{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 3, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'AdjustToasterOvenTemperature', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 218, 'stable_release_contact_loss_t': 218, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.020043, -1.015707, -0.043832, -2.277006, 0.034405, 1.495798, 0.714649], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.073008, -1.43667, -0.307942, -2.61476, 0.391613, 2.016507, 0.77569], 'input_type': 'joint', 'steps': 67, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.067738, -0.679919, -0.318695, -2.485457, 1.272947, 2.534402, 0.417696], 'input_type': 'joint', 'steps': 83, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.064454, -0.675996, -0.312893, -2.482329, 1.272455, 2.541114, 0.432911], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.032451, -0.714339, -0.148981, -2.548795, 1.337465, 2.719729, 1.430218], 'input_type': 'joint', 'steps': 81, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2615, "code_num_lines": 24, "code_num_nonblank_lines": 19, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"AdjustToasterOvenTemperature\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"AdjustToasterOvenTemperature\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_left_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"counter_3_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[0.8227038003306258,-2.4985648050260774,0.0],\"initial_temp\":0.217505880994173,\"lang\":\"Increase the toaster oven temperature.\",\"layout_id\":21,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10563977062702179,\"qx\":0.7261344194412231,\"qy\":-0.6765750646591187,\"qz\":-0.06176775321364403,\"x\":0.5736874528526588,\"y\":-2.495573216092717,\"z\":1.2877530549520992},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"AdjustToasterOvenTemperature\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"AdjustToasterOvenTemperature\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"AdjustToasterOvenTemperature\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_left_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"counter_3_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[0.8227038003306258,-2.4985648050260774,0.0],\"initial_temp\":0.217505880994173,\"lang\":\"Increase the toaster oven temperature.\",\"layout_id\":21,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10563977062702179,\"qx\":0.7261344194412231,\"qy\":-0.6765750646591187,\"qz\":-0.06176775321364403,\"x\":0.5736874528526588,\"y\":-2.495573216092717,\"z\":1.2877530549520992},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,12.49856518017939,9.177295793703504,2.2493158362437826e-07,2.2703684463048806e-08,0.021437188071534028,-1.0149025115719452,-0.04431401555805681,-2.277167450364313,0.033836855319596286,1.4975436335031598,0.7153176711565237,0.020566311197443777,-0.020500248112741953,-1.0068962445739522e-09,4.650828023128669e-08,0.0,0.0,0.0,-1.1188787886274257e-05,-0.0020885999916662305,0.0,0.0,0.0,-2.62823031093847e-16,0.0,0.0,-1.0228313988621785e-12,-0.0015956507142288454,-1.2907268049269825e-05,1.1618967052776837e-08,1.7131980827657305e-08,5.167675797284374e-09,2.4210544329383988e-09,1.1187867125993041e-12,-9.599832596467868e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.3774752958569224e-17,0.0,-5.284059839648925e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.2936325693835706e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.732766199157765e-05,0.0,-8.54044402118771e-12,0.8541435973824508,-1.9587819514670498e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.716592004447789e-16,0.0,0.0,-4.716592004447789e-16,-6.611611682143432e-07,-1.6874586405387373e-07,-2.942705129834301e-06,2.9819477533709016e-07,-8.280736031729028e-06,1.1522731105094622e-06,-0.0006321444798204565,0.0010599967578208472,-0.0007713063487526937,-0.0009630039216321019,-0.00010851736633509474,-0.0004462543419015388,0.0004897954590060577,-2.048861214315768e-09,9.463637592061266e-08,0.0,0.0,0.0,-1.5122828067015195e-06,1.8291112991982286e-07,0.0,0.0,0.0,-1.0710091563266538e-17,0.0,0.0,-2.0656404902453895e-14,-7.309584477100424e-07,-2.346268903493868e-07,2.3642507242145362e-08,3.486049826547718e-08,1.0515290378853839e-08,4.926410127874523e-09,2.2765296545147243e-12,-1.7338608025415075e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.1744999784941383e-18,0.0,-2.4840952686718135e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.5500256964109396e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0246558687355712e-06,-1.3173151899207168e-06,-1.542517047419509e-13,1.5793208726228921e-10,-3.5378190368583395e-12,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.8190886623066867e-17,0.0,0.0,-1.8190886623066867e-17],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"AdjustToasterOvenTemperature\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 5, "pretrain_task_id": 0, "retained_waypoint_count": 5, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Increase the toaster oven temperature.", "task_name": "AdjustToasterOvenTemperature", "video_available": true, "video_bytes": 408410, "video_relpath": "videos/compressed/00_AdjustToasterOvenTemperature.