diff --git a/.gitignore b/.gitignore
index 28349c05a2..92d64bae65 100644
--- a/.gitignore
+++ b/.gitignore
@@ -28,6 +28,8 @@ predicators/envs/assets/task_jsons/spot/last.json
 spot_perception_outputs
 spot_perception_debug_dir/
 sas_plan
+side-state-view.png
+top-down-state-view.png
 
 # Jetbrains IDEs
 .idea/
\ No newline at end of file
diff --git a/predicators/envs/spot_env.py b/predicators/envs/spot_env.py
index 76abe4d42c..3b28506619 100644
--- a/predicators/envs/spot_env.py
+++ b/predicators/envs/spot_env.py
@@ -275,6 +275,7 @@ def _build_observation(self,
         # Get the universe of all object detections.
         all_object_detection_ids = set(self._detection_id_to_obj)
         # Get the camera images.
+        time.sleep(0.5)
         rgbds = capture_images(self._robot, self._localizer)
         all_detections, all_artifacts = detect_objects(
             all_object_detection_ids, rgbds)
@@ -359,7 +360,7 @@ def _actively_construct_env_task(self) -> EnvironmentTask:
         # Have the spot walk around the environment once to construct
         # an initial observation.
         objects_in_view = self._actively_construct_initial_object_views()
-        rgb_images = capture_images(self._robot, self._localizer)
+        rgbd_images = capture_images(self._robot, self._localizer)
         gripper_open_percentage = get_robot_gripper_open_percentage(
             self._robot)
         self._localizer.localize()
@@ -367,7 +368,7 @@ def _actively_construct_env_task(self) -> EnvironmentTask:
         nonpercept_atoms = self._get_initial_nonpercept_atoms()
         nonpercept_preds = self.predicates - self.percept_predicates
         assert all(a.predicate in nonpercept_preds for a in nonpercept_atoms)
-        obs = _SpotObservation(rgb_images, objects_in_view, set(),
+        obs = _SpotObservation(rgbd_images, objects_in_view, set(),
                                self._spot_object, gripper_open_percentage,
                                robot_pos, nonpercept_atoms, nonpercept_preds)
         goal_description = self._generate_goal_description()
@@ -396,6 +397,8 @@ def _actively_construct_env_task(self) -> EnvironmentTask:
         for obj in objects_in_view:
             if "lost" in obj.type.feature_names:
                 init_json_dict[obj.name]["lost"] = 0.0
+            if "in_hand_view" in obj.type.feature_names:
+                init_json_dict[obj.name]["in_hand_view"] = 1.0
             if "in_view" in obj.type.feature_names:
                 init_json_dict[obj.name]["in_view"] = 1.0
             if "held" in obj.type.feature_names:
@@ -501,8 +504,14 @@ def _actively_construct_initial_object_views(
     def _run_init_search_for_objects(
         self, detection_ids: Set[ObjectDetectionID]
     ) -> Dict[ObjectDetectionID, math_helpers.SE3Pose]:
-        detections, _ = init_search_for_objects(self._robot, self._localizer,
-                                                detection_ids)
+        detections, artifacts = init_search_for_objects(
+            self._robot, self._localizer, detection_ids)
+        outdir = Path(CFG.spot_perception_outdir)
+        time_str = time.strftime("%Y%m%d-%H%M%S")
+        detections_outfile = outdir / f"detections_{time_str}.png"
+        no_detections_outfile = outdir / f"no_detections_{time_str}.png"
+        visualize_all_artifacts(artifacts, detections_outfile,
+                                no_detections_outfile)
         return detections
 
     @property
@@ -529,7 +538,7 @@ def _generate_goal_description(self) -> GoalDescription:
 _INSIDE_Z_THRESHOLD = 0.25
 _ONTOP_SURFACE_BUFFER = 0.1
 _INSIDE_SURFACE_BUFFER = 0.1
-_REACHABLE_THRESHOLD = 1.7
+_REACHABLE_THRESHOLD = 1.85
 _REACHABLE_YAW_THRESHOLD = 0.95  # higher better
 _CONTAINER_SWEEP_XY_BUFFER = 1.5
 
@@ -549,7 +558,7 @@ class _Spot3DShape(Enum):
 ])
 _movable_object_type = Type("movable",
                             list(_base_object_type.feature_names) +
-                            ["held", "lost", "in_view"],
+                            ["held", "lost", "in_hand_view", "in_view"],
                             parent=_base_object_type)
 _immovable_object_type = Type("immovable",
                               list(_base_object_type.feature_names),
@@ -641,7 +650,8 @@ def _on_classifier(state: State, objects: Sequence[Object]) -> bool:
     expect = state.get(obj_surface, "z") + state.get(obj_surface, "height") / 2
     actual = state.get(obj_on, "z") - state.get(obj_on, "height") / 2
 
-    return abs(actual - expect) < _ONTOP_Z_THRESHOLD
+    classification_val = abs(actual - expect) < _ONTOP_Z_THRESHOLD
+    return classification_val
 
 
 def _inside_classifier(state: State, objects: Sequence[Object]) -> bool:
@@ -669,7 +679,14 @@ def _inside_classifier(state: State, objects: Sequence[Object]) -> bool:
     return obj_top < container_top + _INSIDE_Z_THRESHOLD
 
