In the kitchen, open the microwave door, move the kettle onto the back-left 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: open the microwave door; move the kettle onto the back-left burner; turn on the bottom burner (the lower-left knob); turn on the light switch.

Success is the upstream Franka Kitchen completion check for every one of these subtasks (microwave; kettle; bottom burner; light switch): 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.

• 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.
• kettle: subtasks.kettle.joints is the kettle's position (x, y, z) followed by its orientation quaternion (w, x, y, z); the goal is position kettle_goal_pos = [-0.23, 0.75, 1.62] with orientation [0.99, 0, 0, -0.06] (upright, as it starts), and the whole 7-number vector must be within 0.3 of it (so the kettle must stand upright within about 0.25 m of the goal).
• 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.
• light switch: subtasks.light_switch.joints is the switch lever angle (rad; 0 = off, limit -0.7) and the light's own position; the goal is [-0.69, -0.05], so the lever must be turned to below about -0.4 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.

The kettle stands on the front-left burner. Its handle (kettle_handle_pos) is a horizontal bar on top that runs along x, about 26 cm above the kettle's base; the kettle is about 25 cm wide. kettle_pos is the kettle's base position and kettle_quat its orientation.

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 light switch is a small lever on the panel left of the knobs; light_switch_pos is its tip. The lever pivots about a vertical axis 7 cm behind its tip; turning it on swings the tip toward -x (to the robot's left).

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.