ethan-li-k/astra_bench/place-a2b-right

place_a2b_right

Auto-authored atomic skill for place_a2b_right.

Goal: The goal is to relocate one tabletop object so it ends up immediately to the right of a second, stationary reference object. Two distinct rigid objects (drawn from items such as a mouse, stapler, bell, toy car, Rubik's cube, bread, phone, playing cards, wooden block, tea-box, coffee-box, or soap) sit on the table — perceive and ground both: object A (the one to be moved) and object B (the reference that stays put). Choose the arm on the same side as object A (right arm if it lies on the right half of the table, otherwise the left arm), grasp A from a pre-grasp standoff, lift it about 0.1 m, then place it at a point roughly 0.13 m to the right of object B at the same depth (y), and open the gripper to release. Keep A near B (well under 0.2 m) but not overlapping, and matched in depth.

Success: Object A rests to the right of object B (its x is greater than B's), separated by 0.08–0.2 m with their y values within 0.05 m, and both grippers are open.