Handover Cube L→R Pass a cube from the left gripper to the right gripper. ★ EASY Handover with Reorientation Hand over while rotating the object 90 degrees. MED Handover Under Obstacle Pass an object beneath a hanging bar (constrained workspace). MED Relay Chain of Blocks Chain of L→R handovers transferring multiple blocks. MED Two-Arm Carry Long Object Both arms support a long object during translation. ★ EASY Two-Arm Carry Tray Carry a small tray with both arms holding its handles. ★ MED Re-Grip Fragile for Safer Carry Hand a delicate object to the opposite gripper for a more stable hold. HARD Pass Through Window Frame Hand over an object through a 15 cm rigid frame opening. MED Share-Carry Basket Handles Both grippers hold opposite handles of a small basket. MED Pass to Arm with Better Angle Strategically hand to the arm that has a clearer approach. MED

Hold Paper While Writing One arm pins paper; the other writes a stroke with a pen. ★ MED Hold Can While Opening Pull Tab Stabilise a can while the other arm flips the pull tab. HARD Hold Book While Turning Page One arm pins the book flat; the other turns a page. ★ MED Hold Ribbon While Cutting Tension a ribbon while the other arm cuts it with scissors. HARD Hold Box While Opening Lid Anchor a clamshell box while the other arm opens it. EASY Hold Receiver While Pouring Hold a cup steady while the other arm pours into it. ★ MED Hold Plush While Grooming with Brush Stabilize a soft toy while brushing its fur. EASY Hold Phone While Plugging Cable Stabilise a phone while inserting a charging cable. ★ HARD Hold Tube While Capping Hold a toothpaste-style tube while screwing on the cap. MED Hold Card While Punching Hole Steady a thin card while the other arm operates a hole punch. MED

Unscrew Jar Lid Left holds jar; right twists cap off counter-clockwise. ★ MED Screw Jar Lid Closed Re-tighten a jar lid by twisting clockwise. ★ MED Uncork a Bottle (Pull-out Plug) Pull a friction-fit cork or plug from a bottle. HARD Open Water Bottle Screw-Top Standard PET water-bottle lid removal. ★ EASY Close Water Bottle Screw-Top Re-close a water-bottle lid until tight. EASY Open Clamshell Pill Box Open a hinged pill-organizer compartment. MED Open Snap-Lock Pet Food Container Release the snap clips on a pet-food container lid. HARD Unzip Lunchbox Pouch Slide a zipper open across a soft pouch. MED Clip Binder Clamp Onto Papers Open a binder clip and clamp it onto a stack of paper. HARD Open Push-and-Turn Safety Cap Defeat a safety mechanism that needs simultaneous push + twist. HARD

Pour Bottle to Cup (Both Held) Hold cup with one arm, pour from bottle held by the other. ★ MED Pipette Between Held Vials Transfer liquid between two vials, each held by one arm + pipette. HARD Pour with Funnel Assist Left holds funnel into a bottle; right pours liquid through it. MED Shake Cocktail Shaker Both grippers hold a shaker and shake it. ★ EASY Hold Measuring Cup, Pour to Mark Fill a held measuring cup to a precise line. ★ HARD Fill Water Balloon Proxy Hold a balloon mouth open while pouring water in. HARD Pour Avoiding Obstacle Pour into a cup whose access path is partly blocked. MED Drain Pot Using Lid as Strainer Tilt a pot while the lid is held tilted to strain liquid. HARD Mix Powder with Liquid in Bowl Hold the bowl steady while stirring contents with a spoon. ★ EASY Handover an Open Book Pass an open book between arms without losing the page. MED

Fold Towel in Half Symmetric two-arm half-fold of a hand towel. ★ EASY Fold T-Shirt (Three-Step) Classic ALOHA-style 3-step t-shirt fold. ★ HARD Fold Pants Lengthwise Bring the legs together along the length. MED Roll Socks Together Pair Pair two socks and roll into a ball. MED Drape Cloth Over Chair Back Hang a cloth over a chair-back proxy with both arms. EASY Unfold Napkin to Lay Flat Reverse a folded napkin into a flat layout. EASY Straighten Blanket on Table Smooth out wrinkles in a blanket with both arms. EASY Tie Ribbon in a Loose Knot Form a single overhand knot in a ribbon using both arms. HARD Wrap Cord Around Drum One arm holds drum, other wraps cord around it. MED Fold Dish Towel Corner-to-Corner Diagonal fold into a triangle. EASY

