Turn the door's lever handle to release the latch, then pull the door open

A Franka Emika Panda (7-DoF) with its parallel-jaw gripper works at a table; its base is at the -x end, facing +x. The scene is robosuite's Door environment (MuJoCo).

Goal: Open the door. It is latched: first turn its lever handle far enough to release the latch, then swing the door open toward the robot. robosuite's Door check: the hinge angle hinge_qpos is above 0.3 rad (the hinge stops at 0.4 rad). The door must still be open when the robot stops after robo done.

Call robo done when finished; the check is made after the robot then holds still for 10 steps, so the result must last.

This robot

• The action has 7 numbers, not 4: robo act DX DY DZ DROLL DPITCH DYAW GRIP, each in [-1, 1]: robosuite's OSC_POSE end-effector command plus the gripper, 20 steps per second, in the world frame. DX/DY/DZ = 1.0 asks for a 5 cm move (held at 1.0 the hand travels about 1.1 cm per step); DROLL/DPITCH/DYAW rotate the hand about the world x/y/z axes (1.0 asks for 0.5 rad; leave them at 0 unless you need to turn the hand, e.g. DYAW to line the fingers up with an object); GRIP +1 closes, -1 opens, 0 keeps the fingers as they are (they move over about 5 steps).
• robo move-to X Y Z [--grip G] and robo grip G are available; they move only the position and keep the hand's orientation (it can drift slowly under load; correct it with DROLL/DPITCH/DYAW).
• World frame, metres: +x points away from the robot's base, +y to the robot's left, +z up.
• robo observe fields: hand_pos (the gripper's grasp point between the fingertips, metres), hand_quat (hand orientation quaternion x, y, z, w; about [1, 0, 0, 0] when the gripper points straight down), gripper_open (distance between the two finger pads in metres: largest when open, smallest when closed on nothing, in between when holding something), gripper_yaw_deg (direction of the line through the two fingertips in the table plane, degrees from +x, in [-90, 90); the fingers close along this line); door_pos (centre of the door panel), handle_pos (the end of the lever handle), hinge_qpos (door opening angle, radians, 0 = closed), handle_qpos (lever rotation, radians; it is spring-loaded back to 0), door_hinge_pos (a point on the door's vertical hinge axis; the door swings about it); table_height.
• robo observe --image saves the sideview camera; add --camera robot0_eye_in_hand for the wrist camera. Images are 320x320.
• The step budget is 400 steps.
• The lever sits on the robot's side of the door; the latch only releases once the lever has turned past about 1.2 rad, and it catches again if the lever springs back before the door has opened a little. The handle end moves on a circle about the hinge as the door opens, so pull along that circle rather than in a straight line.