Use the right arm to hold the socket, left arm to insert the plug into it. 1. Move the right arm to approach and align with the socket. 2. Grasp the socket with the right arm. 3. Move the left arm to approach and align with the plug. 4. Grasp the plug with the left arm. 5. Move the left arm to align the plug with the socket held by the right arm. 6. Insert the plug into the socket using the left arm. grasped contact near aligned_with inside on_top_of supports separated_from left_of right_of above below in_front_of behind plugged_in unplugged