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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 | <task name="stabilize_and_insert_block">
<description>Use the left arm to contact and stabilize the green block, then use the right arm to assemble the small block into its rightmost slot.\nSuccess condition: All actions completed in order, the small block is inserted into the rightmost slot.</description>
<task_objects>
<object>green block</object>
<object>small block</object>
<object>rightmost slot</object>
</task_objects>
<substages>
<substage>1. move left arm to green block</substage>
<substage>2. contact green block with left arm</substage>
<substage>3. stabilize green block with left arm</substage>
<substage>4. move right arm to small block</substage>
<substage>5. grasp small block</substage>
<substage>6. move and align small block to rightmost slot</substage>
<substage>7. insert small block into rightmost slot</substage>
<substage>8. release small block</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> |