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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 | <task name="open_box_place_cable">
<description>Use the right arm to open the paper box. Then use the left arm to grasp and put the data cable into the paper box.</description>
<task_objects>
<object>paper box</object>
<object>data cable</object>
</task_objects>
<substages>
<substage>1. Move the right arm to approach and align with the paper box.</substage>
<substage>2. Grasp the paper box with the right arm.</substage>
<substage>3. Open the paper box using the right arm.</substage>
<substage>4. Move the left arm to approach and align with the data cable.</substage>
<substage>5. Grasp the data cable with the left arm.</substage>
<substage>6. Move the left arm to align with the open paper box.</substage>
<substage>7. Release the gripper to put the data cable into the paper box.</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>partly_open</predicate>
</predicates>
</task>
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