 
-def in_view_classifier(state: State, objects: Sequence[Object]) -> bool:
+def in_hand_view_classifier(state: State, objects: Sequence[Object]) -> bool:
+    """Made public for perceiver."""
+    _, tool = objects
+    return state.get(tool, "in_hand_view") > 0.5
+
+
+def in_general_view_classifier(state: State,
+                               objects: Sequence[Object]) -> bool:
     """Made public for perceiver."""
     _, tool = objects
     return state.get(tool, "in_view") > 0.5
@@ -785,13 +802,15 @@ def _container_ready_for_sweeping_classifier(
                     _inside_classifier)
 # NOTE: currently disabling inside predicate check because we don't have a good
 # way to do the check, especially after sweeping.
-_Inside = Predicate(_Inside.name, _Inside.types,
-                    _create_dummy_predicate_classifier(_Inside))
+_FakeInside = Predicate(_Inside.name, _Inside.types,
+                        _create_dummy_predicate_classifier(_Inside))
 _HandEmpty = Predicate("HandEmpty", [_robot_type], _handempty_classifier)
 _Holding = Predicate("Holding", [_robot_type, _movable_object_type],
                      _holding_classifier)
+_InHandView = Predicate("InHandView", [_robot_type, _movable_object_type],
+                        in_hand_view_classifier)
 _InView = Predicate("InView", [_robot_type, _movable_object_type],
-                    in_view_classifier)
+                    in_general_view_classifier)
 _Reachable = Predicate("Reachable", [_robot_type, _base_object_type],
                        _reachable_classifier)
 _Blocking = Predicate("Blocking", [_base_object_type, _base_object_type],
@@ -814,20 +833,34 @@ def _create_operators() -> Iterator[STRIPSOperator]:
     preconds = {LiftedAtom(_NotBlocked, [obj])}
     add_effs = {LiftedAtom(_Reachable, [robot, obj])}
     del_effs: Set[LiftedAtom] = set()
-    ignore_effs = {_Reachable, _InView}
+    ignore_effs = {_Reachable, _InHandView, _InView}
     yield STRIPSOperator("MoveToReachObject", parameters, preconds, add_effs,
                          del_effs, ignore_effs)
 
-    # MoveToViewObject
+    # MoveToHandViewObject
     robot = Variable("?robot", _robot_type)
     obj = Variable("?object", _movable_object_type)
     parameters = [robot, obj]
     preconds = {LiftedAtom(_NotBlocked, [obj])}
-    add_effs = {LiftedAtom(_InView, [robot, obj])}
+    add_effs = {LiftedAtom(_InHandView, [robot, obj])}
     del_effs = set()
-    ignore_effs = {_Reachable, _InView}
-    yield STRIPSOperator("MoveToViewObject", parameters, preconds, add_effs,
-                         del_effs, ignore_effs)
+    ignore_effs = {_Reachable, _InHandView, _InView}
+    yield STRIPSOperator("MoveToHandViewObject", parameters, preconds,
+                         add_effs, del_effs, ignore_effs)
+
+    # MoveToBodyViewObject
+    robot = Variable("?robot", _robot_type)
+    obj = Variable("?object", _movable_object_type)
+    parameters = [robot, obj]
+    preconds = {LiftedAtom(_NotBlocked, [obj])}
+    add_effs = {
+        LiftedAtom(_InView, [robot, obj]),
+        LiftedAtom(_Reachable, [robot, obj])
+    }
+    del_effs = set()
+    ignore_effs = {_Reachable, _InHandView, _InView}
+    yield STRIPSOperator("MoveToBodyViewObject", parameters, preconds,
+                         add_effs, del_effs, ignore_effs)
 
     # PickObjectFromTop
     robot = Variable("?robot", _robot_type)
@@ -837,7 +870,7 @@ def _create_operators() -> Iterator[STRIPSOperator]:
     preconds = {
         LiftedAtom(_On, [obj, surface]),
         LiftedAtom(_HandEmpty, [robot]),
-        LiftedAtom(_InView, [robot, obj])
+        LiftedAtom(_InHandView, [robot, obj])
     }
     add_effs = {
         LiftedAtom(_Holding, [robot, obj]),
@@ -845,9 +878,9 @@ def _create_operators() -> Iterator[STRIPSOperator]:
     del_effs = {
         LiftedAtom(_On, [obj, surface]),
         LiftedAtom(_HandEmpty, [robot]),
-        LiftedAtom(_InView, [robot, obj])
+        LiftedAtom(_InHandView, [robot, obj])
     }
-    ignore_effs = set()
+    ignore_effs = {_Inside}
     yield STRIPSOperator("PickObjectFromTop", parameters, preconds, add_effs,
                          del_effs, ignore_effs)
 
@@ -891,6 +924,30 @@ def _create_operators() -> Iterator[STRIPSOperator]:
     yield STRIPSOperator("DropObjectInside", parameters, preconds, add_effs,
                          del_effs, ignore_effs)
 
