# Task list and status

<!-- STATUS TABLE -->
**18 of 30 passing.**

| task | status | last failure |
|---|---|---|
| `bar_pull` | **pass** |  |
| `bell_coaster` | fail |  |
| `bottle_bin` | **pass** |  |
| `can_box` | **pass** |  |
| `cup_box` | **pass** |  |
| `cupboard_store` | fail | object did not rise with the gripper (+0.000 m): the jaw closed beside or above |
| `drawer_open` | fail |  |
| `drawer_store` | fail |  |
| `eraser_wipe` | **pass** |  |
| `fruit_basket` | fail | can at (+0.160,-0.020,0.506) vs basket centre (+0.020,-0.240) half=0.096: dx=0.1 |
| `fruit_tray` | **pass** |  |
| `grape_box` | **pass** |  |
| `handover_basket` | fail | rw_basket_dyn at (+0.058,+0.001,0.450) vs goal centre (+0.020,-0.230) half=0.145 |
| `laptop_close` | fail | rw_laptop joint 0: robot moved it 0.0 (need 0.45), within limits=False |
| `lid_food` | **pass** |  |
| `microwave_door` | fail |  |
| `peg_insert` | **pass** |  |
| `plank_dual_lift` | **pass** |  |
| `pot_dual_lift` | fail |  |
| `pour_kettle` | **pass** |  |
| `push_block` | **pass** |  |
| `push_relay` | fail |  |
| `ring_post` | **pass** |  |
| `rope_straighten` | fail | rw_rope link7 z=-0.445 m above the table (need 0.04) |
| `sort_cubes` | **pass** |  |
| `stack_blocks` | **pass** |  |
| `stack_cups` | **pass** |  |
| `sweep_debris` | **pass** |  |
| `switch_toggle` | fail |  |
| `weigh_fruit` | **pass** |  |
<!-- END STATUS TABLE -->


## Relationship to RoboTwin's own 50 tasks

This suite uses RoboTwin's assets but is **deliberately not a re-implementation of its task list**.
Where a task would otherwise duplicate one of theirs, it is varied on purpose — inverted, made
compound, or given an extra constraint — so the two sets exercise different things.

| RoboTwin task | here | what is deliberately different |
|---|---|---|
| Open Laptop | `laptop_close` | **inverted** — the lid is folded shut, a downward push instead of a lift |
| Stack Blocks Two | `stack_blocks` | blocks must land on a **marked target region**, not just on each other |
| Blocks Ranking RGB | `sort_cubes` | **bimanual**, each cube to a colour-matched pad on its own side of the table |
| Handover Block | `handover_basket` | a basket wider than the jaw, so it must be taken **by the rim** |
| Put Bottles Dustbin | `bottle_bin` | bottle lies on its **side**, so the jaw axis has to be chosen |
| Place Object Scale | `weigh_fruit` | — |
| Lift Pot | `pot_dual_lift` | — |
| Put Object Cabinet | `cupboard_store` | placement onto a **raised shelf** between walls |
| Open Microwave | `microwave_door` | — |
| Turn Switch | `switch_toggle` | — |

No RoboTwin equivalent: `pour_kettle`, `bar_pull`, `sweep_debris`, `eraser_wipe`, `push_relay`,
`ring_post`, `peg_insert`, `drawer_store`, `push_block`, `grape_box`, `lid_food`.