ethan-li-k/astra_bench/dump-bin-bigbin

dump_bin_bigbin

Auto-authored atomic skill for dump_bin_bigbin.

Goal: Empty the small desk trash bin (063_tabletrashbin), which sits on the table holding 5 small pieces of garbage, into the large static floor dustbin (011_dustbin) on the left side. Perceive and ground the desk bin's pose, then grasp it: if it is on the left half grasp directly with the left arm, otherwise grasp with the right arm, place it near the table center, and hand it off to the left arm. Lift the bin with the left arm and carry it over the big dustbin, then repeatedly tilt/shake it (a pouring motion above the dustbin opening) so all the garbage falls out into the big bin, and hold it there.

Success: The desk trash bin is held up over the floor dustbin (its z height ≥ 1) and all 5 garbage pieces have dropped into the big dustbin, each resting between 0.13 and 0.25 in height.