failtime_short/tasks/hold_socket_plug.xml

<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>