+    # DropObjectInsideContainerOnTop
+    robot = Variable("?robot", _robot_type)
+    held = Variable("?held", _movable_object_type)
+    container = Variable("?container", _container_type)
+    surface = Variable("?surface", _immovable_object_type)
+    parameters = [robot, held, container, surface]
+    preconds = {
+        LiftedAtom(_Holding, [robot, held]),
+        LiftedAtom(_Reachable, [robot, container]),
+        LiftedAtom(_InView, [robot, container]),
+        LiftedAtom(_On, [container, surface]),
+    }
+    add_effs = {
+        LiftedAtom(_Inside, [held, container]),
+        LiftedAtom(_HandEmpty, [robot]),
+        LiftedAtom(_On, [held, surface])
+    }
+    del_effs = {
+        LiftedAtom(_Holding, [robot, held]),
+    }
+    ignore_effs = set()
+    yield STRIPSOperator("DropObjectInsideContainerOnTop", parameters,
+                         preconds, add_effs, del_effs, ignore_effs)
+
     # DragToUnblockObject
     robot = Variable("?robot", _robot_type)
     blocked = Variable("?blocked", _base_object_type)
@@ -908,7 +965,7 @@ def _create_operators() -> Iterator[STRIPSOperator]:
         LiftedAtom(_Blocking, [blocker, blocked]),
         LiftedAtom(_Holding, [robot, blocker]),
     }
-    ignore_effs = {_InView, _Reachable}
+    ignore_effs = {_InHandView, _Reachable}
     yield STRIPSOperator("DragToUnblockObject", parameters, preconds, add_effs,
                          del_effs, ignore_effs)
 
@@ -953,7 +1010,7 @@ def _create_operators() -> Iterator[STRIPSOperator]:
     del_effs = {
         LiftedAtom(_Holding, [robot, container]),
     }
-    ignore_effs = {_Reachable, _InView}
+    ignore_effs = {_Reachable, _InHandView}
     yield STRIPSOperator("PrepareContainerForSweeping", parameters, preconds,
                          add_effs, del_effs, ignore_effs)
 
@@ -973,7 +1030,7 @@ def __init__(self, use_gui: bool = True) -> None:
         op_to_name = {o.name: o for o in _create_operators()}
         op_names_to_keep = {
             "MoveToReachObject",
-            "MoveToViewObject",
+            "MoveToHandViewObject",
             "PickObjectFromTop",
             "PlaceObjectOnTop",
         }
@@ -999,7 +1056,7 @@ def predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _Reachable,
-            _InView,
+            _InHandView,
             _Blocking,
             _NotBlocked,
         }
@@ -1011,7 +1068,7 @@ def percept_predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _On,
-            _InView,
+            _InHandView,
             _Reachable,
             _Blocking,
             _NotBlocked,
@@ -1071,7 +1128,7 @@ def __init__(self, use_gui: bool = True) -> None:
         op_to_name = {o.name: o for o in _create_operators()}
         op_names_to_keep = {
             "MoveToReachObject",
-            "MoveToViewObject",
+            "MoveToHandViewObject",
             "PickObjectFromTop",
             "PlaceObjectOnTop",
         }
@@ -1097,7 +1154,7 @@ def predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _Reachable,
-            _InView,
+            _InHandView,
             _Blocking,
             _NotBlocked,
         }
@@ -1109,7 +1166,7 @@ def percept_predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _On,
-            _InView,
+            _InHandView,
             _Reachable,
             _Blocking,
             _NotBlocked,
@@ -1165,7 +1222,7 @@ def __init__(self, use_gui: bool = True) -> None:
         op_to_name = {o.name: o for o in _create_operators()}
         op_names_to_keep = {
             "MoveToReachObject",
-            "MoveToViewObject",
+            "MoveToHandViewObject",
             "PickObjectFromTop",
             "PlaceObjectOnTop",
             "DropObjectInside",
@@ -1193,7 +1250,7 @@ def predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _Reachable,
-            _InView,
+            _InHandView,
             _Inside,
             _Blocking,
             _NotBlocked,
@@ -1207,7 +1264,7 @@ def percept_predicates(self) -> Set[Predicate]:
             _Holding,
             _On,
             _Reachable,
-            _InView,
+            _InHandView,
             _Blocking,
             _NotBlocked,
         }
@@ -1263,7 +1320,7 @@ def __init__(self, use_gui: bool = True) -> None:
         op_to_name = {o.name: o for o in _create_operators()}
         op_names_to_keep = {
             "MoveToReachObject",
-            "MoveToViewObject",
+            "MoveToHandViewObject",
             "PickObjectFromTop",
             "PlaceObjectOnTop",
             "DropObjectInside",
@@ -1292,7 +1349,7 @@ def predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _Reachable,
-            _InView,
+            _InHandView,
             _Inside,
             _Blocking,
             _NotBlocked,
@@ -1306,7 +1363,7 @@ def percept_predicates(self) -> Set[Predicate]:
             _Holding,
             _On,
             _Reachable,
-            _InView,
+            _InHandView,
             _Blocking,
             _NotBlocked,
         }
@@ -1380,7 +1437,7 @@ def __init__(self, use_gui: bool = True) -> None:
         op_to_name = {o.name: o for o in _create_operators()}
         op_names_to_keep = {
             "MoveToReachObject",
-            "MoveToViewObject",
+            "MoveToHandViewObject",
             "PickObjectFromTop",
             "PlaceObjectOnTop",
             "DragToUnblockObject",
@@ -1410,7 +1467,7 @@ def predicates(self) -> Set[Predicate]:
             _HandEmpty,
             _Holding,
             _Reachable,
-            _InView,
+            _InHandView,
             _Inside,
             _Blocking,
             _NotBlocked,
@@ -1425,7 +1482,7 @@ def percept_predicates(self) -> Set[Predicate]:
             _Holding,
             _On,
             _Reachable,
-            _InView,
+            _InHandView,
             # NOTE: we can't easily check that an object is inside a container
             # after sweeping, because the robot is holding a sweeper, blocking
             # the hand camera that we'd usually use to check containment.
@@ -1477,3 +1534,100 @@ def _get_initial_nonpercept_atoms(self) -> Set[GroundAtom]:
 
