Robot precisely moves objects it's never seen before

Imagine that you're in your kitchen, and you're trying to explain to a friend where to return a coffee cup. If you tell them to "hang the mug on the hook by its handle," they have to make that happen by doing a fairly extensive series of actions in a very precise order: noticing the mug on the table; visually locating the handle and recognizing that that's how it should be picked up; grabbing it by its handle in a stable manner, using the right combination of fingers; visually locating the hook for hanging the mug; and finally, placing the cup on the hook.