In the kitchen, turn on the bottom burner (the lower-left knob), turn on the top burner

A 7-joint Franka Panda arm with a two-finger parallel gripper stands in front of a kitchen (adapted from Gymnasium-Robotics FrankaKitchen-v1, the Relay Policy Learning / D4RL kitchen). World frame in metres: the robot's base is at (0, 0, 1.8); +y points from the robot into the kitchen, +x to the robot's right, +z up. The stove top is at about z = 1.6, the knob panel at y = 0.64 and the wall cabinets at z = 2.6. In front of the robot are: a microwave (left), the stove with four burners and a kettle, the oven knob panel with a light switch, and two wall cabinets above (hinged on the left, sliding on the right).

Goal: Do all of these, in any order: turn on the bottom burner (the lower-left knob); turn on the top burner (the upper-left knob); open the sliding cabinet door; open the hinged wall cabinet (its right-hand door).

Success is the upstream Franka Kitchen completion check for every one of these subtasks (bottom burner; top burner; slide cabinet; hinge cabinet): the subtask's joint values must be within 0.3 (Euclidean norm) of its goal values, judged on the physical state after you call robo done and the robot has held still for about 10 steps. Everything must still be in place at that moment (a door that swings shut again, or a kettle that falls over, does not count). Other kitchen objects may be left in any state.

• bottom burner: subtasks.bottom_burner.joints is the knob angle (rad; 0 = off, turning it on makes it negative, limit -1.57) and the burner's own switch position; the goal is [-0.88, -0.01], so the knob must be turned to between about -0.58 and -1.18 rad.
• top burner: subtasks.top_burner.joints is the knob angle (rad; 0 = off, turning it on makes it negative, limit -1.57) and the burner's own switch position; the goal is [-0.92, -0.01], so the knob must be turned to between about -0.62 and -1.22 rad.
• slide cabinet: subtasks.slide_cabinet.joints is how far the door has slid (m; 0 = closed, limit 0.44); the goal is 0.37, so it must be open by more than 0.07 m.
• hinge cabinet: subtasks.hinge_cabinet.joints is the angle of the left door and of the right door (rad; 0 = closed, the right door opens to positive angles, limit 1.57); the goal is [0, 1.45], so the right door must be open past about 1.15 rad while the left door stays shut.

The four oven knobs are on the vertical panel above the stove, facing the robot (-y); each is a disc with a vertical grip bar (about 3 cm wide, 10 cm tall, 4 cm deep; the front face of the bar is at ..._knob_pos). A knob turns about the y axis: turning it on is a clockwise turn as seen from the robot (the top of the bar moves toward +x).

The sliding cabinet is the wall cabinet on the right; its door slides along +x. slide_handle_pos is the middle of its vertical bar handle.

The hinged cabinet is the wall cabinet on the left, with two doors. Its right-hand door hinges on a vertical axis at hinge_cabinet_hinge_pos (the door's right edge) and swings toward the robot; hinge_handle_pos is the middle of that door's vertical bar handle.

In robo observe: hand_pos is the grasp centre between the finger pads (the fingertips reach about 5 cm further along +y; the fingers are about 2 cm thick and open to 8 cm), hand_target the commanded position, hand_roll / hand_roll_target the measured and commanded roll (rad), gripper_open (0 closed .. 1 open) and gripper_width (m), arm_joints the seven arm joint angles (rad). Landmarks (world positions, m): microwave_handle_pos, microwave_hinge_pos, kettle_handle_pos, kettle_pos, kettle_quat (w, x, y, z), kettle_goal_pos, bottom_burner_knob_pos, top_burner_knob_pos, light_switch_pos, slide_handle_pos, hinge_handle_pos, hinge_cabinet_hinge_pos. Under subtasks, each of the seven kitchen subtasks lists its current joint values (joints), its goal, distance (the norm of joints - goal), complete (distance < 0.3) and required (whether this task asks for it); goals_complete counts the required ones that are complete now.

This task uses a 5-number action. robo act DX DY DZ DROLL GRIP [--repeat N], each in [-1, 1], one step = 80 ms: DX DY DZ move the gripper's commanded position by up to 3 cm per unit along world x, y, z; DROLL turns the gripper about its pointing axis by up to 0.1 rad (5.7 degrees) per unit (positive = clockwise as seen from the robot, the top of the gripper moving toward +x); GRIP +1 closes the fingers, -1 opens them. The backend turns this into joint motions with inverse kinematics; the commanded position never runs more than 6 cm ahead of the gripper, so pushing against furniture stalls rather than winding up. The gripper always points straight ahead (+y), horizontal. At roll 0 its two fingers are side by side along x (they close left-right, suited to vertical bars); at roll 1.57 (90 degrees) they are above and below each other (they close top-bottom, suited to horizontal bars). The roll is limited to +-1.6 rad. robo move-to X Y Z [--grip G] moves hand_pos to a point in a straight line at the current roll, and robo grip G holds position and sets the fingers; the DX DY DZ GRIP form in the general instructions below does not apply here (use 5 numbers). The arm cannot pass through furniture, and a move can stall if the arm or fingers touch something; check hand_pos after each move.

The step budget is 1500 steps.