     def _generate_goal_description(self) -> GoalDescription:
         return "put the soda in the bucket and hold the brush"
+
+
+###############################################################################
+#                Real-World Ball and Cup Sticky Table Env                     #
+###############################################################################
+
+
+class SpotBallAndCupStickyTableEnv(SpotRearrangementEnv):
+    """A real-world version of the ball and cup sticky table environment."""
+
+    def __init__(self, use_gui: bool = True) -> None:
+        super().__init__(use_gui)
+
+        op_to_name = {o.name: o for o in _create_operators()}
+        # NOTE: we do not yet have planning operators sufficient enough
+        # to make the planning graph fully-connected. These are
+        # forthcoming.
+        op_names_to_keep = {
+            "MoveToReachObject", "MoveToHandViewObject",
+            "MoveToBodyViewObject", "PickObjectFromTop", "PlaceObjectOnTop",
+            "DropObjectInsideContainerOnTop"
+        }
+        self._strips_operators = {op_to_name[o] for o in op_names_to_keep}
+
+    @classmethod
+    def get_name(cls) -> str:
+        return "spot_ball_and_cup_sticky_table_env"
+
+    @property
+    def types(self) -> Set[Type]:
+        return {
+            _robot_type,
+            _base_object_type,
+            _movable_object_type,
+            _immovable_object_type,
+            _container_type,
+        }
+
+    @property
+    def predicates(self) -> Set[Predicate]:
+        return {
+            _On,
+            _HandEmpty,
+            _Holding,
+            _Reachable,
+            _InView,
+            _InHandView,
+            _Inside,
+        }
+
+    @property
+    def percept_predicates(self) -> Set[Predicate]:
+        """The predicates that are NOT stored in the simulator state."""
+        return {
+            _HandEmpty,
+            _Holding,
+            _On,
+            _Reachable,
+            _InView,
+            _InHandView,
+            _Inside,
+        }
+
+    @property
+    def goal_predicates(self) -> Set[Predicate]:
+        return {_On}
+
+    @property
+    def _detection_id_to_obj(self) -> Dict[ObjectDetectionID, Object]:
+
+        detection_id_to_obj: Dict[ObjectDetectionID, Object] = {}
+
+        ball = Object("ball", _movable_object_type)
+        ball_detection = LanguageObjectDetectionID("small white ball")
+        detection_id_to_obj[ball_detection] = ball
+
+        cup = Object("cup", _container_type)
+        cup_detection = LanguageObjectDetectionID("white bowl")
+        detection_id_to_obj[cup_detection] = cup
+
+        known_immovables = load_spot_metadata()["known-immovable-objects"]
+        for obj_name, obj_pos in known_immovables.items():
+            obj = Object(obj_name, _immovable_object_type)
+            pose = math_helpers.SE3Pose(obj_pos["x"],
+                                        obj_pos["y"],
+                                        obj_pos["z"],
+                                        rot=math_helpers.Quat())
+            detection_id = KnownStaticObjectDetectionID(obj_name, pose)
+            detection_id_to_obj[detection_id] = obj
+
+        return detection_id_to_obj
+
+    def _get_initial_nonpercept_atoms(self) -> Set[GroundAtom]:
+        return set()
+
+    def _generate_goal_description(self) -> GoalDescription:
+        return "put the ball on the table"
diff --git a/predicators/ground_truth_models/spot/nsrts.py b/predicators/ground_truth_models/spot/nsrts.py
index 652e6c490d..aeed5cdefa 100644
--- a/predicators/ground_truth_models/spot/nsrts.py
+++ b/predicators/ground_truth_models/spot/nsrts.py
@@ -13,33 +13,59 @@
 from predicators.utils import null_sampler
 
 
-def _move_to_view_object_sampler(state: State, goal: Set[GroundAtom],
-                                 rng: np.random.Generator,
-                                 objs: Sequence[Object]) -> Array:
+def _move_to_body_view_object_sampler(state: State, goal: Set[GroundAtom],
+                                      rng: np.random.Generator,
+                                      objs: Sequence[Object]) -> Array:
     # Parameters are relative distance, dyaw (to the object you're moving to).
-    del state, goal, objs, rng  # randomization coming soon
+    del state, goal, rng  # randomization coming soon
 
+    home_pose = get_spot_home_pose()
     # Currently assume that the robot is facing the surface in its home pose.
     # Soon, we will change this to actually sample angles of approach and do
     # collision detection.
-    home_pose = get_spot_home_pose()
     approach_angle = home_pose.angle - np.pi
+    approach_dist = 1.2
+
+    # For the cup on the table, we need to be further back to actually
+    # view it.
+    if len(objs) == 2 and objs[1].name == "cup":
+        approach_dist = 1.75
+        approach_angle = home_pose.angle - (np.pi / 2)
 
