| <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> |
|
|