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'AdjustWaterTemperature', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 243, 'stable_release_contact_loss_t': 243, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.002977, -1.030809, -0.026424, -2.277712, 0.029467, 1.539352, 0.705861], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.173991, 0.743797, 0.007755, -1.453207, 1.527723, 1.661628, -1.395935], 'input_type': 'joint', 'steps': 175, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.268687, 0.903104, 0.12875, -1.161958, 1.139405, 1.330426, -1.404024], 'input_type': 'joint', 'steps': 82, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2216, "code_num_lines": 22, "code_num_nonblank_lines": 17, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"AdjustWaterTemperature\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"AdjustWaterTemperature\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"sink\":\"sink_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"HingeCabinet\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"cube_island_group\":{\"cls\":\"Box\"},\"dishwasher_island_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_top_right_group\":{\"cls\":\"HingeCabinet\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_cab_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_1_island_group_base\":{\"cls\":\"Box\"},\"panel_cab_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_2_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_3\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"Drawer\"},\"stack_4_island_group_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_3\":{\"cls\":\"Drawer\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_6_main_group_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1\":{\"cls\":\"Drawer\"},\"stack_7_main_group_2\":{\"cls\":\"HingeCabinet\"},\"stack_7_main_group_3\":{\"cls\":\"SingleCabinet\"},\"stack_7_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_island_group\":{\"cls\":\"Stovetop\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.19512988186421,-0.8273832501680743,0.0],\"initial_temp_state\":\"cold\",\"lang\":\"The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.\",\"layout_id\":28,\"object_cfgs\":[],\"style_id\":13},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01913205161690712,\"qx\":0.03547317162156105,\"qy\":-0.9883686304092407,\"qz\":-0.14663948118686676,\"x\":3.197533854679104,\"y\":-0.5752981449633185,\"z\":1.297275453977427},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"AdjustWaterTemperature\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"AdjustWaterTemperature\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"AdjustWaterTemperature\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"sink\":\"sink_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"HingeCabinet\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"cube_island_group\":{\"cls\":\"Box\"},\"dishwasher_island_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_top_right_group\":{\"cls\":\"HingeCabinet\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_cab_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_1_island_group_base\":{\"cls\":\"Box\"},\"panel_cab_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_2_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_3\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"Drawer\"},\"stack_4_island_group_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_3\":{\"cls\":\"Drawer\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_6_main_group_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1\":{\"cls\":\"Drawer\"},\"stack_7_main_group_2\":{\"cls\":\"HingeCabinet\"},\"stack_7_main_group_3\":{\"cls\":\"SingleCabinet\"},\"stack_7_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_island_group\":{\"cls\":\"Stovetop\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.19512988186421,-0.8273832501680743,0.0],\"initial_temp_state\":\"cold\",\"lang\":\"The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.\",\"layout_id\":28,\"object_cfgs\":[],\"style_id\":13},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01913205161690712,\"qx\":0.03547317162156105,\"qy\":-0.9883686304092407,\"qz\":-0.14663948118686676,\"x\":3.197533854679104,\"y\":-0.5752981449633185,\"z\":1.297275453977427},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,6.804870170411263,-10.827383288298952,2.2279642901623008e-07,2.8360083517790957e-08,0.003709949321489348,-1.0308165046476514,-0.02639698461353512,-2.2777113049173736,0.029423242951162307,1.5393515072678299,0.706198888414714,0.020558209407616265,-0.020508347122345158,-1.4702315925610693e-06,1.5441402144775177e-06,0.0,0.0,0.0,0.0,-1.7381952711210862e-06,2.534495889811528e-06,-0.15923442498627174,0.45866549813282687,0.0,-4.108329916123115e-07,-3.6794052282682134e-08,5.920965900993718e-07,-3.664007023517094e-08,9.817285217099016e-07,-3.6659324270049425e-08,2.7812148462261396e-06,-3.6659324270049425e-08,-1.4849461247244999e-06,8.081537748409675e-07,-6.84683785683584e-05,-1.5632988142464368e-09,1.7996607700128643e-21,0.0,-3.273294284314936e-07,1.3431515793511173e-06,-3.737043228233973e-08,-3.9210919127627527e-08,-1.7239245399719064e-07,1.7930560557821242e-06,1.0024663332055326e-06,-2.3316677510493694e-06,-1.6201935087287373e-06,5.131958338919012e-07,-4.256512063054916e-06,1.6430584899246947e-06,0.0,0.0,-9.175568011898189e-05,-0.0014624284344455726,-0.007634365621841037,-2.62276451355138e-10,-0.00035329578951442725,0.0,3.599307317173833e-21,-3.0885568047603585e-22,0.0,0.0,0.0,0.0,0.0,-8.76508955374668e-07,1.2434295612990492e-06,0.0,0.0,0.0,0.0,6.008986908179979e-07,-3.799603048435824e-08,-1.304044575266009e-05,-0.005507905645650184,0.0,0.0,-1.7468161152497822e-06,1.503064620693496e-06,-3.741698460288584e-08,-3.741698460288584e-08,-3.735001734103653e-08,-3.741698460288584e-08,-3.741698460288584e-08,-3.735