{
    "@context": [
        "https://secorolab.github.io/metamodels/acceptance-criteria/bdd/bdd.json",
        "https://secorolab.github.io/metamodels/acceptance-criteria/bdd/task.json",
        {
            "var": "https://secorolab.github.io/models/acceptance-criteria/bdd/variants/pickplace-isaac/",
            "tmpl": "https://secorolab.github.io/models/acceptance-criteria/bdd/templates/",
            "lab": "https://secorolab.github.io/models/environments/secorolab/",
            "isaac-agn": "https://secorolab.github.io/models/agents/isaac-sim/",
            "scene-lab": "https://secorolab.github.io/models/acceptance-criteria/bdd/scenes/secorolab/",
            "scene-isaac": "https://secorolab.github.io/models/acceptance-criteria/bdd/scenes/isaac/"
        }
    ],
    "@graph": [
        {
            "@id": "var:obj-set", "@type": [ "bdd:ConstantSet", "bdd:Set" ],
            "elements": [
                "lab:obj-cube1", "lab:obj-cube2", "lab:obj-cube3", "lab:obj-cube4",
                "lab:obj-ball1", "lab:obj-ball2", "lab:obj-ball3"
            ]
        },
        {
            "@id": "var:comb-objects", "@type": "bdd:Combination",
            "repetition": "false",
            "length": 1, "from": "var:obj-set"
        },
        {
            "@id": "var:ws-set", "@type": [ "bdd:ConstantSet", "bdd:Set" ],
            "elements": [ "lab:ws-bin1", "lab:ws-bin2" ]
        },
        {
            "@id": "var:comb-workspaces", "@type": "bdd:Combination",
            "repetition": "false",
            "length": 1, "from": "var:ws-set"
        },
        {
            "@id": "var:var-table", "@type": [ "bdd:TaskVariation", "bdd:TableVariation" ],
            "of-task": "tmpl:task-pickplace",
            "variable-list": [ "tmpl:var-target-obj", "tmpl:var-pick-ws", "tmpl:var-place-ws", "tmpl:var-agent" ],
            "rows": [
                [ "lab:obj-bottle", "lab:ws-table", "lab:ws-shelf", "isaac-agn:panda" ],
                [ "lab:obj-ball1", "lab:ws-table", "lab:ws-shelf", "isaac-agn:panda" ],
                [ "lab:obj-bottle", "lab:ws-shelf", "lab:ws-table", "isaac-agn:panda" ],
                [ "lab:obj-ball1", "lab:ws-table", "lab:ws-table", "isaac-agn:panda" ]
            ]
        },
        {
            "@id": "var:var-product-panda", "@type": [ "bdd:TaskVariation", "bdd:CartesianProductVariation" ],
            "of-task": "tmpl:task-pickplace",
            "variable-list": [
                "tmpl:var-target-obj", "tmpl:var-pick-ws", "tmpl:var-place-ws", "tmpl:var-agent"
            ],
            "of-sets": [
                "var:comb-objects",
                [ "lab:ws-table" ],
                "var:comb-workspaces",
                [ "isaac-agn:panda" ]
            ]
        },
        {
            "@id": "var:var-product-ur10", "@type": [ "bdd:TaskVariation", "bdd:CartesianProductVariation" ],
            "of-task": "tmpl:task-pickplace",
            "variable-list": [
                "tmpl:var-target-obj", "tmpl:var-pick-ws", "tmpl:var-place-ws", "tmpl:var-agent"
            ],
            "of-sets": [
                "var:comb-objects",
                [ "lab:ws-table" ],
                "var:comb-workspaces",
                [ "isaac-agn:ur10" ]
            ]
        },
        {
            "@id": "var:scr-var-panda-pickplace", "@type": "bdd:ScenarioVariant",
            "of-template": "tmpl:tmpl-pickplace",
            "has-scene": [
                "scene-lab:scn-pickplace-secorolab-objects",
                "scene-lab:scn-pickplace-secorolab-workspaces",
                "scene-isaac:scn-pickplace-isaac-panda"
            ],
            "has-variation": "var:var-product-panda"
        },
        {
            "@id": "var:scr-var-ur10-pickplace", "@type": "bdd:ScenarioVariant",
            "of-template": "tmpl:tmpl-pickplace",
            "has-scene": [
                "scene-lab:scn-pickplace-secorolab-objects",
                "scene-lab:scn-pickplace-secorolab-workspaces",
                "scene-isaac:scn-pickplace-isaac-ur10"
            ],
            "has-variation": "var:var-product-ur10"
        },
        {
            "@id": "var:us-pickplace", "@type": "bdd:UserStory",
            "has-criteria": [
                "var:scr-var-panda-pickplace"
            ]
        }
    ]
}