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potato_step1

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  3. meta/skills/astrabot_xr1.adjust_potato_grater_contact_12345678.yaml +21 -0
  4. meta/skills/astrabot_xr1.pick_peeled_potato_left_hand_12345678.yaml +20 -0
  5. meta/skills/astrabot_xr1.remove_soaked_shreds_to_bowl_12345678.yaml +21 -0
  6. meta/skills/astrabot_xr1.return_potato_and_grater_12345678.yaml +23 -0
  7. meta/skills/astrabot_xr1.shred_potato_into_water_12345678.yaml +22 -0
  8. meta/tasks.jsonl +1 -0
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+ }
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+ }
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meta/skills/astrabot_xr1.adjust_potato_grater_contact_12345678.yaml ADDED
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+ arguments:
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+ objects_grounding:
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+ potato: the peeled potato
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+ grater: the grater held by the right robot gripper
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+ left_hand: the left robot gripper
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+ right_hand: the right robot gripper
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+ grounded: true
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+ initial_condition: (<potato> is in the <left_hand>) AND (<grater> is in the <right_hand>)
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+ instruction: Adjust the pose of <potato> until it makes stable contact with <grater>
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+ metadata:
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+ author: codex
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+ original_skill_id: astrabot_xr1.adjust_potato_grater_contact
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+ tags:
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+ - adjust
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+ - contact
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+ - kitchen
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+ robot_type: astrabot_xr1
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+ skill_description: Adjust the potato pose to establish stable contact with the grater
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+ skill_id: astrabot_xr1.adjust_potato_grater_contact_12345678
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+ terminal_conditions_set: (<potato> is in stable contact with <grater>)
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meta/skills/astrabot_xr1.pick_peeled_potato_left_hand_12345678.yaml ADDED
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+ arguments:
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+ objects_grounding:
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+ potato: the peeled potato on the work surface
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+ left_hand: the left robot gripper
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+ surface: the work surface
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+ grater: the grater held by the right robot gripper
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+ grounded: true
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+ initial_condition: (<potato> is on the <surface>) AND (<left_hand> is empty) AND (<grater> is in the right robot gripper)
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+ instruction: Pick up <potato> from <surface> with <left_hand> and move it to <grater>
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+ metadata:
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+ author: codex
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+ original_skill_id: astrabot_xr1.pick_peeled_potato_left_hand
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+ tags:
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+ - pick
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+ - manipulation
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+ - kitchen
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+ robot_type: astrabot_xr1
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+ skill_description: Pick up the peeled potato with the left gripper and move it to the grater
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+ skill_id: astrabot_xr1.pick_peeled_potato_left_hand_12345678
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+ terminal_conditions_set: (<potato> is in the <left_hand>) AND (<potato> is near <grater>)
meta/skills/astrabot_xr1.remove_soaked_shreds_to_bowl_12345678.yaml ADDED
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+ arguments:
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+ objects_grounding:
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+ shreds: the soaked potato shreds
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+ water: the water container
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+ bowl: the bowl
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+ gripper: the robot gripper
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+ grounded: true
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+ initial_condition: (<shreds> are in <water>) AND (<bowl> is on the work surface)
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+ instruction: Remove <shreds> from <water> and place them in <bowl>
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+ metadata:
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+ author: codex
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+ original_skill_id: astrabot_xr1.remove_soaked_shreds_to_bowl
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+ tags:
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+ - scoop
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+ - manipulation
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+ - kitchen
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+ robot_type: astrabot_xr1
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+ skill_description: Remove soaked potato shreds from the water and place them in the bowl
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+ skill_id: astrabot_xr1.remove_soaked_shreds_to_bowl_12345678
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+ terminal_conditions_set: (<shreds> are in <bowl>)
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meta/skills/astrabot_xr1.return_potato_and_grater_12345678.yaml ADDED
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+ arguments:
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+ potato: the potato
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+ grater: the grater
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+ left_hand: the left robot gripper
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+ right_hand: the right robot gripper
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+ grounded: true
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+ initial_condition: (<potato> is in the <left_hand>) AND (<grater> is in the <right_hand>)
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+ instruction: Return <potato> to <potato_area> and <grater> to <grater_area>
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+ metadata:
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+ author: codex
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+ original_skill_id: astrabot_xr1.return_potato_and_grater
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+ - place
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+ skill_description: Return the potato and grater to their designated locations
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+ skill_id: astrabot_xr1.return_potato_and_grater_12345678
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+ terminal_conditions_set: (<potato> is in <potato_area>) AND (<grater> is in <grater_area>)
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+ arguments:
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+ initial_condition: (<potato> is in stable contact with <grater>) AND (<grater> is above <water>)
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+ instruction: Reciprocate <potato> across <grater> continuously so potato shreds fall into <water>
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+ metadata:
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+ author: codex
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+ original_skill_id: astrabot_xr1.shred_potato_into_water
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+ tags:
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+ - shred
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+ robot_type: astrabot_xr1
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+ skill_description: Continuously reciprocate the potato against the grater so shreds fall into the water
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+ skill_id: astrabot_xr1.shred_potato_into_water_12345678
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+ terminal_conditions_set: (there are potato shreds in <water>)
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