Lift the box onto the shelf with both arms

You control a Unitree H1 humanoid (1.8 m; MuJoCo Menagerie unitree_h1, BSD-3-Clause). It has no hands: each 4-joint arm ends in a round fist (6.6 cm ball). 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 only the arms move. A counter stands in front of it. 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 cardboard box (16 x 22 x 16 cm, 0.5 kg) stands on the left of the counter; a blue shelf block, 10 cm high, stands on the right. The fists cannot grasp: lift the box by squeezing it between both fists or forearms. 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 fist. The arms have four joints, so the forearm's angle follows from where the fist is; the forearms also touch things. Objects are pushed, pressed or squeezed between the two fists or forearms.

Task

Move the box onto the top of the blue shelf block.

Success: the box sits flat (tilt at most 8 degrees) with its centre over the shelf top, 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, 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. 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]. 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); 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).