Table 2.

Sub-tasks. Tasks are broken down into sub-tasks and progress chronologically. Task behaviours are organized into each component. Some behaviours appear in multiple sub-tasks of the same task

Desk	Elevator	Door
Navigating around desk	Navigate to button 1	Advancing towards door
DG1, DG3, RG1	DG1, DG3, DEl1, RG1	DG1, DG3, DDr1, RG1
Parking between chairs	Parking at button 1	Parking in front of door
DG2, DG3, RG3	DG2, DG3, RG3	DG2, DG3, RG3
Reaching for object	Pressing button 1	Reaching for door handle
RG2, RDe1, RDe2	RG2	RG2
Opening drawer	Navigate to button 2	Opening door
RG2, RDe2	DG1, DG2, DG3, DEl2, DEl3, DEl4, RG1	RDo1
Placing object in and closing drawer	Parking at button 2	Driving through doorway
RDe2, RDe3	DG2, DG3, RG3	RDo2
	Pressing button 2
	RG2