Open the microwave door

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: Open the microwave door.

Success is the upstream Franka Kitchen completion check for the subtask (microwave): 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).

• microwave: subtasks.microwave.joints is the door hinge angle (rad; 0 = closed, negative = open, limit -2.09); the goal is -0.75, so the door angle must end between -0.45 and -1.05 rad.

The microwave stands on the counter to the robot's left. Its door hinges on a vertical axis at microwave_hinge_pos (the door's left edge) and swings toward the robot; microwave_handle_pos is the middle of its 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 500 steps.