Table 2 Sub-tasks. Tasks are broken down into sub-tasks and progress chronologically. Task behaviours are organized into each component. Some behaviours appear in multiple sub-tasks of the same task
Desk | Elevator | Door |
|---|---|---|
Navigating around desk | Navigate to button 1 | Advancing towards door |
DG1, DG3, RG1 | DG1, DG3, DEl1, RG1 | DG1, DG3, DDr1, RG1 |
Parking between chairs | Parking at button 1 | Parking in front of door |
DG2, DG3, RG3 | DG2, DG3, RG3 | DG2, DG3, RG3 |
Reaching for object | Pressing button 1 | Reaching for door handle |
RG2, RDe1, RDe2 | RG2 | RG2 |
Opening drawer | Navigate to button 2 | Opening door |
RG2, RDe2 | DG1, DG2, DG3, DEl2, DEl3, DEl4, RG1 | RDo1 |
Placing object in and closing drawer | Parking at button 2 | Driving through doorway |
RDe2, RDe3 | DG2, DG3, RG3 | RDo2 |
Pressing button 2 | ||
RG2 |