Skill: Object Storer

Purpose

This skill orchestrates the final step of storing a clean object into a designated receptacle within a household environment. It is triggered after the agent has:

1. Located the target object.
2. Cleaned the object if required.
3. Identified and validated a suitable storage location.

Core Logic

The skill performs a final suitability check and executes the storage action. The core decision is:

• If the receptacle is open and empty (or appropriately designated), proceed with storage.
• If the receptacle is closed, open it first, then store the object.
• If the receptacle is unsuitable (e.g., already contains unrelated items), the agent should abort this skill and search for an alternative location.

Inputs & Execution

• Primary Inputs:

  {object_name}

  ,

  {target_receptacle}

• Prerequisite State: The agent must be holding the clean

  {object_name}

  and be at the location of the

  {target_receptacle}

  .
• Action: Execute the

  put {object_name} in/on {target_receptacle}

  command.

Example from Trajectory

Scenario: Storing a clean knife.

1. Trigger Condition: Agent is holding

   knife 1

   (cleaned) and has determined

   drawer 1

   is a suitable, empty storage location.
2. Skill Execution:
   • Agent is at

     drawer 1

     .
   • Observation:

     On the drawer 1, you see nothing.

   • Action:

     put knife 1 in/on drawer 1

Error Handling

• If the environment responds with "Nothing happened," the action was invalid. Consult the

  receptacle_suitability_guide.md

  reference and restart the search process.
• Do not use this skill if the receptacle contains items that conflict with the object's storage norms (e.g., putting a knife in a drawer full of spoons).