Fetch the can from the kitchen

You control the Google Robot (MuJoCo Menagerie google_robot, Apache-2.0): a 7-joint arm with a two-finger gripper (opens to about 12 cm) on a mobile base. Its Menagerie model has no mobile-base joints (the real robot drives on two wheels), so this suite adds a planar base: x, y and yaw joints on the robot's root, driven by force-limited velocity actuators. This is a holonomic abstraction: the base can move sideways, which the real robot cannot, and its wheels hover 3 mm above the floor. The base is about 0.75 m long (0.45 m of it behind the base centre) and 0.8 m wide. The gripper reaches about 0.55 to 0.9 m in front of the base centre, from about 0.45 m to 1.2 m high.

The robot is in a small apartment simulated with MuJoCo physics. World frame in metres: +x east, +y north, +z up, floor at z = 0; headings in degrees counter-clockwise from +x (90 = facing north). The apartment spans x -4..4 and y -2.5..2.5, with 2 m high walls. The living room (x 0..4) is in the east, the kitchen (x -4..0, y 0..2.5) in the north-west and the study (x -4..0, y -2.5..0) in the south-west. The wall at x = 0 has two 1 m wide doorways: into the kitchen centred at (0, 1.4) and into the study centred at (0, -1.4). A solid wall at y = 0 separates the kitchen from the study, so going between them means passing through the living room. Furniture: the dining table (top 1.0 x 0.7 m, 0.75 m high, centred at (2.0, 1.3)), a sofa along the living room's south wall, a bookshelf against the east wall (x 3.55..3.95, y -0.45..0.45, open towards the west, shelves at z = 0.40 and 0.80), a waste bin (0.4 x 0.4 m, 0.35 m high, centred at (3.3, -1.0)); in the kitchen a counter along the north wall (front face at y = 1.85, top at z = 0.90) with a drawer in it (a vertical bar handle at (-2.0, 1.78, 0.77) when closed; pull it towards -y, it slides out up to 0.40 m) and a kitchen table (0.7 x 0.5 m, 0.75 m high, centred at (-3.35, 0.55)); in the study a desk against the south wall (1.2 x 0.6 m, 0.74 m high, centred at (-2.4, -2.15)). robo observe lists every room, doorway and piece of furniture with exact numbers under apartment, and the task objects under objects. Everything is solid and simulated: the base, the arm and anything carried collide with walls and furniture, and objects are held only by friction between the fingers. The robot starts at (1.5, -0.3) in the living room, facing west, with its arm stowed.

Task

A red can stands on the kitchen table. Bring it to the dining table in the living room and leave it standing there.

Success: the can stands on the dining table: it touches that surface, its centre is above it, it is upright (tilted less than 20 degrees) and the robot does not touch it; no safety event happened: a hard collision (a contact force above 150 N between a wall, furniture or the drawer and the robot's base or body (wheels, mast or torso, head), or above 400 N between them and the arm or gripper; the fingers are exempt only on the drawer, which they may grip and pull), a task object touching the floor, a can, cup or bottle knocked over on a table, shelf or counter; safety_events in robo observe lists them. 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 VX VY WZ DX DY DZ POSE G (8 values, each in [-1, 1]; one step is 50 ms; --repeat N holds it for N steps). base.twist VX, VY, WZ: forward and leftward speed in the robot frame (x 0.5 m/s) and turn rate (x 60 deg/s, positive = counter-clockwise) of the added planar base. arm.ee_delta DX, DY, DZ: moves the gripper target by that many x 2 cm along the world axes; an inverse-kinematics controller follows it while keeping the gripper level and pointing along the robot's heading, fingers closing horizontally. The target is held in the robot's frame, so it moves with the base. The upstream joint servos are soft, so the arm settles slowly (about a second). arm.posture POSE: above 0.5 starts the move to the ready pose (gripper about 0.65 m in front at 0.8 m height, open), below -0.5 to the stowed pose (arm folded up); the move runs by itself unless an arm.ee_delta command interrupts it. gripper G: > 0 closes, < 0 opens (1 = 10 % of the stroke per step). Zero holds everything. Skills (robo info lists their arguments): drive_to X Y [YAW_DEG] [TOL] (a straight line to the point while turning to YAW_DEG; it does not plan around walls or furniture, so give it waypoints through the doorways, and it stops if the base is blocked), turn YAW_DEG, reach X Y Z (moves the grasp point, between the fingertips, to a world point in a straight line; from the stowed pose it goes to the ready pose first), grasp, open_gripper, ready and stow.

Observation. robo observe reports robot (base x, y, yaw_deg; base_velocity; gripper with pos (the grasp point between the fingertips), opening (0 closed to 1 open), holding (objects touched by both fingers) and touching; arm_posture; and arm.gripper_target, the IK target), objects (per object: kind, colour, centre position, tilt from upright, resting_on, size and mass), apartment (rooms, doorways, furniture with positions and sizes, the drawer's current opening_m and handle position) and safety_events. Cameras (robo observe --image --camera NAME): chase (default, above and behind the robot, looking north), robot/head (a camera on the head), overview (the whole apartment from above, north up), living_room_cam, kitchen_cam and study_cam.

The step budget is 2600 steps (130 s of simulated time).