Gripper"
        ], [ a js:IntegerSchema, onto:ShoulderJointValue;
          js:propertyName "Shoulder"
        ], [ a js:IntegerSchema, onto:ElbowJointValue;
          js:propertyName "Elbow"
        ], [ a js:IntegerSchema, onto:BaseJointValue;
          js:propertyName "Base"
        ], [ a js:IntegerSchema, onto:WristRotationJointValue;
          js:propertyName "WristRotation"
        ];
      js:required "Base", "Shoulder", "Elbow", "WristAngle", "WristRotation", "Gripper"
    ], [ a td:PropertyAffordance, foaf:Agent, js:ObjectSchema;
      td:name "user";
      td:title "Read User Information";
      td:hasForm [
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/user>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:readProperty
        ];
      td:isObservable false;
      js:properties [ a js:StringSchema, foaf:Name;
          js:propertyName "name"
        ], [ a js:StringSchema, foaf:Mbox;
          js:propertyName "email"
        ];
      js:required "name", "email"
    ];
  td:hasActionAffordance [ a td:ActionAffordance, onto:Reset;
      td:name "reset";
      td:title "Reset";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/reset>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ]
    ], [ a td:ActionAffordance, onto:SetBase;
      td:name "setBase";
      td:title "Set Base";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/base>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:BaseJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "512"^^xsd:int;
              js:maximum "1023"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:SetShoulder;
      td:name "setShoulder";
      td:title "Set Shoulder";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/shoulder>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:ShoulderJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "205"^^xsd:int;
              js:maximum "810"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:SetElbow;
      td:name "setElbow";
      td:title "Set Elbow";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/elbow>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:ElbowJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "400"^^xsd:int;
              js:maximum "650"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:SetWristAngle;
      td:name "setWristAngle";
      td:title "Set Wrist Angle";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/wrist/angle>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:WristAngleJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "200"^^xsd:int;
              js:maximum "830"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:SetWristRotation;
      td:name "setWristRotation";
      td:title "Set Wrist Rotation";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/wrist/rotation>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:WristRotateJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "0"^^xsd:int;
              js:maximum "1023"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:SetGripper;
      td:name "setGripper";
      td:title "Set Gripper";
      td:hasForm [
          htv:methodName "PUT";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/gripper>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, onto:GripperJoint;
          js:properties [ a js:IntegerSchema, onto:JointValue;
              js:propertyName "value";
              js:minimum "0"^^xsd:int;
              js:maximum "512"^^xsd:int
            ];
          js:required "value"
        ]
    ], [ a td:ActionAffordance, onto:LogIn;
      td:name "logIn";
      td:title "Log In";
      td:hasForm [
          htv:methodName "POST";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/user>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ];
      td:hasInputSchema [ a js:ObjectSchema, foaf:Agent;
          js:properties [ a js:StringSchema, foaf:Name;
              js:propertyName "name"
            ], [ a js:StringSchema, foaf:Mbox;
              js:propertyName "email"
            ];
          js:required "name", "email"
        ]
    ], [ a td:ActionAffordance, onto:LogOut;
      td:name "logOut";
      td:hasUriTemplateSchema [ a js:StringSchema, onto:UserToken;
          td:name "token"
        ];
      td:title "Log Out";
      td:hasForm [
          htv:methodName "DELETE";
          hctl:hasTarget <https://api.interactions.ics.unisg.ch/leubot1/v1.3.4/user/%7Btoken%7D>;
          hctl:forContentType "application/json";
          hctl:hasOperationType td:invokeAction
        ]
    ] .