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).