Stack all the cubes into one tower: Use the right arm to pick up the five scattered cubes one at a time and place each on top of the growing stack; the left arm stays parked. Success condition: All actions completed in order, and all five cubes are stacked into a single free-standing tower with no cube left lying on the table. 1. move right arm to a loose cube 2. grasp the cube 3. lift the cube clear of the table 4. move the cube above the top of the stack 5. release the cube onto the stack 6. repeat for all remaining loose cubes grasped contact near aligned_with inside on_top_of supports separated_from left_of right_of above below in_front_of behind open closed inserted_into stable