-    return np.array([1.20, approach_angle])
+    return np.array([approach_dist, approach_angle])
+
+
+def _move_to_hand_view_object_sampler(state: State, goal: Set[GroundAtom],
+                                      rng: np.random.Generator,
+                                      objs: Sequence[Object]) -> Array:
+    # Parameters are relative distance, dyaw (to the object you're moving to).
+    del state, goal, objs, rng  # randomization coming soon
+
+    home_pose = get_spot_home_pose()
+    # Currently assume that the robot is facing the surface in its home pose.
+    # Soon, we will change this to actually sample angles of approach and do
+    # collision detection.
+    approach_angle = home_pose.angle - np.pi
+    approach_dist = 1.2
+    return np.array([approach_dist, approach_angle])
 
 
 def _move_to_reach_object_sampler(state: State, goal: Set[GroundAtom],
                                   rng: np.random.Generator,
                                   objs: Sequence[Object]) -> Array:
     # Parameters are relative distance, dyaw (to the object you're moving to).
-    del state, goal, objs, rng  # randomization coming soon
+    del state, goal, rng  # randomization coming soon
+
+    home_pose = get_spot_home_pose()
 
     # Currently assume that the robot is facing the surface in its home pose.
     # Soon, we will change this to actually sample angles of approach and do
     # collision detection.
-    home_pose = get_spot_home_pose()
     approach_angle = home_pose.angle - np.pi
 
+    if len(objs) == 2 and objs[1].name == "cup":
+        approach_angle = home_pose.angle - (np.pi / 2)
+
     # NOTE: closer than move_to_view. Important for placing.
     return np.array([0.8, approach_angle])
 
@@ -56,7 +82,7 @@ def _place_object_on_top_sampler(state: State, goal: Set[GroundAtom],
                                  objs: Sequence[Object]) -> Array:
     # Parameters are relative dx, dy, dz (to surface objects center).
     del state, goal, objs, rng  # randomization coming soon
-    return np.array([0.0, 0.0, 0.25])
+    return np.array([0.0, 0.0, 0.05])
 
 
 def _drop_object_inside_sampler(state: State, goal: Set[GroundAtom],
@@ -64,8 +90,15 @@ def _drop_object_inside_sampler(state: State, goal: Set[GroundAtom],
                                 objs: Sequence[Object]) -> Array:
     # Parameters are relative dx, dy, dz to the center of the top of the
     # container.
-    del state, goal, objs, rng  # randomization coming soon
-    return np.array([0.0, 0.0, 0.5])
+    del state, goal, rng  # randomization coming soon
+
+    drop_height = 0.5
+    dx = 0.0
+    if len(objs) == 4 and objs[2].name == "cup":
+        drop_height = 0.15
+        dx = 0.08  # we benefit from dropping more forward in the x!
+
+    return np.array([dx, 0.0, drop_height])
 
 
 def _drag_to_unblock_object_sampler(state: State, goal: Set[GroundAtom],
@@ -104,11 +137,9 @@ class SpotCubeEnvGroundTruthNSRTFactory(GroundTruthNSRTFactory):
     @classmethod
     def get_env_names(cls) -> Set[str]:
         return {
-            "spot_cube_env",
-            "spot_soda_table_env",
-            "spot_soda_bucket_env",
-            "spot_soda_chair_env",
-            "spot_soda_sweep_env",
+            "spot_cube_env", "spot_soda_table_env", "spot_soda_bucket_env",
+            "spot_soda_chair_env", "spot_soda_sweep_env",
+            "spot_ball_and_cup_sticky_table_env"
         }
 
     @staticmethod
@@ -122,11 +153,13 @@ def get_nsrts(env_name: str, types: Dict[str, Type],
         nsrts = set()
 
         operator_name_to_sampler: Dict[str, NSRTSampler] = {
-            "MoveToViewObject": _move_to_view_object_sampler,
+            "MoveToHandViewObject": _move_to_hand_view_object_sampler,
+            "MoveToBodyViewObject": _move_to_body_view_object_sampler,
             "MoveToReachObject": _move_to_reach_object_sampler,
             "PickObjectFromTop": _pick_object_from_top_sampler,
             "PlaceObjectOnTop": _place_object_on_top_sampler,
             "DropObjectInside": _drop_object_inside_sampler,
+            "DropObjectInsideContainerOnTop": _drop_object_inside_sampler,
             "DragToUnblockObject": _drag_to_unblock_object_sampler,
             "SweepIntoContainer": _sweep_into_container_sampler,
             "PrepareContainerForSweeping": _prepare_sweeping_sampler,
diff --git a/predicators/ground_truth_models/spot/options.py b/predicators/ground_truth_models/spot/options.py
index 74c69522ef..a207e1c6d0 100644
--- a/predicators/ground_truth_models/spot/options.py
+++ b/predicators/ground_truth_models/spot/options.py
@@ -29,7 +29,8 @@
 from predicators.spot_utils.skills.spot_sweep import sweep
 from predicators.spot_utils.spot_localization import SpotLocalizer
 from predicators.spot_utils.utils import DEFAULT_HAND_LOOK_DOWN_POSE, \
-    DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE, get_relative_se2_from_se3
+    DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE, \
+    DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE_HIGH, get_relative_se2_from_se3
 from predicators.structs import Action, Array, Object, ParameterizedOption, \
     Predicate, State, Type
 