001734103653e-08,2.188466310894297e-06,-3.735001734103653e-08,-6.90011908107652e-07,4.4284689515092373e-07,-2.925522553790419e-06,4.908283990160981e-08,-9.257599140520462e-06,0.0005449177290024845,-0.0006493172326218064,-2.781068167629273e-05,-0.0007307331328940172,0.00010571628702653392,-0.00011355399259417163,-0.0004635588256288296,0.000472497348090789,-4.5761206061079954e-05,-2.8934706161039648e-05,0.0,0.0,0.0,0.0,6.498630465225685e-05,1.787725533565275e-05,5.910910548338719e-09,5.033529671681413e-07,0.0,3.20762889335528e-05,-1.2845215047116604e-09,-4.649195468556458e-05,-1.2430550296195958e-09,1.3686838871917615e-05,-1.2481908852968498e-09,-2.336470705037635e-05,-1.2481908852968498e-09,2.1699683999801325e-05,-1.913574471537534e-05,-4.390029570664073e-07,-2.74130994413267e-11,3.6619859662520696e-21,0.0,-1.9794880099676443e-05,-4.995013153512925e-05,-1.447813999381069e-09,-2.058120535338993e-09,-7.845192068872049e-05,-9.70406866067156e-06,-4.2450035818444084e-07,3.961055137837288e-05,2.2742906371774458e-05,1.4247613261987698e-05,-2.798850192086379e-05,-3.3708179254385725e-05,0.0,0.0,-3.438437871239253e-12,-0.0013506806615009627,-3.7169144533152103e-07,-4.599127273413749e-12,-2.4800152237868076e-07,-1.9318032613176244e-06,7.3239429915294e-21,-5.4159135177755066e-24,0.0,0.0,0.0,0.0,0.0,-4.6218497409941276e-05,5.715195358468972e-05,0.0,0.0,0.0,0.0,-1.7705225082590127e-05,-1.520780014915097e-09,-2.2315137929781486e-07,-2.796787638136837e-07,0.0,0.0,5.546442921088025e-06,5.495912945725017e-05,-1.3503207569751486e-09,-1.3503207569751486e-09,-1.3314580643703909e-09,-1.3503207569751486e-09,-1.3503207569751486e-09,-1.3314580643703909e-09,1.0444877202890257e-05,-1.3314580643703909e-09],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"AdjustWaterTemperature\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 3, "pretrain_task_id": 1, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "The water running in the sink is cold. Adjust the faucet handle to run the water hot. Make sure to keep the water on.", "task_name": "AdjustWaterTemperature", "video_available": true, "video_bytes": 414760, "video_relpath": "videos/compressed/01_AdjustWaterTemperature.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CheesyBread', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 111, 'stable_release_contact_loss_t': 231, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.00054, -1.039431, -0.054396, -2.264717, 0.036371, 1.506583, 0.689183], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.082441, -0.839525, 0.722672, -2.86425, 0.652916, 2.028631, 1.423486], 'input_type': 'joint', 'steps': 104, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.083409, -0.838677, 0.721588, -2.86425, 0.651941, 2.029128, 1.42401], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.086025, -0.836752, 0.718848, -2.864241, 0.649571, 2.030339, 1.425418], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.08809, -0.835227, 0.716777, -2.862376, 0.647681, 2.031166, 1.427317], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.055463, -0.30014, 0.00142, -2.400263, -0.038495, 2.086941, 1.542155], 'input_type': 'joint', 'steps': 77, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.053929, -0.296672, 0.000557, -2.395755, -0.038553, 2.083141, 1.542677], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.020094, -0.428989, 0.102865, -2.490941, 0.017079, 1.942488, 1.627963], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.002528, -1.430688, 0.086103, -2.847098, 0.075299, 1.524598, 0.899135], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[0.087492, -0.835723, 0.717407, -2.862739, 0.648414, 2.030981, 1.426721], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[0.087492, -0.835723, 0.717407, -2.862739, 0.648414, 2.030981, 1.426721], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4128, "code_num_lines": 40, "code_num_nonblank_lines": 35, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CheesyBread\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CheesyBread\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_2_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_front_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group\":{\"cls\":\"Box\"},\"cube_1_front_group_2\":{\"cls\":\"Box\"},\"cube_2_dining_area_group\":{\"cls\":\"Box\"},\"cube_2_front_group_2\":{\"cls\":\"Box\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_front_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_front_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_front_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_front_group_1_base\":{\"cls\":\"Box\"},\"stack_05_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_front_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_front_group_1_base\":{\"cls\":\"Box\"},\"stack_06_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_front_group_1_base\":{\"cls\":\"Box\"},\"stack_08_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_front_group_1_base\":{\"cls\":\"Box\"},\"stack_09_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_09_front_group_2_base\":{\"cls\":\"Box\"},\"stack_10_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_front_group_2_base\":{\"cls\":\"Box\"},\"stack_11_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_front_group_2_base\":{\"cls\":\"Box\"},\"stack_12_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_front_group_1_base\":{\"cls\":\"Box\"},\"stack_13_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_13_front_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706378976484208],\"init_robot_base_pos\":[5.400614808814539,-0.8969283400904168,0.0],\"lang\":\"Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.