Press the emergency stop

You control a Boston Dynamics Spot quadruped with its 6-joint arm and gripper (MuJoCo Menagerie model, 56 kg, 1.1 m long, base about 0.47 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

Spot with its arm stands in the east room at (2.0, -1.0), facing east. On the east wall a yellow panel carries a red emergency-stop button (cap face centre (5.83, -1.2, 0.9)) and a green reset button ((5.83, -0.85, 0.9)); both caps are 9 cm across, face west and travel 3 cm into the panel against a spring. Walk up to the panel and push the red button's cap in with the tip of the (closed) gripper.

Success: the red button's cap was pushed in by more than 15 mm at some time in the episode (progress.buttons_pressed), 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 DX DY DZ sets the action for the next step(s). VX and VY (m/s, up to +-0.5 and +-0.4) and WZ (deg/s, up to +-46, 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. DX DY DZ (m, +-0.03 per step) move the gripper-tip target in the body frame (x forward, y left, z up); zero holds it. The arm controller (inverse kinematics and joint position servos) keeps the jaw pointing forward and the gripper closed; the tip reaches about 1 m from the shoulder, which sits on top of the body 0.29 m ahead of its centre. One step is 50 ms; --repeat N holds an action for N steps. Skills (robo info lists them with their arguments): walk_to X Y [TOL] [SPEED] (turns towards the point and trots along the straight line, then stops; it does not avoid obstacles and reports when it is blocked), turn YAW_DEG, stand (stop, standing height, level body), sit (stop and lie down at the lowest body height; a velocity command raises the body again) and look_at X Y Z [SECONDS] (turn to face the point, pitch the body so the head camera points at height Z within +-20 degrees, hold still for SECONDS, at most 3, and report where the point falls in the head image). Arm skills: reach X Y Z [TOL] (moves the gripper tip in a straight line to a world point while the legs stand; it stops at contact or when out of reach) and stow.

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), arm (gripper tip_pos in the world and body frames, the tip target and the joint angles), 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).