pick_place:
  intent: "pick up an object and place it at a target area"
  verbs:
    - "approach"
    - "grasp"
    - "transport"
    - "release"
  relations:
    - "gripper-object contact"
    - "support after release"
  checks:
    - "Does the gripper visibly contact or plausibly grasp the object before it moves?"
    - "Does the object move with the robot rather than teleporting?"
    - "Is the object supported by the target surface after release?"
    - "Does the object avoid floating, penetration, and deformation?"
object_to_container:
  intent: "move an object into a container or receptacle"
  verbs:
    - "approach"
    - "grasp"
    - "transport"
    - "lower into container"
  relations:
    - "contact"
    - "containment"
    - "support inside receptacle"
  checks:
    - "Does the gripper contact the object before transfer?"
    - "Does the object move toward the visible container or target area?"
    - "Is the object contained or supported by the receptacle at the end?"
    - "Is there no teleportation, floating, or severe penetration?"
stacking:
  intent: "stack one object on another object"
  verbs:
    - "approach"
    - "grasp"
    - "lift"
    - "align"
    - "release"
  relations:
    - "contact"
    - "vertical support"
    - "stack stability"
  checks:
    - "Is the upper object moved by visible or plausible gripper contact?"
    - "Is the upper object placed above the lower object rather than beside it?"
    - "Does the lower object visibly support the upper object after release?"
    - "Does the stack avoid floating, sliding through, or severe penetration?"
button_press_click:
  intent: "press or click a target mechanism"
  verbs:
    - "approach"
    - "align end-effector"
    - "press"
    - "withdraw"
  relations:
    - "end-effector contact"
    - "actuator depression"
  checks:
    - "Does an end-effector approach the button, bell, switch, or stapler-like target?"
    - "Is there a plausible press or contact moment?"
    - "Does the target remain physically consistent without teleportation?"
articulated_open_close:
  intent: "open or close an articulated object"
  verbs:
    - "approach handle or lid"
    - "contact"
    - "pull or push"
    - "finish"
  relations:
    - "contact"
    - "hinge motion"
    - "articulated state change"
  checks:
    - "Does the robot contact a handle, lid, door, laptop, or microwave-like object?"
    - "Does the articulated part move along a plausible hinge or axis?"
    - "Is the motion continuous without sudden disappearance or penetration?"
tool_use:
  intent: "use a tool or tool-like object on a target"
  verbs:
    - "approach"
    - "grasp or align tool"
    - "apply tool"
    - "finish"
  relations:
    - "tool contact"
    - "target interaction"
  checks:
    - "Does the tool or end-effector contact the intended target or surface?"
    - "Does the tool motion match the task intent?"
    - "Is the target interaction physically plausible?"
lifting:
  intent: "lift an object from the workspace"
  verbs:
    - "approach"
    - "grasp"
    - "lift"
    - "stabilize"
  relations:
    - "grasp contact"
    - "object support by gripper"
  checks:
    - "Does the gripper close near the object before lifting?"
    - "Does the object rise with the gripper rather than floating independently?"
    - "Is the lift continuous and physically plausible?"
scanning_qrcode:
  intent: "position or scan a QR-code-like target"
  verbs:
    - "approach"
    - "align"
    - "hold or move steadily"
    - "finish"
  relations:
    - "visibility"
    - "stable relative pose"
  checks:
    - "Does the tag, card, or object remain visible long enough for scanning-like interaction?"
    - "Does the robot create a plausible alignment or presentation motion?"
    - "Is the object identity preserved over time?"
rotation_orientation:
  intent: "rotate or reorient an object"
  verbs:
    - "approach"
    - "contact or grasp"
    - "rotate"
    - "stabilize"
  relations:
    - "contact"
    - "orientation change"
  checks:
    - "Does the object rotate or change orientation after contact?"
    - "Is the rotation continuous and physically plausible?"
    - "Does the object avoid teleporting or changing identity?"
shaking:
  intent: "grasp an object and shake it repeatedly"
  verbs:
    - "approach"
    - "grasp"
    - "oscillate"
    - "finish"
  relations:
    - "grasp contact"
    - "repeated object motion"
  checks:
    - "Is the object plausibly grasped before repeated motion begins?"
    - "Does the object move back and forth with the gripper?"
    - "Is the motion continuous without teleportation or floating?"
dumping_pouring:
  intent: "tilt or dump an object into a target area"
  verbs:
    - "approach"
    - "grasp"
    - "tilt"
    - "dump"
  relations:
    - "contact"
    - "tilt angle"
    - "target direction"
  checks:
    - "Does the robot contact or grasp the source object before tilting?"
    - "Does the object or container tilt toward a plausible target area?"
    - "Is the dumping motion continuous and physically plausible?"
ranking_arrangement:
  intent: "arrange objects according to an ordered criterion"
  verbs:
    - "approach"
    - "move"
    - "align"
    - "finish arrangement"
  relations:
    - "relative order"
    - "support on workspace"
  checks:
    - "Do objects move through plausible contact or grasping?"
    - "Does the final arrangement show an ordered spatial relation?"
    - "Are objects supported by the tabletop without floating?"
handover:
  intent: "transfer an object between sides or arms"
  verbs:
    - "approach"
    - "grasp"
    - "transfer"
    - "receive or release"
  relations:
    - "contact"
    - "handover between arms or sides"
  checks:
    - "Does at least one gripper contact the object during transfer?"
    - "Does the object move between arms or sides plausibly?"
    - "Is the object never unsupported in an implausible floating state?"
hanging:
  intent: "hang an object on a support"
  verbs:
    - "approach"
    - "grasp"
    - "move to support"
    - "hang or release"
  relations:
    - "contact"
    - "support by hook or structure"
  checks:
    - "Does the object move to a visible or plausible support region?"
    - "Is the final object state hanging or physically supported?"
    - "Does the object avoid floating, teleportation, or penetration?"
unknown:
  intent: "perform a robotic manipulation task"
  verbs:
    - "approach"
    - "contact"
    - "manipulate"
    - "finish"
  relations:
    - "contact"
    - "support"
    - "physical consistency"
  checks:
    - "Is this a fixed tabletop robotic manipulation scene?"
    - "Does object motion occur with visible or plausible contact?"
    - "Is the task physically plausible without floating, teleportation, or deformation?"