| <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> |
|
|
