Crate detour (no skills)

You control a Unitree Go2 quadruped (MuJoCo Menagerie model, 15 kg, 0.7 m long, base about 0.29 m above the floor when standing) in a small indoor plant. World frame in metres: +x east, +y north, +z up, floor at z = 0; headings are in degrees, 0 = facing +x (east), 90 = facing +y (north). The plant is 12 m x 8 m (x from -6 to 6, y from -4 to 4), closed by 1 m walls. A partition wall at x = 1 separates the west hall from the east plant room; its only opening is a 1.1 m wide doorway (y from 1.5 to 2.6) at the east end of a corridor (walls at y = 1.3 and y = 2.9, from x = -2.2 to the partition; open at its west end). The west hall has the blue dock (0.9 m square at (-4.8, -2.8)), a row of crates (0.6 m cubes, 0.8 m high, at x = -3.2 from y = -3.95 to -0.95) and one more crate at (-1.9, -1.1), a green mat at (-1.2, -2.8), and a pipe with a valve and an inspection tag on the west wall. The east room has a pump (radius 0.3 m, 0.6 m high, at (4.2, -2.6)) with an asset tag, an instrument board with a pressure gauge 1.4 m up on the east wall, a yellow panel with a red emergency-stop button and a green reset button on the east wall, and a 0.2 m high mezzanine platform in the north-east corner (x 4.4-6, y 1.6-4) with a control cabinet, reached by a ramp (x 2.8-4.4, y 2.4-3.4) that rises eastwards. Every fixed position is listed under facility in robo observe. The robot stands on a free-floating base: only its feet touching the floor move it, so it can slip, trip over obstacles or fall; a fall (base tilted more than 50 degrees, or the body touching the floor, the ramp or the platform) is recorded in safety_events and fails the task.

Task

The Go2 stands on the dock at (-4.8, -2.8), facing east. Walk to the green mat at (-1.2, -2.8) and stop on it, using only robo act velocity commands (skills are disabled). The row of crates stands between the dock and the mat, and one more crate stands north-west of the mat; plan a route around them.

Success: the base centre is within 0.35 m (horizontally) of the mat centre (-1.2, -2.8), at the end the robot is standing still (not stepping, base slower than 0.1 m/s and turning slower than 11 deg/s), and it never fell. Judged by the episode server from the simulated state after you call robo done and the robot has held still (zero action) for 10 steps; no new inspections or checkpoints are recorded during those 10 steps.

Controls. robo act VX VY WZ DHEIGHT DPITCH sets the action for the next step(s). VX and VY (m/s, up to +-0.6 and +-0.4) and WZ (deg/s, up to +-69, counter-clockwise seen from above) are the body-frame velocity command (x forward, y left) for the onboard trot controller (gait clock, foot placement from the commanded and measured velocity, leg inverse kinematics, attitude feedback and joint servos); all three zero means stop stepping and stand. DHEIGHT (m, +-0.02 per step) and DPITCH (deg, +-5 per step) change the body-height and nose-up pitch setpoints (height from -45 % to +5 % of the standing height, pitch +-20 degrees; a non-zero velocity command raises a lowered body to at least 85 % of the standing height); zero keeps them. One step is 50 ms; --repeat N holds an action for N steps. robo skill is disabled in this task.

Observation. robo observe reports robot (pos of the base centre, yaw_deg, roll_deg, pitch_up_deg, vel_body, yaw_rate_deg_s, gait = standing / walking / sitting, body_pose_setpoint, standing_height_m, feet_in_contact, the head_camera position and forward direction, and fallen), facility (every fixed landmark), objects (this task's movable objects and floor markings, if any), progress (inspected_tags, and the task's counters) and safety_events. Cameras: chase (default; follows the robot from above and behind-left), head (forward-facing on the front of the base, 70 degree field of view, square image), overview, west_hall and east_room.

The step budget is 900 steps (45 s).