Making a drink
Bimanual Insertion
Assisted grasping
Collaborator
interaction
Putting away
1.
Take bottle from person
2.
Take cup from person
3.
Insert bottle tip into cup
4.
Give bottle to person
5.
Take spoon from person
6.
Insert spoon tip into cup
7.
Put cup on shelf
Ò
Domo, insert
Ó
Ò
Domo, give it
Ó
Ò
Domo, shelf
Ó
Ò
Domo, insert
Ó