| <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> |
