| <task name="cube_stack"> |
| <description>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.</description> |
| <task_objects> |
| <object>five coloured cubes</object> |
| <object>scattered tabletop cubes</object> |
| <object>single cube tower</object> |
| <object>right arm gripper</object> |
| <object>flat tabletop workspace</object> |
| </task_objects> |
| <substages> |
| <substage>1. move right arm to a loose cube</substage> |
| <substage>2. grasp the cube</substage> |
| <substage>3. lift the cube clear of the table</substage> |
| <substage>4. move the cube above the top of the stack</substage> |
| <substage>5. release the cube onto the stack</substage> |
| <substage>6. repeat for all remaining loose cubes</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>inserted_into</predicate> |
| <predicate>stable</predicate> |
| </predicates> |
| </task> |
|
|