\",\"layout_id\":46,\"object_cfgs\":[{\"info\":{\"cat\":\"cutting_board\",\"groups\":[\"cutting_board\"],\"groups_containing_sampled_obj\":[\"all\",\"cutting_board\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml\",\"split\":\"train\"},\"name\":\"bread_container\",\"obj_groups\":\"cutting_board\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,-1.0],\"size\":[0.5,0.7],\"try_to_place_in\":\"cutting_board\"},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"bread_flat\",\"groups\":[\"bread_flat\"],\"groups_containing_sampled_obj\":[\"all\",\"bread_flat\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml\",\"split\":\"train\"},\"name\":\"bread\",\"obj_groups\":\"bread_flat\",\"object_scale\":1.5,\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"bread_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"cheese\",\"groups\":[\"cheese\"],\"groups_containing_sampled_obj\":[\"all\",\"cheese\",\"dairy\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"cheese\",\"obj_groups\":\"cheese\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,-1.0],\"ref_obj\":\"bread_container\",\"size\":[1.0,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"tangerine\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tangerine\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,1.0],\"size\":[1.0,0.2]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"}],\"style_id\":42},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.032279711216688156,\"qx\":0.03491343557834625,\"qy\":-0.9886773824691772,\"qz\":-0.14232324063777924,\"x\":5.412167736301277,\"y\":-0.6530002914841514,\"z\":1.300866127692016},\"goal_pose\":{\"qw\":0.9839453784163202,\"qx\":3.185264662773322e-06,\"qy\":-8.515232498985827e-06,\"qz\":0.17846986359189143,\"x\":5.439598247756204,\"y\":-0.4366530667582613,\"z\":0.9267367594999206},\"object_pose\":{\"qw\":0.9640665780739994,\"qx\":-0.017605254234282164,\"qy\":0.011163002839136071,\"qz\":-0.26484160441979065,\"x\":5.169349012182222,\"y\":-0.6628523646490868,\"z\":0.9497438463102271}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CheesyBread\"}", "initial_scene_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CheesyBread\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CheesyBread\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_2_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_front_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group\":{\"cls\":\"Box\"},\"cube_1_front_group_2\":{\"cls\":\"Box\"},\"cube_2_dining_area_group\":{\"cls\":\"Box\"},\"cube_2_front_group_2\":{\"cls\":\"Box\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_front_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_front_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_front_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_front_group_1_base\":{\"cls\":\"Box\"},\"stack_05_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_front_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_front_group_1_base\":{\"cls\":\"Box\"},\"stack_06_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_front_group_1_base\":{\"cls\":\"Box\"},\"stack_08_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_front_group_1_base\":{\"cls\":\"Box\"},\"stack_09_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_09_front_group_2_base\":{\"cls\":\"Box\"},\"stack_10_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_front_group_2_base\":{\"cls\":\"Box\"},\"stack_11_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_front_group_2_base\":{\"cls\":\"Box\"},\"stack_12_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_front_group_1_base\":{\"cls\":\"Box\"},\"stack_13_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_13_front_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706378976484208],\"init_robot_base_pos\":[5.400614808814539,-0.8969283400904168,0.0],\"lang\":\"Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.\",\"layout_id\":46,\"object_cfgs\":[{\"info\":{\"cat\":\"cutting_board\",\"groups\":[\"cutting_board\"],\"groups_containing_sampled_obj\":[\"all\",\"cutting_board\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml\",\"split\":\"train\"},\"name\":\"bread_container\",\"obj_groups\":\"cutting_board\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,-1.0],\"size\":[0.5,0.7],\"try_to_place_in\":\"cutting_board\"},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"bread_flat\",\"groups\":[\"bread_flat\"],\"groups_containing_sampled_obj\":[\"all\",\"bread_flat\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml\",\"split\":\"train\"},\"name\":\"bread\",\"obj_groups\":\"bread_flat\",\"object_scale\":1.5,\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"bread_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"cheese\",\"groups\":[\"cheese\"],\"groups_containing_sampled_obj\":[\"all\",\"cheese\",\"dairy\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"cheese\",\"obj_groups\":\"cheese\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,-1.0],\"ref_obj\":\"bread_container\",\"size\":[1.0,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"tangerine\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tangerine\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[0,1.0],\"size\":[1.0,0.2]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.697036,0.65]},\"type\":\"object\"}],\"style_id\":42},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.032279711216688156,\"qx\":0.03491