| <task name="balls_to_rack"> |
| <description>Place all six balls into the six slots egg carton: use the right arm to place every ball lying to the right of the carton, then use the left arm to place the balls lying on its left. Success condition: The right-side balls are all placed before the left arm starts, and all six balls end up seated one per slot in the six slots egg carton, with no ball left on the table.</description> |
| <task_objects> |
| <object>right-side balls</object> |
| <object>left-side balls</object> |
| <object>six slots egg carton</object> |
| <object>table surface</object> |
| </task_objects> |
| <substages> |
| <substage>1. move right arm to a right-side ball</substage> |
| <substage>2. grasp right-side ball</substage> |
| <substage>3. move right-side ball above a free egg carton cup</substage> |
| <substage>4. release right-side ball into cup</substage> |
| <substage>5. repeat for all right-side balls</substage> |
| <substage>6. move left arm to a left-side ball</substage> |
| <substage>7. grasp left-side ball</substage> |
| <substage>8. move left-side ball above a free egg carton cup</substage> |
| <substage>9. release left-side ball into cup</substage> |
| <substage>10. repeat for all left-side balls</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> |
|
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