@@ -93,6 +94,27 @@ def _drop_at_relative_position_and_look(
     move_hand_to_relative_pose(robot, DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE)
 
 
+def _move_closer_and_drop_at_relative_position_and_look(
+        robot: Robot, rel_pose: math_helpers.SE3Pose) -> None:
+    # First, check if we're too far away in distance or angle
+    # to place.
+    dist_to_object = np.sqrt(rel_pose.x * rel_pose.x + rel_pose.y * rel_pose.y)
+    if dist_to_object > 0.75:
+        pose_to_nav_to = math_helpers.SE2Pose(
+            rel_pose.x - (0.75 * rel_pose.x / dist_to_object),
+            rel_pose.y - (0.75 * rel_pose.y / dist_to_object), 0.0)
+        navigate_to_relative_pose(robot, pose_to_nav_to)
+    # Place with a new rel_pose!
+    rel_pose.x = rel_pose.x - pose_to_nav_to.x
+    rel_pose.y = rel_pose.y - pose_to_nav_to.y
+    place_at_relative_position(robot, rel_pose)
+    # Close the gripper.
+    close_gripper(robot)
+    # Look straight down.
+    move_hand_to_relative_pose(robot,
+                               DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE_HIGH)
+
+
 def _drag_and_release(robot: Robot, rel_pose: math_helpers.SE2Pose) -> None:
     # First navigate to the pose.
     navigate_to_relative_pose(robot, rel_pose)
@@ -196,10 +218,10 @@ def _grasp_policy(name: str, target_obj_idx: int, state: State, memory: Dict,
 ###############################################################################
 
 
-def _move_to_view_object_policy(state: State, memory: Dict,
-                                objects: Sequence[Object],
-                                params: Array) -> Action:
-    name = "MoveToViewObject"
+def _move_to_hand_view_object_policy(state: State, memory: Dict,
+                                     objects: Sequence[Object],
+                                     params: Array) -> Action:
+    name = "MoveToHandViewObject"
     distance_param_idx = 0
     yaw_param_idx = 1
     robot_obj_idx = 0
@@ -210,6 +232,20 @@ def _move_to_view_object_policy(state: State, memory: Dict,
                                   state, memory, objects, params)
 
 
+def _move_to_body_view_object_policy(state: State, memory: Dict,
+                                     objects: Sequence[Object],
+                                     params: Array) -> Action:
+    name = "MoveToBodyViewObject"
+    distance_param_idx = 0
+    yaw_param_idx = 1
+    robot_obj_idx = 0
+    target_obj_idx = 1
+    do_gaze = False
+    return _move_to_target_policy(name, distance_param_idx, yaw_param_idx,
+                                  robot_obj_idx, target_obj_idx, do_gaze,
+                                  state, memory, objects, params)
+
+
 def _move_to_reach_object_policy(state: State, memory: Dict,
                                  objects: Sequence[Object],
                                  params: Array) -> Action:
@@ -300,6 +336,38 @@ def _drop_object_inside_policy(state: State, memory: Dict,
                                         (robot, place_rel_pos))
 
 
+def _move_and_drop_object_inside_policy(state: State, memory: Dict,
+                                        objects: Sequence[Object],
+                                        params: Array) -> Action:
+    del memory  # not used
+
+    name = "MoveAndDropObjectInside"
+    robot_obj_idx = 0
+    container_obj_idx = 2
+
+    robot, _, _ = get_robot()
+
+    dx, dy, dz = params
+
+    robot_obj = objects[robot_obj_idx]
+    robot_pose = utils.get_se3_pose_from_state(state, robot_obj)
+
+    container_obj = objects[container_obj_idx]
+    container_pose = utils.get_se3_pose_from_state(state, container_obj)
+    # The dz parameter is with respect to the top of the container.
+    container_half_height = state.get(container_obj, "height") / 2
+
+    container_rel_pose = robot_pose.inverse() * container_pose
+    place_z = container_rel_pose.z + container_half_height + dz
+    place_rel_pos = math_helpers.Vec3(x=container_rel_pose.x + dx,
+                                      y=container_rel_pose.y + dy,
+                                      z=place_z)
+
+    return utils.create_spot_env_action(
+        name, objects, _move_closer_and_drop_at_relative_position_and_look,
+        (robot, place_rel_pos))
+
+
 def _drag_to_unblock_object_policy(state: State, memory: Dict,
                                    objects: Sequence[Object],
                                    params: Array) -> Action:
@@ -379,10 +447,13 @@ def _prepare_container_for_sweeping_policy(state: State, memory: Dict,
 
 _OPERATOR_NAME_TO_PARAM_SPACE = {
     "MoveToReachObject": Box(-np.inf, np.inf, (2, )),  # rel dist, dyaw
-    "MoveToViewObject": Box(-np.inf, np.inf, (2, )),  # rel dist, dyaw
+    "MoveToHandViewObject": Box(-np.inf, np.inf, (2, )),  # rel dist, dyaw
+    "MoveToBodyViewObject": Box(-np.inf, np.inf, (2, )),  # rel dist, dyaw
     "PickObjectFromTop": Box(0, 1, (0, )),
     "PlaceObjectOnTop": Box(-np.inf, np.inf, (3, )),  # rel dx, dy, dz
     "DropObjectInside": Box(-np.inf, np.inf, (3, )),  # rel dx, dy, dz
+    "DropObjectInsideContainerOnTop": Box(-np.inf, np.inf,
+                                          (3, )),  # rel dx, dy, dz
     "DragToUnblockObject": Box(-np.inf, np.inf, (3, )),  # rel dx, dy, dyaw
     "SweepIntoContainer": Box(-np.inf, np.inf, (2, )),  # rel dx, dy
     "PrepareContainerForSweeping": Box(-np.inf, np.inf, (3, )),  # dx, dy, dyaw
@@ -390,10 +461,12 @@ def _prepare_container_for_sweeping_policy(state: State, memory: Dict,
 
