Considering "pick up the coffee mug on the table": I think we can strengthen that assumption from you know where the mug is (and will be) to you can grasp a mug

Considering "pick up the coffee mug on the table": I think we can strengthen that assumption from you know where the mug is (and will be) to you can grasp a mug, even if you don't know exactly where it is (because it's moving). A mug won't be moving, of course (unless the table has tilted?) but many things you might reasonably wish to grasp will be, and you might be too. (pick up a cup to drink during a race? pick up a stone while running at the other scavenger that's noshing on your carcass?)