正文
Retrieve the medicine
I forgot my medicine, can you get it for me? Also throw out the bad carton while you are at it.
The medicine is initially out of view. HomeBody uses stored keyframes to locate the drawer, retrieves the medicine, hands it to the person, and then discards the carton. Across the room, it uses the right hand to grasp the drawer handle and open the drawer, then the left hand to discard the carton. Selecting between the two arms lets it access targets on both sides of the body.
- Occluded object
- Memory retrieval
- Right-hand drawer opening
- Left-hand carton disposal
- Left- and right-hand skills