343557834625,\"qy\":-0.9886773824691772,\"qz\":-0.14232324063777924,\"x\":5.412167736301277,\"y\":-0.6530002914841514,\"z\":1.300866127692016},\"goal_pose\":{\"qw\":0.9839453784163202,\"qx\":3.185264662773322e-06,\"qy\":-8.515232498985827e-06,\"qz\":0.17846986359189143,\"x\":5.439598247756204,\"y\":-0.4366530667582613,\"z\":0.9267367594999206},\"object_pose\":{\"qw\":0.9640665780739994,\"qx\":-0.017605254234282164,\"qy\":0.011163002839136071,\"qz\":-0.26484160441979065,\"x\":5.169349012182222,\"y\":-0.6628523646490868,\"z\":0.9497438463102271}},\"initial_state\":[0.5000000000000003,4.597658801192583,-10.897656916998695,1.860675720686739e-07,2.0811672452379796e-08,0.001167065714383894,-1.0390402029719774,-0.054548424263108006,-2.264783409306685,0.03618461215544142,1.5074013196561753,0.689374208477035,0.02056859613938708,-0.02049796451546473,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.881797952698239e-17,7.670113074350859e-18,-3.5503259295127064e-16,4.7792300796628296e-18,-9.344997688915767e-05,2.0651219685097025e-09,2.6391354751358476e-08,2.0651219684963576e-09,2.639135475136012e-08,3.5765821776306745e-08,3.577387948835264e-08,2.3448048702377095e-08,-1.1175005401282846e-09,0.0,0.0,0.0,0.0,0.0,0.0,-2.671318778844254e-16,-2.708208745851879e-16,-2.708208745851879e-16,-2.1132841571370168e-16,-2.1397316466296734e-16,-2.1397316466296734e-16,0.0,0.0,-2.6262365280136685e-16,0.0,0.0,-0.0004254279639525414,0.0005282503718496354,-0.006948379482263011,3.421602963338691e-10,-0.00039599656778206997,-0.006948378682472061,-2.6969579259897457e-10,-0.00039599638109592643,0.0,-2.6917839551664113e-09,-2.5134148877865503e-09,0.0,2.23414753392394e-08,5.022243827717123e-07,0.0,0.0,4.707401221935844e-15,0.0,8.827742656727316e-18,-6.068782890954028e-16,1.9878494013550137e-14,0.0,0.0,-1.6083885411284302e-15,0.00187433677782618,-0.007318553980496147,0.0,0.0,-3.91175364163101e-15,0.0,-1.3280238080167788e-15,0.0,7.276646519202211e-17,-1.9952348819133522e-13,0.0,-1.844674950468828e-15,3.501361640018594e-21,4.244914209873384e-15,5.4379067718730285,-0.43303017894060775,0.9650287917478703,0.9930313615367424,0.0022804530390434135,0.020380352575579224,0.11605238372094516,5.439598247756204,-0.4366530667582613,0.9267367594999206,0.9839453784163202,3.185264662773322e-06,-8.515232498985827e-06,0.17846986359189143,5.169349012182222,-0.6628523646490868,0.9497438463102271,0.9640665780739994,-0.017605254234282164,0.011163002839136071,-0.26484160441979065,5.20248393163761,-0.25624828232185515,0.9461011316511255,0.9874274269033041,0.0009309853729006178,0.0036202709975846534,0.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"is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 2, "retained_waypoint_count": 10, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.", "task_name": "CheesyBread", "video_available": true, "video_bytes": 376205, "video_relpath": "videos/compressed/02_CheesyBread.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseBlenderLid\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {\n    'policy_kind': 'open_loop_joint',\n    'policy_variant': 'open-loop-joint',\n    'task_name': 'CloseBlenderLid',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 76,\n    'stable_release_contact_loss_t': 76,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=float('nan'), y=float('nan'), z=float('nan'), qw=float('nan'), qx=float('nan'), qy=float('nan'), qz=float('nan'))\nGOAL_RECEPTACLE_POSE = pose(x=float('nan'), y=float('nan'), z=float('nan'), qw=float('nan'), qx=float('nan'), qy=float('nan'), qz=float('nan'))\n\nAPPROACH_003_JOINTS = [-0.018129, -1.055660, -0.008860, -2.256801, 0.038554, 1.507538, 0.671120]  # t=3\nAPPROACH_004_JOINTS = [-0.018888, -1.070419, -0.013096, -2.255506, 0.036090, 1.490269, 0.675154]  # t=4\nAPPROACH_005_JOINTS = [-0.021039, -1.088220, -0.025171, -2.259211, 0.030900, 1.475702, 0.685451]  # t=5\nAPPROACH_007_JOINTS = [-0.027392, -1.129855, -0.078486, -2.277934, 0.020895, 1.457084, 0.697556]  # t=7\nAPPROACH_008_JOINTS = [-0.031148, -1.150873, -0.112914, -2.287349, 0.016891, 1.447865, 0.701255]  # t=8\nAPPROACH_012_JOINTS = [-0.049658, -1.212915, -0.256520, -2.313199, -0.008999, 1.428368, 0.728637]  # t=12\nAPPROACH_013_JOINTS = [-0.054608, -1.221184, -0.290673, -2.319493, -0.020854, 1.428320, 0.734192]  # t=13\nAPPROACH_016_JOINTS = [-0.068627, -1.228322, -0.384397, -2.346362, -0.071275, 1.437685, 0.740958]  # t=16\nAPPROACH_018_JOINTS = [-0.076768, -1.223824, -0.428582, -2.373372, -0.110730, 1.445509, 0.741331]  # t=18\nAPPROACH_020_JOINTS = [-0.084484, -1.220449, -0.462064, -2.394356, -0.136423, 1.462408, 0.741862]  # t=20\nAPPROACH_024_JOINTS = [-0.100250, -1.218668, -0.513996, -2.446999, -0.181638, 1.491752, 0.723935]  # t=24\nAPPROACH_028_JOINTS = [-0.113779, -1.201362, -0.556023, -2.504391, -0.237675, 1.507416, 0.707651]  # t=28\nAPPROACH_031_JOINTS = [-0.122951, -1.184799, -0.586133, -2.542702, -0.273715, 1.526181, 0.695913]  # t=31\nAPPROACH_032_JOINTS = [-0.125871, -1.180020, -0.594519, -2.550925, -0.282520, 1.533801, 0.691563]  # t=32\nAPPROACH_036_JOINTS = [-0.134964, -1.156424, -0.636951, -2.549721, -0.304428, 1.562691, 0.659997]  # t=36\nAPPROACH_040_JOINTS = [-0.137045, -1.120581, -0.663366, -2.586268, -0.325234, 1.603627, 0.650614]  # t=40\nAPPROACH_044_JOINTS = [-0.139024, -1.088414, -0.685408, -2.618015, -0.343426, 1.643822, 0.633545]  # t=44\nAPPROACH_045_JOINTS = [-0.138810, -1.078945, -0.691754, -2.626693, -0.347965, 1.658451, 0.628000]  # t=45\nAPPROACH_048_JOINTS = [-0.140313, -1.054106, -0.716987, -2.642030, -0.363250, 