 _OPERATOR_NAME_TO_POLICY = {
     "MoveToReachObject": _move_to_reach_object_policy,
-    "MoveToViewObject": _move_to_view_object_policy,
+    "MoveToHandViewObject": _move_to_hand_view_object_policy,
+    "MoveToBodyViewObject": _move_to_body_view_object_policy,
     "PickObjectFromTop": _pick_object_from_top_policy,
     "PlaceObjectOnTop": _place_object_on_top_policy,
     "DropObjectInside": _drop_object_inside_policy,
+    "DropObjectInsideContainerOnTop": _move_and_drop_object_inside_policy,
     "DragToUnblockObject": _drag_to_unblock_object_policy,
     "SweepIntoContainer": _sweep_into_container_policy,
     "PrepareContainerForSweeping": _prepare_container_for_sweeping_policy,
@@ -431,7 +504,8 @@ class SpotCubeEnvGroundTruthOptionFactory(GroundTruthOptionFactory):
     def get_env_names(cls) -> Set[str]:
         return {
             "spot_cube_env", "spot_soda_table_env", "spot_soda_bucket_env",
-            "spot_soda_chair_env", "spot_soda_sweep_env"
+            "spot_soda_chair_env", "spot_soda_sweep_env",
+            "spot_ball_and_cup_sticky_table_env"
         }
 
     @classmethod
diff --git a/predicators/perception/spot_perceiver.py b/predicators/perception/spot_perceiver.py
index 0a8964a9b8..b220e0d589 100644
--- a/predicators/perception/spot_perceiver.py
+++ b/predicators/perception/spot_perceiver.py
@@ -11,7 +11,7 @@
 from predicators.envs.spot_env import HANDEMPTY_GRIPPER_THRESHOLD, \
     SpotCubeEnv, SpotRearrangementEnv, _container_type, \
     _immovable_object_type, _movable_object_type, _PartialPerceptionState, \
-    _robot_type, _SpotObservation, in_view_classifier
+    _robot_type, _SpotObservation, in_hand_view_classifier
 from predicators.perception.base_perceiver import BasePerceiver
 from predicators.settings import CFG
 from predicators.spot_utils.utils import load_spot_metadata
@@ -110,7 +110,7 @@ def step(self, observation: Observation) -> State:
                 # be in view to assess whether it was placed correctly.
                 robot, obj = objects[:2]
                 state = self._create_state()
-                is_in_view = in_view_classifier(state, [robot, obj])
+                is_in_view = in_hand_view_classifier(state, [robot, obj])
                 if not is_in_view:
                     # We lost the object!
                     logging.info("[Perceiver] Object was lost!")
@@ -195,10 +195,13 @@ def _create_state(self) -> State:
             if obj.is_instance(_movable_object_type):
                 # Detect if the object is in view currently.
                 if obj in self._known_objects_in_hand_view:
-                    in_view_val = 1.0
+                    in_hand_view_val = 1.0
                 else:
-                    in_view_val = 0.0
-                state_dict[obj]["in_view"] = in_view_val
+                    in_hand_view_val = 0.0
+                state_dict[obj]["in_hand_view"] = in_hand_view_val
+                # All objects that we know the pose of are
+                # in view!
+                state_dict[obj]["in_view"] = 1.0
                 # Detect if we have lost the tool.
                 if obj in self._lost_objects:
                     lost_val = 1.0
@@ -268,7 +271,7 @@ def _create_state(self) -> State:
         # from predicators.envs.spot_env import _object_to_side_view_geom
         # fig = plt.figure()
         # ax = fig.gca()
-        # # Draw the robot as a point.
+        # Draw the robot as a point.
         # robot_y = state.get(self._robot, "y")
         # robot_z = state.get(self._robot, "z")
         # plt.plot([robot_y], [robot_z], color="red", marker="o")
@@ -294,7 +297,6 @@ def _create_state(self) -> State:
         #             bbox=dict(facecolor="gray", edgecolor="gray", alpha=0.5))
         # plt.tight_layout()
         # plt.savefig("side-state-view.png")
-        # import ipdb; ipdb.set_trace()
 
