Instructions

Trigger: Use this skill when you have an object in your inventory that needs to be stored or placed, and you must find a suitable receptacle (e.g., shelf, table, basin).

Core Procedure

1. Identify Target Object: Confirm the object you are holding and its state (e.g., soapbar 1, clean).
2. Survey Environment: Use go to {recep} actions to navigate to and visually inspect candidate receptacles from the observation list.
3. Evaluate Candidates: For each receptacle, assess its suitability:
   • Primary Goal: Find an empty receptacle.
   • Fallback: If no empty receptacle is available, identify one that can logically accommodate the object without conflict (e.g., a shelf with a tissuebox may still have space for a soapbar).
4. Select & Place: Navigate to the chosen suitable receptacle and execute put {obj} in/on {recep}.

Key Considerations

• Object State: Ensure the object meets any required pre-conditions (e.g., clean) before searching for a receptacle. Use skills like clean if necessary.
• Efficiency: Prioritize receptacles that are logically appropriate for the object (e.g., a shelf for a soapbar over a toilet).
• Observation Parsing: Carefully read the observation after each go to action. The line "On the {recep}, you see..." lists its contents. "you see nothing." indicates it is empty.
• Invalid Actions: If an action fails ("Nothing happened"), re-evaluate your target and try a different receptacle or confirm the object is in your inventory.

Example

Scenario: You are holding soapbar 1 (clean) and need to find an empty shelf to place it.

Thought: I need to find an empty shelf for the soapbar. I'll check shelf 1 first.
Action: go to shelf 1
Observation: On the shelf 1, you see a tissuebox 1.
Thought: Shelf 1 has items. Let me try shelf 2.
Action: go to shelf 2
Observation: On the shelf 2, you see nothing.
Action: put soapbar 1 in/on shelf 2
Observation: You put the soapbar 1 in/on the shelf 2.

Result: Found an empty shelf and placed the soapbar on it.

Bundled Reference

For a detailed example including handling object pre-cleaning and sequential shelf evaluation, refer to references/example_trajectory.md.