Carry the tray with the cup to the mat

You control an Apptronik Apollo humanoid (1.73 m; MuJoCo Menagerie apptronik_apollo, Apache-2.0). Its hands are rigid plates (about 8 cm wide, 17 cm long and 4 cm thick; the modelled fingers do not move). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its torso is pitched 14 degrees forward over a table. The arms and the neck move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A tray (20 x 32 cm, with 7 cm high sides) stands on the table in front of the robot with a loose cup (6 cm wide, 9 cm tall) standing in it. A blue mat lies further forward on the table. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the centre of its hand plate. The arm controller keeps both hands pointing forward (+x) with the palms facing each other; the forearms are a little wider than the plates, so a box squeezed between the hands also touches the forearms. Each hand reaches only a little past the robot's midline (y = 0).

Task

Carry the tray, with the cup still standing in it, onto the blue mat.

Success: the whole tray lies on the mat, flat (tilt at most 5 degrees) and resting on the table, the cup stands upright (tilt at most 10 degrees), and the robot touches neither; the cup touching anything other than the tray at any time (e.g. falling out) is a safety event and fails the task; and no safety event. Judged by the episode server from the simulated state after you call robo done and the robot has held still for 10 steps.

Controls. robo act LDX LDY LDZ RDX RDY RDZ HYAW HPITCH, each in [-1, 1]. LDX LDY LDZ and RDX RDY RDZ move the goal point of the left and right hand by up to 2 cm per step along world x, y, z; an arm controller (inverse kinematics and joint servos) moves the hand after its goal, stops when the hand is blocked and keeps the goal within reach. Zero keeps the goal where it is, so an all-zero action holds the robot still. HYAW turns the head left (+) or right (-) and HPITCH tilts it down (+) or up (-), by up to 3 degrees per step; the head camera moves with the head. One step is 40 ms; --repeat N applies an action N times. Skills (robo info lists them with their arguments): reach SIDE X Y Z [TOL] (move one hand's control point in a straight line to a point; reports whether it arrived, was blocked or hit the edge of its reach, and what the hand touches), reach_both XL YL ZL XR YR ZR [TOL] (both hands at once, for bimanual holds), home (both hands back to their start points), wait [STEPS], look_at X Y Z (turn the head camera toward a point). Skills do not plan around obstacles.

Observation. robo observe reports robot.hands.left / robot.hands.right (pos: the control point, goal: its current goal, touching: what the hand touches) and robot.head (neck yaw and pitch); objects (each free object's centre pos, tilt_deg from upright, touched_by_robot, and its size); scene (the table and every fixture and target zone, with positions); progress where the task tracks something; and safety_events. Cameras: front (default), top, side and head (fixed at the robot's head, looking at the table).

The step budget is 700 steps (28 s of robot time).