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. 1. move right arm to a paper cup 2. grasp paper cup 3. move paper cup to the empty space of the table 4. release the paper cup 5. repeat the above steps 6. move right arm to align with a cup 7. grasp cup 8. move cup to correct position 9. release cup in that position 10. repeat until all cupss are placed into a 3-2-1 pyramid structure grasped contact near aligned_with inside on_top_of supports separated_from left_of right_of above below in_front_of behind open closed stacked stable