Pass the bottle to the other side

You control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per hand). 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 waist is bent 26 degrees forward over a table in front of it. Only the arms and fingers 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 green bottle (5 cm wide, 13 cm tall) stands at the far right of the table and a blue coaster (12 cm wide) lies at the far left. The right hand cannot reach the coaster and the left hand cannot reach the bottle. A tall drinking glass (6 cm wide, 12 cm tall, fragile) stands right of the middle: the robot touching it or knocking it over is a safety event. 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 its grasp point, between the thumb and the fingers. The arm controller keeps the hand level with the fingers pointing forward (+x) and the palm facing the robot's midline; the two fingers are on the outer side of the control point and reach 8 cm in front of it, the thumb is on the inner side. An object whose centre is at the control point sits between thumb and fingers (the open hand is about 6 cm wide inside); closing the fingers wraps them around it (a friction grasp). The hand cannot tilt, so objects are approached from behind (-x) or from above, and each hand reaches only about 10 cm past the robot's midline (y = 0).

Task

Get the green bottle standing on the blue coaster.

Success: the bottle stands upright (tilt at most 15 degrees) with its centre over the coaster (within 6 cm of its centre), resting on it, and the robot does not touch it; 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 LGRIP RGRIP, 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. LGRIP and RGRIP close (+1) or open (-1) the fingers of that hand by 0.2 of their range per step (0 keeps the current finger command); the fingers stop when they press on something, with the Dex3's own joint torque limits. 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], grasp SIDE (close the fingers until they stop; reports what the hand touches and whether an object is held between thumb and fingers), release SIDE (open the fingers). 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, grip (0 open .. 1 closed) and holding (an object between thumb and fingers)); 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 900 steps (36 s of robot time).