Take the mug to the kitchen

You control a PAL TIAGo (MuJoCo Menagerie pal_tiago, Apache-2.0): a round differential-drive base 0.54 m across, a torso lift, a 7-joint arm and a parallel two-finger gripper that opens to about 9 cm. The gripper reaches about 0.6 to 0.95 m in front of the base centre, from about 0.45 m to 1.2 m high. Each finger collides through a flat rubber pad on its inner face (the upstream finger meshes are kept for looks).

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, -1) in the study, facing west, with its arm stowed.

Task

A purple mug stands on the desk in the study. Take it to the kitchen table. There is no door between the study and the kitchen.

Success: the mug stands on the kitchen 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, or the base tilting more than 12 degrees; 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 V WZ DX DY DZ POSE G (7 values, each in [-1, 1]; one step is 50 ms; --repeat N holds it for N steps). base.twist V, WZ: forward speed (x 0.45 m/s) and turn rate (x 60 deg/s, positive = counter-clockwise); the wheel speeds follow from the wheel radius and track, and the base moves by wheel-floor friction. arm.ee_delta DX, DY, DZ: moves the gripper target by that many x 2 cm along the world axes; an inverse-kinematics controller (arm joints and torso lift) 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. arm.posture POSE: above 0.5 starts the move to the ready pose (gripper about 0.7 m in front at 0.83 m height, open), below -0.5 to the stowed pose (arm folded at the side); 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); the fingers squeeze with at most about 5 N each. Zero holds everything (the base brakes). Skills (robo info lists their arguments): drive_to X Y [YAW_DEG] [TOL] (turns towards the point, drives there in a straight line, then turns 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 (the head camera), overview (the whole apartment from above, north up), living_room_cam, kitchen_cam and study_cam.

The step budget is 3600 steps (180 s of simulated time).