         return state
 
@@ -337,4 +339,15 @@ def _create_goal(self, state: State,
                 GroundAtom(Inside, [can, bucket]),
                 GroundAtom(Holding, [robot, plunger])
             }
+        if goal_description == "put the ball on the table":
+            ball = Object("ball", _movable_object_type)
+            cup = Object("cup", _container_type)
+            drafting_table = Object("drafting_table", _immovable_object_type)
+            On = pred_name_to_pred["On"]
+            Inside = pred_name_to_pred["Inside"]
+            return {
+                GroundAtom(On, [ball, drafting_table]),
+                GroundAtom(On, [cup, drafting_table]),
+                GroundAtom(Inside, [ball, cup])
+            }
         raise NotImplementedError("Unrecognized goal description")
diff --git a/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_agnate-bobcat-uN5RqESdRIzimJMcfW9KmA== b/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_agnate-bobcat-uN5RqESdRIzimJMcfW9KmA==
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diff --git a/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_akimbo-weaver-Kjot.FH+M3Wk5z6y9wjqXg== b/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_akimbo-weaver-Kjot.FH+M3Wk5z6y9wjqXg==
new file mode 100644
index 0000000000..9ee764fb72
--- /dev/null
+++ b/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_akimbo-weaver-Kjot.FH+M3Wk5z6y9wjqXg==
@@ -0,0 +1,2 @@
+
+7edge_snapshot_id_akimbo-weaver-Kjot.FH+M3Wk5z6y9wjqXg==
\ No newline at end of file
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diff --git a/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_irate-afghan-mPTwY5GPCADq6AnfR2zAeA== b/predicators/spot_utils/graph_nav_maps/floor8-cup-table/edge_snapshots/edge_snapshot_id_irate-afghan-mPTwY5GPCADq6AnfR2zAeA==
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@@ -0,0 +1,2 @@
+
+6edge_snapshot_id_irate-afghan-mPTwY5GPCADq6AnfR2zAeA==
\ No newline at end of file
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+# Additional info associated with the map.
+---
+spot-home-pose:
+  x: 1.4
+  y: 0.5
+  angle: 0.0
+# The info below is used to transform april tag x, y, z detections into object
+# x, y, z. For example, if a tag is hanging off the side of a table, we would
+# want to use the center of the table as the origin of the table object.
+april-tag-offsets:
+  tag-408:  # smooth table
+    x: 0.25
+    y: 0.1
+    z: -0.2
+  tag-409:  # sticky table
+    x: 0.25
+    y: -0.1
+    z: -0.2
+# Known immovable objects. Assuming default rotations.
+known-immovable-objects:
+  floor:
+    x: 0.0
+    y: 0.0
+    z: -0.5
+  white-table:
+    x: 3.2
+    y: 0.5
+    z: -0.1
+  drafting_table:
+    x: 2.315
+    y: 1.855
+    z: -0.05
+# Static object features, including the shapes and sizes of known objects.
+static-object-features:
+  smooth_table:
+    shape: 2  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+  drafting_table:
+    shape: 1  # cuboid
+    height: 0.65
+    length: 1.3 # 0.6
+    width: 1.3 # 0.4
+  cube:
+    shape: 1  # cuboid
+    height: 0.083
+    length: 0.083
+    width: 0.083
+  plunger:
+    shape: 1  # cuboid
+    height: 0.1
+    length: 0.1
+    width: 0.1
+  soda_can:
+    shape: 2
+    height: 0.114
+    length: 0.065
+    width: 0.065
+  floor:
+    shape: 1
+    height: 0.0001
+    length: 10000000  # effectively infinite
+    width: 10000000
+  white-table:
+    shape: 1 # cuboid
+    height: 0.74
+    length: 1.07
+    width: 0.51
+  bucket:
+    shape: 2 # cylinder
+    height: 0.4
+    width: 0.23
+    length: 0.23
+  chair:
+    shape: 2 # cylinder
+    height: 0.8
+    length: 0.5
+    width: 0.5
+  cup:
+    shape: 2 # cylinder
+    height: 0.1
+    length: 0.15
+    width: 0.15
+  ball:
+    shape: 2 # cylinder
+    height: 0.06
+    length: 0.06
+    width: 0.06
+
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diff --git a/predicators/spot_utils/skills/spot_place.py b/predicators/spot_utils/skills/spot_place.py
index 81013cb5fd..733b11752a 100644
--- a/predicators/spot_utils/skills/spot_place.py
+++ b/predicators/spot_utils/skills/spot_place.py
@@ -1,5 +1,7 @@
 """Interface for spot placing skill."""
 
+import time
+
 import numpy as np
 from bosdyn.client import math_helpers
 from bosdyn.client.sdk import Robot
@@ -26,6 +28,10 @@ def place_at_relative_position(robot: Robot,
                                            z=body_to_position.z,
                                            rot=rot)
     move_hand_to_relative_pose(robot, body_tform_goal)
+    # NOTE: short sleep necessary because without it, the robot
+    # sometimes opens the gripper before the arm has fully
+    # arrived at its position.
+    time.sleep(1.5)
     # Open the hand.
     open_gripper(robot)
 
diff --git a/predicators/spot_utils/utils.py b/predicators/spot_utils/utils.py
index 515df7e901..a0b0b18b6d 100644
--- a/predicators/spot_utils/utils.py
+++ b/predicators/spot_utils/utils.py
@@ -25,6 +25,8 @@
     x=0.80, y=0.0, z=0.25, rot=math_helpers.Quat.from_pitch(np.pi / 3))
 DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE = math_helpers.SE3Pose(
     x=0.80, y=0.0, z=0.25, rot=math_helpers.Quat.from_pitch(np.pi / 2))
+DEFAULT_HAND_LOOK_STRAIGHT_DOWN_POSE_HIGH = math_helpers.SE3Pose(
+    x=0.65, y=0.0, z=0.32, rot=math_helpers.Quat.from_pitch(np.pi / 2.5))
 
 
 def get_graph_nav_dir() -> Path: