ethan-li-k/astra_bench/stack-bowls-three

stack_bowls_three

Auto-authored atomic skill for stack_bowls_three.

Goal: Goal: build one neat vertical stack of all three 002_bowl bowls at the center of the table. First perceive and ground the three bowls scattered on the table, then pick up the first bowl (using the left arm if it sits on the left half, right arm if on the right) and place it centered at table position x=0, y=-0.1. Next grasp the second bowl and place it directly on top of the first (about 0.05 m higher, aligned over its center), then grasp the third bowl and place it on top of the second the same way; open the gripper to release after each placement so the bowls nest into one column.

Success: The three bowls form one vertical stack — each bowl's xy center within ~0.04 m of the one below and at increasing heights (~0.74/0.77/0.81 m) — with both grippers open.