1.694279, 0.597996]  # t=48\nAPPROACH_052_JOINTS = [-0.139952, -1.020663, -0.743111, -2.653754, -0.372951, 1.738308, 0.560611]  # t=52\nAPPROACH_054_JOINTS = [-0.139604, -1.003672, -0.755807, -2.658018, -0.377563, 1.756285, 0.544261]  # t=54\nAPPROACH_056_JOINTS = [-0.135429, -0.979073, -0.766679, -2.673272, -0.383081, 1.788796, 0.539194]  # t=56\nAPPROACH_060_JOINTS = [-0.122675, -0.925622, -0.776299, -2.691582, -0.383257, 1.844778, 0.536554]  # t=60\nAPPROACH_064_JOINTS = [-0.104085, -0.860256, -0.780118, -2.702965, -0.378246, 1.901693, 0.539299]  # t=64\nAPPROACH_068_JOINTS = [-0.088474, -0.798573, -0.786116, -2.702716, -0.366655, 1.939511, 0.529773]  # t=68\nAPPROACH_072_JOINTS = [-0.084501, -0.756150, -0.800344, -2.706422, -0.359218, 1.970529, 0.511496]  # t=72\nAPPROACH_076_JOINTS = [-0.084282, -0.720002, -0.817821, -2.721585, -0.357946, 2.014410, 0.496257]  # t=76\nPRESS_078_JOINTS = [-0.084706, -0.702430, -0.827099, -2.726683, -0.359231, 2.037927, 0.489291]  # t=78\nPRESS_080_JOINTS = [-0.085231, -0.686583, -0.834470, -2.727113, -0.358952, 2.054503, 0.482564]  # t=80\nPRESS_082_JOINTS = [-0.085836, -0.673628, -0.838582, -2.726498, -0.357032, 2.065361, 0.478815]  # t=82\nPRESS_084_JOINTS = [-0.085956, -0.660816, -0.841896, -2.726781, -0.355175, 2.077560, 0.476889]  # t=84\nPRESS_085_JOINTS = [-0.085999, -0.655454, -0.841990, -2.727152, -0.353791, 2.081886, 0.476950]  # t=85\nPRESS_086_JOINTS = [-0.086163, -0.650268, -0.841126, -2.728221, -0.354107, 2.086883, 0.478758]  # t=86\nPRESS_087_JOINTS = [-0.086760, -0.645907, -0.839072, -2.729613, -0.356027, 2.091484, 0.482555]  # t=87\nPRESS_088_JOINTS = [-0.087845, -0.643207, -0.836492, -2.729342, -0.357231, 2.093927, 0.486311]  # t=88\nPRESS_090_JOINTS = [-0.090254, -0.639840, -0.831957, -2.727958, -0.357005, 2.096313, 0.491857]  # t=90\nPRESS_092_JOINTS = [-0.092145, -0.637364, -0.826515, -2.727292, -0.355557, 2.098337, 0.498149]  # t=92\nPRESS_094_JOINTS = [-0.093847, -0.636256, -0.819909, -2.727242, -0.353539, 2.098759, 0.504872]  # t=94\nPRESS_096_JOINTS = [-0.095822, -0.638887, -0.809824, -2.727459, -0.351015, 2.094201, 0.510861]  # t=96\nPRESS_098_JOINTS = [-0.098315, -0.644895, -0.797488, -2.727437, -0.348728, 2.085916, 0.515730]  # t=98\nPRESS_100_JOINTS = [-0.101137, -0.655057, -0.781860, -2.726980, -0.345025, 2.072814, 0.521595]  # t=100\nPRESS_102_JOINTS = [-0.104042, -0.667378, -0.766077, -2.729275, -0.339616, 2.062420, 0.529134]  # t=102\nPRESS_104_JOINTS = [-0.107097, -0.682560, -0.748729, -2.736030, -0.333353, 2.052563, 0.538572]  # t=104\nPRESS_106_JOINTS = [-0.110195, -0.702892, -0.725533, -2.747949, -0.324639, 2.038036, 0.553643]  # t=106\nPRESS_107_JOINTS = [-0.112289, -0.715686, -0.712336, -2.754166, -0.320008, 2.028593, 0.562720]  # t=107\nPRESS_108_JOINTS = [-0.115693, -0.731702, -0.699077, -2.757801, -0.316028, 2.013906, 0.571029]  # t=108\nPRESS_110_JOINTS = [-0.125793, -0.771423, -0.675857, -2.758921, -0.309499, 1.978536, 0.581246]  # t=110\nPRESS_112_JOINTS = [-0.138065, -0.821591, -0.655259, -2.753826, -0.298091, 1.942794, 0.581946]  # t=112\nPRESS_114_JOINTS = [-0.152320, -0.880157, -0.639055, -2.743921, -0.284494, 1.909811, 0.574546]  # t=114\nPRESS_116_JOINTS = [-0.167813, -0.944207, -0.627189, -2.732834, -0.269338, 1.877947, 0.561755]  # t=116\nPRESS_117_JOINTS = [-0.175367, -0.975108, -0.623657, -2.730577, -0.263021, 1.866829, 0.555207]  # t=117\nPRESS_118_JOINTS = [-0.181499, -0.999001, -0.621276, -2.738710, -0.262046, 1.862541, 0.554076]  # t=118\nPRESS_119_JOINTS = [-0.187675, -1.018434, -0.621318, -2.750061, -0.266935, 1.860398, 0.555697]  # t=119\nPRESS_120_JOINTS = [-0.195312, -1.041063, -0.626249, -2.758492, -0.270136, 1.859387, 0.550625]  # t=120\nPRESS_121_JOINTS = [-0.204465, -1.067957, -0.633206, -2.764943, -0.271382, 1.855664, 0.541164]  # t=121\nPRESS_122_JOINTS = [-0.214034, -1.099603, -0.635520, -2.765032, -0.267806, 1.844264, 0.531681]  # t=122\nPRESS_124_JOINTS = [-0.232451, -1.169908, -0.628334, -2.751578, -0.249765, 1.807641, 0.515682]  # t=124\nPRESS_126_JOINTS = [-0.247841, -1.236358, -0.616075, -2.736442, -0.227833, 1.773461, 0.505561]  # t=126\nPRESS_128_JOINTS = [-0.259465, -1.295308, -0.600094, -2.725106, -0.205196, 1.743773, 0.503502]  # t=128\nPRESS_130_JOINTS = [-0.266610, -1.346722, -0.577359, -2.714198, -0.179432, 1.717114, 0.509523]  # t=130\nPRESS_132_JOINTS = [-0.269360, -1.390678, -0.548182, -2.701135, -0.150935, 1.691915, 0.523088]  # t=132\nPRESS_134_JOINTS = [-0.268603, -1.427879, -0.517069, -2.684815, -0.122019, 1.668412, 0.540439]  # t=134\nPRESS_136_JOINTS = [-0.264632, -1.458881, -0.484819, -2.664593, -0.092398, 1.647041, 0.560326]  # t=136\nPRESS_138_JOINTS = [-0.258152, -1.485036, -0.452786, -2.640099, -0.062918, 1.626397, 0.581668]  # t=138\nPRESS_140_JOINTS = [-0.249364, -1.504627, -0.422365, -2.609662, -0.038444, 1.610626, 0.602305]  # t=140\nPRESS_142_JOINTS = [-0.238806, -1.518173, -0.391962, -2.575324, -0.020834, 1.599137, 0.622312]  # t=142\nPRESS_144_JOINTS = [-0.226833, -1.526999, -0.363093, -2.538471, -0.005262, 1.591879, 0.642510]  # t=144\nPRESS_146_JOINTS = [-0.214041, -1.532330, -0.337447, -2.500283, 0.008875, 1.590126, 0.662083]  # t=146\nPRESS_148_JOINTS = [-0.200361, -1.532728, -0.310980, -2.460377, 0.024136, 1.593958, 0.684224]  # t=148\nPRESS_149_JOINTS = [-0.193200, -1.530916, -0.297241, -2.439809, 0.032601, 1.597423, 0.696305]  # t=149\nPRESS_150_JOINTS = [-0.185945, -1.528076, -0.283212, -2.418943, 0.041390, 1.600828, 0.708914]  # t=150\nPRESS_152_JOINTS = [-0.171606, -1.521668, -0.256197, -2.374772, 0.058784, 1.605576, 