Dynamic Food Serving

Task: The robot carries a tray of objects while changing posture (e.g., kneeling to standing) or walking to another location.
Challenge:
- The robot must preserve the tray’s stability against perturbations from its own motion.
- Postural transition introduces inertial coupling between upper and lower bodies.
Goal: Learn coordinated behavior where the upper body compensates for lower-body disturbances to maintain tray balance.

This task embodies dynamic coordination under motion-induced perturbations, relevant to service robotics and mobile manipulation.