Scenario Lab

Initial state

You are positioned near the kitchen counter, facing the dish rack to your left. The overhead fluorescent light is on; it is mid-morning and pale sunlight is coming through the window above the sink to your right. The dish rack holds three white ceramic dinner plates standing upright in the drying slots, visibly dry. A hand towel is draped over the rack's edge but not blocking the plates. To your far right, the cabinet door above the counter is already open, revealing a stack of two identical plates already inside on the lower shelf. The counter surface is clear except for a fruit bowl at the far edge of your peripheral vision. No people are present. Ambient sound: a refrigerator hum and distant outdoor birdsong.

Goal state

All three plates from the dish rack are stacked neatly on top of the two existing plates inside the cabinet, in stable contact with one another, right-side up, with no plate overhanging the shelf edge. The dish rack is empty of plates. The cabinet door may remain open.

Objects involved

Name	Descriptor	Role
dinner plate	white, round, ceramic, approximately 28 cm diameter	target
dish rack	silver wire, countertop-mounted, upright drying slots	obstacle
hand towel	light blue cotton, draped over rack edge	distractor
cabinet shelf	white painted wood, upper cabinet, door pre-opened	tool
existing plate stack	two white ceramic dinner plates already stacked on shelf	target
fruit bowl	ceramic, dark green, at far counter edge	distractor

Expected actions

1. approach dish rack to close within arm reach 3s
2. pick up top-most plate from dish rack with both grippers supporting the rim 5s
3. turn toward open cabinet 2s
4. place plate on top of existing stack inside cabinet, lower gently until stable 5s
5. pick up second plate from dish rack with both grippers supporting the rim 5s
6. place second plate on top of stack inside cabinet, lower gently until stable 5s
7. pick up third plate from dish rack with both grippers supporting the rim 5s
8. place third plate on top of stack inside cabinet, lower gently until stable 5s
9. retreat slightly to confirm stack is balanced and no plate is overhanging 5s

Narration script

00:00 I am looking at the dish rack. Three white plates are standing upright in the slots. They look dry. The cabinet above is open and already has two plates stacked inside.

00:04 I approach the dish rack until both arms can reach comfortably.

00:07 I pick up the first plate, supporting the rim on both sides with my grippers. It feels rigid and light.

00:12 I turn toward the open cabinet, keeping the plate level.

00:14 I place the plate on top of the existing stack inside the cabinet and lower it gently until it rests flat and stable.

00:19 I pick up the second plate from the dish rack, supporting the rim.

00:24 I place the second plate on top of the stack and lower it until stable.

00:29 I pick up the third and final plate from the dish rack.

00:34 I place the third plate on top of the stack and lower it gently. The dish rack is now empty of plates.

00:39 I retreat slightly and confirm the stack of five plates is balanced, right-side up, and no plate is overhanging the shelf edge. Task complete.

Edge cases

One plate has a faint wet spot near its center that was not visible from the initial position; operator must decide whether it is dry enough to put away or needs to be wiped first with the hand towel.
The stack inside the cabinet is positioned slightly too far back, requiring the operator to navigate the gripper past the cabinet door frame without clipping it.
The third plate is leaning against the side wall of the dish rack rather than standing in a slot, making the initial grasp angle slightly different from the first two plates.