| <task name="stabilize_and_insert_block"> |
| <description>Use the left arm to contact and stabilize the green block, then use the right arm to assemble the small block into its rightmost slot.\nSuccess condition: All actions completed in order, the small block is inserted into the rightmost slot.</description> |
| <task_objects> |
| <object>green block</object> |
| <object>small block</object> |
| <object>rightmost slot</object> |
| </task_objects> |
| <substages> |
| <substage>1. move left arm to green block</substage> |
| <substage>2. contact green block with left arm</substage> |
| <substage>3. stabilize green block with left arm</substage> |
| <substage>4. move right arm to small block</substage> |
| <substage>5. grasp small block</substage> |
| <substage>6. move and align small block to rightmost slot</substage> |
| <substage>7. insert small block into rightmost slot</substage> |
| <substage>8. release small block</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> |
