ethan-li-k/astra_bench/adjust-bottle

adjust_bottle

Auto-authored atomic skill for adjust_bottle.

Goal: Reposition the one bottle (001_bottle) resting on the table to a designated upright target location on its own side. Perceive and ground the bottle, then grasp it with the arm on the same side the bottle sits on (left arm when the bottle is on the table's left half, right arm when it is on the right half). Lift the bottle straight up about 10 cm, then carry it outward and place it at that side's target pose (roughly x = -0.25 for the left, x = +0.25 for the right, height ~0.95 m) keeping the gripper closed so the bottle stays held and ends standing upright. Use perceive → ground → grasp → lift → move → place with base tools.

Success: The bottle's functional point is moved outward past x = -0.15 (left side) or x = +0.15 (right side) and raised above 0.9 m in height.