0.733464]  # t=152\nPRESS_154_JOINTS = [-0.157574, -1.515560, -0.232543, -2.329737, 0.077454, 1.609848, 0.755685]  # t=154\nPRESS_156_JOINTS = [-0.144639, -1.513200, -0.210617, -2.287470, 0.096737, 1.615688, 0.776846]  # t=156\nPRESS_158_JOINTS = [-0.133203, -1.515396, -0.190085, -2.247535, 0.114717, 1.625423, 0.797049]  # t=158\nPRESS_159_JOINTS = [-0.127889, -1.516658, -0.180274, -2.228300, 0.122888, 1.631963, 0.806757]  # t=159\nPRESS_160_JOINTS = [-0.122882, -1.518274, -0.170811, -2.211332, 0.130124, 1.637775, 0.816180]  # t=160\nPRESS_162_JOINTS = [-0.113694, -1.523825, -0.152183, -2.181075, 0.144456, 1.655544, 0.833687]  # t=162\nPRESS_164_JOINTS = [-0.105294, -1.526388, -0.130731, -2.158703, 0.159059, 1.682591, 0.851436]  # t=164\nPRESS_165_JOINTS = [-0.101442, -1.525278, -0.117997, -2.151796, 0.165974, 1.697354, 0.861485]  # t=165\nPRESS_166_JOINTS = [-0.097818, -1.522366, -0.104087, -2.146070, 0.172235, 1.710957, 0.872703]  # t=166\nPRESS_168_JOINTS = [-0.091150, -1.511595, -0.073065, -2.132031, 0.182932, 1.727616, 0.899634]  # t=168\nPRESS_170_JOINTS = [-0.085056, -1.494370, -0.038501, -2.116756, 0.192330, 1.734135, 0.930989]  # t=170\nPRESS_172_JOINTS = [-0.079502, -1.469463, -0.002780, -2.105133, 0.198781, 1.725157, 0.966161]  # t=172\nPRESS_174_JOINTS = [-0.074106, -1.439250, 0.028922, -2.089317, 0.201935, 1.703947, 1.001225]  # t=174\nPRESS_176_JOINTS = [-0.068667, -1.407875, 0.054786, -2.070878, 0.203540, 1.683550, 1.031092]  # t=176\nPRESS_178_JOINTS = [-0.063517, -1.375964, 0.072835, -2.052320, 0.202205, 1.665247, 1.054747]  # t=178\nPRESS_180_JOINTS = [-0.058415, -1.348056, 0.082264, -2.034000, 0.198555, 1.647117, 1.070198]  # t=180\nPRESS_182_JOINTS = [-0.053661, -1.322048, 0.087432, -2.017272, 0.194842, 1.626917, 1.081226]  # t=182\nPRESS_184_JOINTS = [-0.049545, -1.295922, 0.091840, -2.000902, 0.192513, 1.606593, 1.090462]  # t=184\nPRESS_186_JOINTS = [-0.046055, -1.270991, 0.096619, -1.983509, 0.191610, 1.582979, 1.099830]  # t=186\nPRESS_188_JOINTS = [-0.043178, -1.248072, 0.101606, -1.965889, 0.191353, 1.555647, 1.109765]  # t=188\nPRESS_190_JOINTS = [-0.040807, -1.226168, 0.107068, -1.949534, 0.192030, 1.527979, 1.119873]  # t=190\nPRESS_192_JOINTS = [-0.038993, -1.202546, 0.112500, -1.931648, 0.193327, 1.501037, 1.130143]  # t=192\nPRESS_194_JOINTS = [-0.037370, -1.180908, 0.115244, -1.911222, 0.195479, 1.472549, 1.140776]  # t=194\nPRESS_195_JOINTS = [-0.036836, -1.171891, 0.115803, -1.901259, 0.194879, 1.458816, 1.146397]  # t=195\nPRESS_196_JOINTS = [-0.036713, -1.163536, 0.116959, -1.892331, 0.192423, 1.444935, 1.153324]  # t=196\nPRESS_198_JOINTS = [-0.037372, -1.146934, 0.120982, -1.877858, 0.184950, 1.421975, 1.170566]  # t=198\nPRESS_200_JOINTS = [-0.038458, -1.132539, 0.125483, -1.867893, 0.176425, 1.407788, 1.187264]  # t=200\nPRESS_202_JOINTS = [-0.039481, -1.123052, 0.130013, -1.863641, 0.168364, 1.401487, 1.201703]  # t=202\nPRESS_204_JOINTS = [-0.040260, -1.118215, 0.134308, -1.864238, 0.161111, 1.397520, 1.213842]  # t=204\nPRESS_206_JOINTS = [-0.040916, -1.117953, 0.138799, -1.868714, 0.153312, 1.396415, 1.224123]  # t=206\nPRESS_208_JOINTS = [-0.041419, -1.121381, 0.143085, -1.875997, 0.146158, 1.396200, 1.234241]  # t=208\nPRESS_210_JOINTS = [-0.041870, -1.125683, 0.146907, -1.883023, 0.139716, 1.397945, 1.243099]  # t=210\nPRESS_212_JOINTS = [-0.042219, -1.129575, 0.149930, -1.889429, 0.134970, 1.399549, 1.250859]  # t=212\nPRESS_213_JOINTS = [-0.042376, -1.131124, 0.151085, -1.892426, 0.133249, 1.399776, 1.254598]  # t=213\nPRESS_214_JOINTS = [-0.042614, -1.130176, 0.152164, -1.895765, 0.132559, 1.399492, 1.257885]  # t=214\nPRESS_216_JOINTS = [-0.043247, -1.119848, 0.154760, -1.900137, 0.133639, 1.397198, 1.261679]  # t=216\nPRESS_218_JOINTS = [-0.044316, -1.099411, 0.160192, -1.898474, 0.133897, 1.391247, 1.261833]  # t=218\nPRESS_220_JOINTS = [-0.046171, -1.070447, 0.171796, -1.889847, 0.129277, 1.379010, 1.260272]  # t=220\nPRESS_222_JOINTS = [-0.048837, -1.034841, 0.191655, -1.871748, 0.118801, 1.357992, 1.258489]  # t=222\nPRESS_224_JOINTS = [-0.052258, -0.995722, 0.215687, -1.844927, 0.102379, 1.329165, 1.257239]  # t=224\nPRESS_226_JOINTS = [-0.055843, -0.959657, 0.236247, -1.812691, 0.079448, 1.293720, 1.253028]  # t=226\nPRESS_228_JOINTS = [-0.059469, -0.925494, 0.252016, -1.782144, 0.058539, 1.263399, 1.247830]  # t=228\nPRESS_230_JOINTS = [-0.063064, -0.893750, 0.262306, -1.755674, 0.044146, 1.245521, 1.245426]  # t=230\nPRESS_232_JOINTS = [-0.065694, -0.870677, 0.267555, -1.734941, 0.038999, 1.234456, 1.247422]  # t=232\nPRESS_234_JOINTS = [-0.067108, -0.858314, 0.270622, -1.722780, 0.037266, 1.222811, 1.250706]  # t=234\nPRESS_236_JOINTS = [-0.068277, -0.851552, 0.273224, -1.718744, 0.035030, 1.216542, 1.258023]  # t=236\nPRESS_238_JOINTS = [-0.069119, -0.848065, 0.275939, -1.721753, 0.033356, 1.215718, 1.266034]  # t=238\nPRESS_240_JOINTS = [-0.069361, -0.847145, 0.277945, -1.727727, 0.032938, 1.217733, 1.270564]  # t=240\nPRESS_242_JOINTS = [-0.069227, -0.847746, 0.279234, -1.738919, 0.033150, 1.222894, 1.271685]  # t=242\nPRESS_244_JOINTS = [-0.068589, -0.851878, 0.279589, -1.755175, 0.033580, 1.228677, 1.271758]  # t=244\nPRESS_246_JOINTS = [-0.067506, -0.859111, 0.278882, -1.772169, 0.033923, 1.235627, 1.271595]  # t=246\nPRESS_248_JOINTS = [-0.066638, -0.864896, 0.276406, -1.784346, 0.033428, 1.245253, 1.270104]  # t=248\nPRESS_250_JOINTS = [-0.066540, -0.864738, 0.274322, -1.794198, 0.032526, 1.259770, 1.268148]  # t=250\nPRESS_252_JOINTS = [-0.067023, -0.858902, 0.273824, -1.802154, 0.031394, 