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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="stack_cup_pyramid">
<description>Use the right arm to separate the six nested upside-down paper cups and stack them into a 3-2-1 pyramid structure.\nSuccess condition: All six cups are correctly stacked in the pyramid structure.</description>
<task_objects>
<object>paper cups</object>
</task_objects>
<substages>
<substage>1. move right arm to a paper cup</substage>
<substage>2. grasp paper cup</substage>
<substage>3. move paper cup to the empty space of the table</substage>
<substage>4. release the paper cup</substage>
<substage>5. repeat the above steps</substage>
<substage>6. move right arm to align with a cup</substage>
<substage>7. grasp cup</substage>
<substage>8. move cup to correct position</substage>
<substage>9. release cup in that position</substage>
<substage>10. repeat until all cupss are placed into a 3-2-1 pyramid structure</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>stacked</predicate>
<predicate>stable</predicate>
</predicates>
</task> |