Make "Success" and "Failure" be the sum of sub-categories,
  sub-categories make a partition.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* No grasp: when the robot has contact surface to be put somewhere
* (humanoid feet, for instance)
* No place: when an object has 2 handles and is already grasped on one
* handle, grasping the object on the other handle does not require
* placement.