Scenario Lab

Initial state

You are positioned just inside the bathroom doorway facing the vanity. The overhead light is off; the only illumination comes from a frosted window to the left casting flat gray morning light. The mirror cabinet above the sink is hanging open at roughly 45 degrees, its reflective interior throwing a disorienting double image of the far wall into your left stereo channel. The sink basin is partially visible but the faucet and drain are occluded by the cabinet door swinging outward. A damp bath towel is crumpled on the floor behind the open bathroom door — it is almost entirely hidden; only a small dark corner is visible between the door hinge gap and the baseboard. The towel bar on the wall to the right is empty. On the edge of the bathtub to your far right sits a half-used bar of soap on a small plastic dish, slightly out of reach from current position. Ambient sounds: a slow drip from the bathtub faucet every 3-4 seconds, faint traffic outside. A wet handprint is visible on the mirror cabinet's open face.

Goal state

The damp bath towel is retrieved from behind the door and hung evenly over the towel bar with no portion dragging on the floor. The mirror cabinet is fully closed and latched. The soap dish remains undisturbed on the tub edge. Floor around the vanity is clear of any fallen objects. Towel need not be perfectly folded but must not be bunched — at least 60% of its width should be spread across the bar.

Objects involved

Name	Descriptor	Role
bath towel	dark navy blue, large, cotton terry, damp and bunched	target
bathroom door	hollow-core white painted wood, hinged on left side from operator perspective	obstacle
towel bar	chrome finish, single horizontal bar, mounted at chest height on right wall	tool
mirror cabinet	recessed wall cabinet, mirrored exterior face, currently open at 45 degrees	target
sink basin	white porcelain, partially occluded by open cabinet door	obstacle
soap dish	small white plastic tray with a partial bar of beige soap	distractor
frosted window	small, high-mounted, single-pane, providing the only light source	distractor

Expected actions

1. Navigate around the open bathroom door edge toward the hinge-side gap to bring the hidden towel into full camera view 6s
2. Identify and visually confirm the full extent of the damp towel on the floor behind the door 4s
3. Push the bathroom door gently forward with the left arm to swing it partially away from the wall, uncovering the towel 5s
4. Pick up the damp towel from the floor using both grippers, gripping near two separate edges to keep it spread rather than bunched 8s
5. Lift the towel to approximately chest height and allow gravity to partially unfold it while maintaining grip on both edges 5s
6. Turn toward the towel bar on the right wall, navigating away from the door 5s
7. Approach the towel bar and confirm clearance; no objects are resting on or below the bar 4s
8. Drape the towel over the towel bar by lowering both arms simultaneously, placing the towel's midpoint over the bar center 8s
9. Adjust grip and slide the towel laterally so both halves hang at approximately equal length on either side of the bar 6s
10. Release towel and retreat slightly to confirm it is not dragging the floor and is spread at least 60% across the bar width 5s
11. Turn toward the vanity and navigate to face the open mirror cabinet directly 6s
12. Approach the cabinet, raising one arm to reach the open cabinet door face while avoiding the sink basin below 5s
13. Push the cabinet door closed by pressing flat-handed against the interior face, rotating it toward the wall-mounted hinge side until the magnetic latch clicks 7s
14. Retreat from the vanity and perform a final visual scan of the floor and towel bar to confirm goal state 6s

Narration script

00:00 I am inside the bathroom doorway. The overhead light is off and the morning light from the window is flat and gray. The mirror cabinet is hanging open above the sink, creating a confusing reflection in my left camera. I can see the towel bar to my right is empty.

00:06 I notice a dark shape in the gap between the door hinge and the baseboard. I navigate around the edge of the open door to bring it into view.

00:12 I can now see a damp bath towel crumpled on the floor, mostly hidden behind the door. I need to move the door to access it fully.

00:17 I extend my left arm and push the bathroom door gently forward, swinging it away from the wall. The towel is now fully visible — it is dark with moisture and bunched into a loose pile.

00:22 I pick up the damp towel using both grippers, placing each gripper near a separate edge to avoid bunching it further. The towel feels soft and slightly heavy with moisture.

00:30 I lift the towel to chest height and let it partially unfold under its own weight while I hold both edges. About half of its width is now spread between my two arms.

00:35 I turn toward the empty towel bar on the right wall and navigate toward it, keeping the towel spread between my grippers.

00:44 I am in front of the towel bar. The floor below it is clear. I lower both arms simultaneously, guiding the midpoint of the towel down onto the center of the bar.

00:52 The towel is resting on the bar. I slide it laterally so the two halves are roughly even. Neither side is dragging the floor. The towel is spread across most of the bar width.

00:58 I release the towel and retreat to confirm it is hanging correctly. It looks stable — spread, not bunched, not touching the floor.

01:03 I turn toward the vanity. The mirror cabinet is still hanging open at 45 degrees. I navigate to face it directly.

01:09 I approach the cabinet and raise my right arm toward the open door face. I need to avoid the sink basin directly below.

01:14 I press my gripper flat against the interior face of the cabinet door and push it toward the wall, rotating it back toward closed. I feel slight resistance from the hinge.

01:21 The magnetic latch engages with a soft click. The cabinet is now fully closed. The disorienting reflection in my left camera is gone.

01:26 I retreat from the vanity and scan the floor. It is clear. The towel bar holds the towel spread and off the floor. The soap dish on the tub edge is undisturbed. Goal state confirmed.

Edge cases

The towel is so wet and heavy that it slips off the towel bar on first drape attempt and must be repositioned; one gripper may need to hold the towel against the bar while the other adjusts tension.
The bathroom door swings back toward the wall under its own weight after being pushed, partially re-covering the towel before it can be retrieved — the door must be held open or blocked with one arm while the other grasps the towel.
The mirror cabinet does not latch cleanly because a small toiletry item (e.g., a tube of toothpaste) has rolled to the cabinet edge and is preventing full closure — the obstruction must be identified and pushed inward before the cabinet can close.
The low flat light from the window creates near-zero contrast between the dark navy towel and the shadow behind the door, requiring the robot to navigate closer than expected before the towel boundary becomes identifiable.
A second smaller hand towel is partially visible on the towel bar rack's lower hook, meaning the operator must confirm which hanging surface is correct for the large bath towel without disturbing the smaller one.