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8cde5b2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | <task name="cube_stack">
<description>Stack all the cubes into one tower: Use the right arm to pick up the five scattered cubes one at a time and place each on top of the growing stack; the left arm stays parked. Success condition: All actions completed in order, and all five cubes are stacked into a single free-standing tower with no cube left lying on the table.</description>
<task_objects>
<object>five coloured cubes</object>
<object>scattered tabletop cubes</object>
<object>single cube tower</object>
<object>right arm gripper</object>
<object>flat tabletop workspace</object>
</task_objects>
<substages>
<substage>1. move right arm to a loose cube</substage>
<substage>2. grasp the cube</substage>
<substage>3. lift the cube clear of the table</substage>
<substage>4. move the cube above the top of the stack</substage>
<substage>5. release the cube onto the stack</substage>
<substage>6. repeat for all remaining loose cubes</substage>
</substages>
<predicates>
<predicate>grasped</predicate>
<predicate>contact</predicate>
<predicate>near</predicate>
<predicate>aligned_with</predicate>
<predicate>inside</predicate>
<predicate>on_top_of</predicate>
<predicate>supports</predicate>
<predicate>separated_from</predicate>
<predicate>left_of</predicate>
<predicate>right_of</predicate>
<predicate>above</predicate>
<predicate>below</predicate>
<predicate>in_front_of</predicate>
<predicate>behind</predicate>
<predicate>open</predicate>
<predicate>closed</predicate>
<predicate>inserted_into</predicate>
<predicate>stable</predicate>
</predicates>
</task>
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