Skill: Heat Object with Appliance

Purpose

Heat a specified object using a designated kitchen appliance to change its state (e.g., from cold to hot, raw to cooked) as required by a task.

Core Workflow

Follow this sequence of actions. Use the bundled validate_and_plan.py script to check for common preconditions before starting.

1. Navigate & Locate: Go to the location of the target object.
2. Acquire Object: Take the object from its current receptacle.
3. Navigate to Appliance: Go to the specified heating appliance.
4. Prepare Appliance:
   • If the appliance is closed, open it.
   • If the appliance contains other items, you may need to remove them (context-dependent). The default action is to close it and proceed, as some environments abstract this step.
5. Execute Heating: Use the heat {object} with {appliance} action.
6. Complete Task: Navigate to the final target location (e.g., a dining table) and put the heated object there.

Key Decision Points

• Appliance State: If the appliance is occupied, assess if the task implies clearing it. The trajectory shows proceeding without removal is sometimes valid.
• Object Location: The object may not be at the initial location. Be prepared to search other receptacles (e.g., fridge, countertop, cabinet) if not found.
• Alternative Appliances: If the primary appliance (e.g., microwave) is unavailable or broken, consider alternatives like a stoveburner.

Example

Task: "Heat some egg and put it on the diningtable."

Input: object: egg 1, appliance: microwave 1, target: diningtable 1