Table 1 Description of tasks
Action(s) | Distance | ||||
|---|---|---|---|---|---|
Task # | Involved | Planar | Vertical | Angular | Description |
\(t_{1,0}\) | (\(a_1\)) | Short | Null | Null | Pick up a bottle at \(l_1\); release it at \(l_3\). |
\(t_{1,1}\) | (\(a_1\)) | Middle | Short | Null | Pick up a bottle at \(l_1\); release it at \(l_4\). |
\(t_{1,2}\) | (\(a_1\)) | Long | Middle | Null | Pick up a bottle at \(l_1\); release it at \(l_9\). |
\(t_{1,3}\) | (\(a_1\)) | Short | Null | Middle | Pick up a bottle at \(l_1\); pour water from it in a mug at \(l_2\); release it at \(l_1\). |
\(t_{1,4}\) | (\(a_1\)) | Middle | Middle | Middle | Pick up a bottle at \(l_9\); pour water from it in a mug at \(l_4\); release it at \(l_9\). |
\(t_{2,0}\) | (\(a_1\)) | Short | Null | Null | Pick up a jar at \(l_1\); open it (unscrew the cap); release it at \(l_3\). |
\(t_{2,1}\) | (\(a_1\)) | Short | Null | Middle | Pick up a jar at \(l_1\); open it; pour ball at \(l_2\); release it at \(l_2\). |
\(t_{2,2}\) | (\(a_1\)) | Middle | Middle | Middle | Pick up a jar at \(l_1\); open it; pour ball at \(l_2\); release it at \(l_6\). |
\(t_{2,3}\) | (\(a_1\)) | Long | Middle | Middle | Pick up a jar at \(l_8\); open it; pour ball at \(l_2\); release it at \(l_6\). |
\(t_{2,4}\) | (\(a_1\)) | Long | Long | Middle | Pick up a jar at \(l_9\); open it; pour ball at \(l_2\); release it at \(l_6\). |
\(t_{3,0}\) | (\(a_1\)) | Short | Null | Null | Pick up a basket at \(l_1\); release it at \(l_3\). |
\(t_{3,1}\) | (\(a_1\)) | Middle | Null | Null | Pick up a basket at \(l_1\); release it at \(l_4\). |
\(t_{3,2}\) | (\(a_1\)) | Middle | Middle | Null | Pick up a basket at \(l_5\); release it at \(l_4\). |
\(t_{3,3}\) | (\(a_1\)) | Middle | Middle | Null | Pick up a basket at \(l_5\); release it at \(l_2\); take out object to \(l_1\). |
\(t_{3,4}\) | (\(a_1\)) | Middle | Long | Null | Pick up a basket at \(l_5\); release it at \(l_2\); take out object to \(l_9\) |
\(t_{4,0}\) | (\(a_1\)) | Short | Null | Null | Pick up salami at \(l_1\); bring it to chopping board at \(l_2\); slice it with knife. |
\(t_{4,1}\) | (\(a_1\)) | Middle | Null | Null | Pick up salami at \(l_3\); bring it to chopping board at \(l_2\); slice it with knife. |
\(t_{4,2}\) | (\(a_1\)) | Middle | Null | Null | Pick up salami at \(l_4\); bring it to chopping board at \(l_2\); slice it with knife. |
\(t_{4,3}\) | (\(a_1\)) | Long | Middle | Null | Pick up salami at \(l_9\); bring it to chopping board at \(l_2\); slice it with knife. |
\(t_{4,4}\) | (\(a_1\)) | Long | Middle | Null | Pick up cutting board at \(l_8\); bring it to \(l_2\); pick up salami at \(l_9\); bring it to chopping board at \(l_2\); slice it with knife. |
\(t_{5,0}\) | (\(a_1\)) | Short | Null | Null | Pick up duster and dustpan at \(l_1\); sweep the dust from the table at \(l_2\). |
\(t_{5,1}\) | (\(a_1\)) | Middle | Null | Null | Pick up duster and dustpan at \(l_1\); sweep the dust from the table at \(l_4\). |
\(t_{5,2}\) | (\(a_1\)) | Long | Null | Null | Pick up duster and dustpan at \(l_1\); sweep the dust from the table at \(l_4\); chuck the dust out in a wastebasket at \(l_6\). |
\(t_{5,3}\) | (\(a_1\)) | Long | Middle | Null | Pick up duster and dustpan at \(l_7\); sweep the dust from the table at \(l_4\); chuck the dust out in a wastebasket at \(l_6\). |
