failtime_short/tasks/pick_cube_put_pot.xml

<task name="pick_cube_put_pot">
  <description>Use the left arm to pick up the red cube and place it into the red pot.</description>
  <task_objects>
    <object>red cube</object>
    <object>red pot</object>
  </task_objects>
  <substages>
    <substage>1. Move the left arm to approach and align with the red cube.</substage>
    <substage>2. Grasp the red cube.</substage>
    <substage>3. Move the left arm to align with the red pot.</substage>
    <substage>4. Release the gripper to place the red cube into the red pot.</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>
  </predicates>
</task>