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8cde5b2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 | <task name="handover">
<description>Hand the three items across the central partition: the arm on the item side picks up each object and passes it to the other arm in mid-air above the partition, and the receiving arm places it into the container on its own side. Success condition: All three items are passed arm-to-arm across the partition and end up in the container.</description>
<task_objects>
<object>popcorn cup</object>
<object>block</object>
<object>black cylindrical block</object>
<object>receiving container</object>
<object>central partition</object>
</task_objects>
<substages>
<substage>1. move passer arm to an item on the object side</substage>
<substage>2. grasp the item</substage>
<substage>3. lift the item into mid-air above the barrier</substage>
<substage>4. move receiver arm across to the held item</substage>
<substage>5. grasp the item with the receiver arm</substage>
<substage>6. release the item from the passer arm</substage>
<substage>7. move the item above the receptacle on the receiver side</substage>
<substage>8. release the item into the receptacle</substage>
<substage>9. repeat for all three items</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>
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