\(t_{5,4}\) | (\(a_1\)) | Long | Middle | Null | Pick up duster and dustpan at \(l_7\); sweep dust from the table at \(l_4\); chuck dust in wastebasket at \(l_6\); bring duster and dustpan back at \(l_7\). |
\(t_{6,0}\) | (\(a_2\)) | Short | Null | Null | Pick up DLR cube at \(l_1\); stack it on another DLR cube at \(l_2\). |
\(t_{6,1}\) | (\(a_2\)) | Middle | Null | Null | Pick up DLR cube at \(l_1\); stack it on another DLR cube at \(l_4\). |
\(t_{6,2}\) | (\(a_2\)) | Long | Long | Null | Pick up DLR cube at \(l_7\); another at \(l_9\); stack it on another DLR cube at \(l_2\). |
\(t_{6,3}\) | (\(a_2\)) | Middle | Null | Null | Pick up a checker at \(l_1\); stack it on another checker at \(l_4\). |
\(t_{6,4}\) | (\(a_2\)) | Long | Long | Null | Pick up a checker at \(l_7\); another at \(l_9\); stack it on another checker at \(l_2\). |
\(t_{7,0}\) | (\(a_2\)) | Null | Null | Null | Fold towel at \(l_2\). |
\(t_{7,1}\) | (\(a_2\), \(a_1\)) | Short | Null | Null | Get towel at \(l_3\); Fold towel at \(l_2\). |
\(t_{7,2}\) | (\(a_2\), \(a_1\)) | Middle | Middle | Null | Get towel at \(l_3\); Fold towel at \(l_2\); return to \(l_9\). |
\(t_{7,3}\) | (\(a_2\), \(a_1\)) | Middle | Long | Null | Get towel at \(l_4\); Fold towel at \(l_2\); return to \(l_9\). |
\(t_{7,4}\) | NA | ||||
\(t_{8,0}\) | (\(a_2\)) | Null | Null | Null | Pull the handle up to zip the jacket at \(l_2\). |
\(t_{8,1}\) | (\(a_2\)) | Middle | Null | Null | Get jacket from \(l_8\); place it at \(l_1\); Pull the handle up to zip the jacket at \(l_1\). |
\(t_{8,2}\) | (\(a_2\)) | Null | Null | Null | Wear a jacket with a zipper; pick up the zipper’s handle; pull the handle up to zip the jacket. |
\(t_{8,3}\) | (\(a_2\)) | Middle | Null | Null | Pick up jacket at \(l_1\); Put jacket on; pick up the zipper’s handle; pull the handle up to zip the jacket. |
\(t_{8,4}\) | (\(a_2\)) | Middle | Null | Null | Unzip jacket at \(l_1\); Pick up jacket at \(l_1\); Put jacket on; pick up the zipper’s handle; pull the handle up to zip the jacket. |
\(t_{9,0}\) | (\(a_3\)) | Middle | Short | Null | Turn on the lights. |
\(t_{9,1}\) | (\(a_3\), \(a_1\)) | Long | Middle | Short | Turn on the lights, grasp jar at \(l_9\), put it back at \(l_2\), turn the light off. |
\(t_{9,2}\) | (\(a_3\)) | Null | Null | Null | Dial a number at \(l_1\) (vertical key). |
\(t_{9,3}\) | (\(a_3\)) | Short | Null | Middle | Dial a number at \(l_1\) (horizontal key). |
\(t_{9,4}\) | (\(a_3\), \(a_1\)) | Short | Null | Middle | Dial a number at \(l_1\) (horizontal key); pick up handle; put it back down. |
\(\vdots\) | \(\vdots\) | \(\vdots\) | \(\vdots\) | \(\vdots\) | \(\vdots\) |
\(t_{13,0}\) | (\(a_3\)) | Short | Null | Null | Roll small ball from \(l_1\) to \(l_2\). |
\(t_{13,1}\) | (\(a_3\), \(a_1\)) | Middle | Null | Null | Roll small ball from \(l_3\) to \(l_2\), grasp it and put it at \(l_8\). |
\(t_{13,2}\) | (\(a_3\), \(a_1\)) | Short | Middle | Null | Roll small ball from \(l_9\) towards you, let it fall, grasp it with the intact hand |
\(t_{13,3}\) | (\(a_3\), \(a_1\)) | Middle | Middle | Null | Roll small ball from \(l_5\) towards you, grasp it and put it in wastebasket at \(l_6\) |
\(t_{13,4}\) | \(NA\) | ||||