File size: 1,347 Bytes
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 | <task name="hold_socket_plug">
<description>Use the right arm to hold the socket, left arm to insert the plug into it.</description>
<task_objects>
<object>socket</object>
<object>plug</object>
</task_objects>
<substages>
<substage>1. Move the right arm to approach and align with the socket.</substage>
<substage>2. Grasp the socket with the right arm.</substage>
<substage>3. Move the left arm to approach and align with the plug.</substage>
<substage>4. Grasp the plug with the left arm.</substage>
<substage>5. Move the left arm to align the plug with the socket held by the right arm.</substage>
<substage>6. Insert the plug into the socket using the left arm.</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>plugged_in</predicate>
<predicate>unplugged</predicate>
</predicates>
</task>
|