Criterion

Operational Measure

Task-stage completion

C = n_completed/6 across approach, grasp, lift, transfer, lower, and release.

Online planning

P = 1 only if an online planner generates the executed trajectory; otherwise P = 0.

Controller-chain execution

R = 1 only if the trajectory is sent through a robot-controller chain; otherwise R = 0.

Attachment dependence

A = 1 if transport depends on explicit attach/parent logic; otherwise A = 0.

Physics-preserving transport

F = 1 only when contact, friction, mass, and inertia remain active without kinematic attachment.

Scene-level interaction

I = 1 when the implemented prototype exposes scripted scene-level interaction for reproduction/display.