Read the pressure gauge

You control a Boston Dynamics Spot quadruped (MuJoCo Menagerie model, 50 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 stands at the west end of the corridor at (-2.9, 2.1), facing east. Inspect the pressure gauge on the instrument board on the east wall of the east room: the dial centre is at (5.87, 0.5, 1.4), 1.4 m up, facing west. The head camera is about 0.55 m above the floor, so get close and pitch the body up (DPITCH, or the look_at skill).

Success: the gauge has been inspected, and it never fell; a tag counts as inspected when, for 1 s (20 consecutive steps), the robot stood still (not stepping, base slower than 0.1 m/s and turning slower than 11 deg/s) while the tag's centre was in the central half of the head camera image (both image coordinates within half the distance from the centre to the border), 0.3-1.6 m in front of the camera, unoccluded (a ray from the camera reaches the tag) and seen from within 60 degrees of the direction the tag faces; progress.inspected_tags lists the tags inspected so far. 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 +-0.5 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. 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).

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 1200 steps (60 s).