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e364568 | 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 | <task name="grasp_spatula_put_pot">
<description>Use the right arm to grasp the wooden spatula and put it into the pot.</description>
<task_objects>
<object>wooden spatula</object>
<object>pot</object>
</task_objects>
<substages>
<substage>1. Move the right arm to approach and align with the wooden spatula.</substage>
<substage>2. Grasp the wooden spatula.</substage>
<substage>3. Move the right arm to align with the pot.</substage>
<substage>4. Release the gripper to put the wooden spatula into the pot.</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>
</predicates>
</task>
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