Thread Shoelace Through Eyelets Lace a shoe-style block with both arms cooperating. ★ HARD Tie Overhand Knot in Rope Make a single overhand knot near the rope's centre. ★ MED Tie Double Overhand Knot Sequential two knots for added security. HARD Tie a Simple Bow Form two loops and tie into a bow. HARD Thread Belt Through Buckle Insert the belt tip through a buckle and secure. MED Lace a Single Pair of Eyelets Cross-thread laces through one row of eyelets. HARD Untie a Pre-Made Knot Loosen and undo an existing simple knot. HARD Tie String Around a Box Wrap and tie a string around a small gift box. HARD Plait a Three-Strand Braid Two strands manipulated; one held stationary by base. HARD Attach Zip Tie Around Cable Bundle Wrap a zip tie around cables and cinch tight. ★ MED

Snap Two LEGO Bricks Together Press two studded LEGO bricks together until they click. ★ EASY Plug Cable into Socket Insert a cable's plug into a socket on a stand. ★ MED Attach Velcro Strap Around Object Wrap a velcro strap around an object and fasten. MED Connect Garden Hose to Faucet (Twist Coupling) Twist a hose coupling onto a threaded faucet. MED Zip Two Jacket Halves Insert the slider pin into the carrier and zip up. ★ HARD Button a Shirt Front Push a button through its hole. HARD Dock Chopsticks in Holder Place each chopstick into a 2-slot holder. EASY Insert Battery into Holder Place an AA battery into a spring-loaded holder. MED Wrap Band-Aid Around Finger Proxy Bandage a cylindrical finger proxy with a strip. HARD Clamp Paper Clip onto Document Stack Slide a paper clip over the corner of a stack. EASY

Knife and Fork: Cut Food ALOHA classic — left fork stabs, right knife cuts. ★ HARD Screwdriver into Screw, Other Holds Board Drive a screw into a board the other arm holds. ★ MED File Metal Held by Other Arm Use a file across a small piece held by the other gripper. MED Drill Hole with Workpiece Held Right operates a drill while left stabilises the workpiece. HARD Paint Object Held by Other Arm Brush paint onto an object held in the left gripper. MED Pliers Bend Wire (Other Holds End) Bend a wire with pliers while the other arm holds one end. HARD Scissors Cut String, Other Holds Snip a string held taut between the two arms. ★ MED Peel Fruit with Knife Peel a fruit's skin while the other arm rotates the fruit. HARD Grate Cheese (Other Holds Grater) Drag a block down a grater held by the other arm. HARD Sharpen Pencil in Hand-Held Sharpener Insert pencil into a held sharpener and rotate. EASY

Clap Book Closed Close an open book by bringing both halves together. EASY Mirror Motion Demonstration Both arms perform symmetric motions in sync. EASY Weave Basket Strips Together Interleave two strips of paper or ribbon. HARD Shake Dust off Rug (Two Corners) Both grippers hold corners and snap the rug. EASY Tug of War (Symmetric Pull) Both arms pull on the same object in opposite directions. EASY Bilateral Squeeze of Object Squeeze an object between two grippers. EASY Two-Arm Lift Heavy Block Cooperatively lift a heavy block neither arm could move alone. ★ HARD Flatten Dough with Rolling Pin Both arms hold a rolling pin and flatten dough. MED Measure Object as Calipers Use both grippers as caliper jaws around an object. MED Clap Grippers Together Basic synchronisation calibration — clap both grippers. EASY

Crack Egg Two-Handed Crack an egg into a bowl using both arms. ★ HARD Toss Salad with Two Utensils Mix salad ingredients with serving spoon + fork. EASY Plate Food with Spatula and Holder Transfer food onto a plate using spatula + holder. MED Wrap Sandwich in Paper Both arms fold paper around a sandwich. HARD Peel Garlic Clove Crush and peel a garlic clove with both arms. HARD Shell a Peanut Crack and remove a peanut shell with both arms. ★ MED Dry Dish with Towel Both arms cooperate to dry a plate with a towel. EASY Assemble a Sushi Roll (Mat + Spread) Spread rice onto a sushi mat and roll. HARD Fold Dumpling Wrapper Crimp the edges of a dumpling wrapper to seal. HARD Plate Pasta with Tongs Twist tongs into pasta and lift a serving onto a plate. MED