1.277973, 1.267325]  # t=252\nPRESS_254_JOINTS = [-0.067925, -0.848577, 0.274041, -1.807903, 0.029639, 1.297970, 1.267275]  # t=254\nPRESS_256_JOINTS = [-0.069085, -0.835033, 0.274567, -1.811326, 0.027289, 1.317879, 1.267276]  # t=256\nPRESS_258_JOINTS = [-0.070251, -0.820556, 0.275239, -1.812298, 0.024583, 1.334810, 1.267701]  # t=258\nPRESS_260_JOINTS = [-0.071432, -0.806031, 0.276149, -1.811799, 0.021297, 1.349117, 1.270155]  # t=260\nPRESS_262_JOINTS = [-0.072463, -0.792284, 0.277308, -1.810305, 0.017776, 1.360812, 1.274223]  # t=262\nPRESS_264_JOINTS = [-0.073055, -0.779325, 0.278445, -1.808252, 0.015227, 1.370134, 1.276276]  # t=264\nPRESS_266_JOINTS = [-0.073522, -0.765196, 0.279001, -1.805693, 0.013525, 1.376844, 1.276483]  # t=266\nPRESS_268_JOINTS = [-0.074150, -0.748132, 0.279418, -1.801514, 0.011905, 1.382632, 1.276479]  # t=268\nPRESS_270_JOINTS = [-0.074761, -0.728834, 0.280087, -1.796058, 0.010767, 1.383342, 1.276462]  # t=270\nPRESS_272_JOINTS = [-0.074929, -0.711021, 0.281237, -1.791821, 0.010464, 1.377587, 1.276483]  # t=272\nPRESS_274_JOINTS = [-0.074684, -0.696285, 0.282653, -1.790804, 0.010717, 1.368938, 1.276614]  # t=274\nPRESS_276_JOINTS = [-0.074358, -0.683392, 0.282259, -1.790922, 0.010709, 1.359772, 1.275819]  # t=276\nPRESS_278_JOINTS = [-0.073758, -0.671892, 0.281905, -1.790486, 0.010810, 1.352250, 1.274782]  # t=278\nPRESS_280_JOINTS = [-0.072629, -0.665162, 0.282474, -1.783944, 0.010296, 1.344019, 1.275200]  # t=280\nPRESS_282_JOINTS = [-0.071452, -0.660799, 0.282951, -1.779515, 0.009180, 1.338975, 1.276138]  # t=282\nPRESS_284_JOINTS = [-0.070202, -0.658491, 0.283540, -1.777091, 0.008421, 1.337320, 1.277513]  # t=284\nPRESS_286_JOINTS = [-0.068875, -0.657787, 0.285879, -1.777876, 0.007762, 1.343512, 1.280877]  # t=286\nPRESS_288_JOINTS = [-0.067929, -0.658141, 0.288641, -1.784624, 0.004092, 1.367482, 1.286442]  # t=288\nPRESS_290_JOINTS = [-0.066955, -0.663865, 0.289822, -1.796256, -0.002444, 1.403956, 1.291968]  # t=290\nPRESS_292_JOINTS = [-0.065331, -0.677085, 0.290200, -1.813698, -0.007609, 1.439565, 1.297011]  # t=292\nPRESS_293_JOINTS = [-0.064409, -0.685217, 0.290172, -1.824795, -0.009366, 1.457040, 1.299152]  # t=293\nPRESS_294_JOINTS = [-0.063491, -0.693011, 0.290361, -1.838249, -0.010104, 1.473764, 1.300952]  # t=294\nPRESS_296_JOINTS = [-0.062041, -0.702744, 0.291476, -1.872068, -0.008483, 1.504239, 1.302987]  # t=296\nPRESS_297_JOINTS = [-0.061427, -0.706197, 0.292418, -1.888635, -0.007218, 1.519350, 1.303958]  # t=297\nPRESS_298_JOINTS = [-0.060821, -0.710351, 0.292510, -1.895479, -0.006292, 1.530291, 1.304096]  # t=298\nPRESS_300_JOINTS = [-0.060279, -0.712096, 0.292651, -1.899175, -0.003859, 1.536035, 1.303653]  # t=300\nPRESS_302_JOINTS = [-0.060365, -0.708951, 0.292928, -1.895888, -0.002663, 1.532111, 1.303585]  # t=302\nPRESS_304_JOINTS = [-0.060436, -0.706851, 0.292932, -1.893266, -0.002711, 1.528021, 1.303806]  # t=304\nPRESS_305_JOINTS = [-0.060451, -0.706188, 0.292684, -1.892506, -0.002673, 1.526055, 1.303773]  # t=305\nPRESS_306_JOINTS = [-0.060465, -0.705248, 0.292344, -1.891315, -0.002524, 1.523662, 1.303694]  # t=306\nPRESS_308_JOINTS = [-0.060554, -0.702422, 0.292054, -1.887588, -0.002075, 1.518088, 1.303678]  # t=308\nPRESS_309_JOINTS = [-0.060603, -0.701622, 0.291907, -1.886430, -0.002189, 1.516234, 1.303681]  # t=309\nPRESS_310_JOINTS = [-0.060607, -0.701324, 0.291845, -1.885214, -0.002208, 1.514922, 1.303683]  # t=310\nPRESS_311_JOINTS = [-0.060621, -0.701140, 0.291761, -1.883677, -0.002295, 1.513972, 1.303680]  # t=311\nRETREAT_313_JOINTS = [-0.060638, -0.700425, 0.291683, -1.881660, -0.002413, 1.512651, 1.303675]  # t=313\nRETREAT_315_JOINTS = [-0.060528, -0.701259, 0.291610, -1.880884, -0.002452, 1.510975, 1.303694]  # t=315\nRETREAT_316_JOINTS = [-0.060192, -0.704278, 0.291612, -1.880748, -0.002350, 1.507888, 1.303783]  # t=316\nRETREAT_317_JOINTS = [-0.059654, -0.709075, 0.291638, -1.881109, -0.002144, 1.504333, 1.304041]  # t=317\nRETREAT_319_JOINTS = [-0.058012, -0.724070, 0.291686, -1.884454, -0.001378, 1.496979, 1.305041]  # t=319\nRETREAT_321_JOINTS = [-0.055307, -0.749545, 0.291665, -1.891240, 0.000091, 1.487071, 1.306784]  # t=321\nRETREAT_323_JOINTS = [-0.050998, -0.791895, 0.288572, -1.896390, 0.004836, 1.466417, 1.310115]  # t=323\nRETREAT_325_JOINTS = [-0.045840, -0.846570, 0.283208, -1.899629, 0.009792, 1.437688, 1.314248]  # t=325\nRETREAT_327_JOINTS = [-0.040860, -0.903208, 0.277184, -1.900258, 0.015298, 1.406949, 1.317031]  # t=327\nRETREAT_329_JOINTS = [-0.036412, -0.958389, 0.268606, -1.904254, 0.020224, 1.380284, 1.315811]  # t=329\nRETREAT_330_JOINTS = [-0.034364, -0.985932, 0.262668, -1.909548, 0.021680, 1.370836, 1.313909]  # t=330\nRETREAT_331_JOINTS = [-0.032337, -1.014291, 0.254786, -1.917039, 0.022412, 1.364227, 1.311177]  # t=331\nRETREAT_332_JOINTS = [-0.030319, -1.043026, 0.244822, -1.927364, 0.022968, 1.360877, 1.307439]  # t=332\nRETREAT_333_JOINTS = [-0.028275, -1.072243, 0.232571, -1.939907, 0.023539, 1.359916, 1.302712]  # t=333\nRETREAT_335_JOINTS = [-0.024174, -1.131376, 0.202272, -1.968705, 0.024262, 1.361127, 1.289713]  # t=335\nRETREAT_337_JOINTS = [-0.021036, -1.184774, 0.167558, -2.000046, 0.022348, 1.366285, 1.271582]  # t=337\nRETREAT_339_JOINTS = [-0.019847, -1.224398, 0.130031, -2.030698, 0.013946, 1.375808, 1.246516]  # t=339\nRETREAT_341_JOINTS = [-0.020147, -1.253749, 0.089774, -2.054690, -0.000498, 1.383810, 1.216590]  # t=341\nRETREAT_343_JOINTS = [-0.021429, -1.277063, 0.048197, -2.070866, -0.018985, 1.387250, 1.183404]  # t=343\nRETREAT_345_JOINTS = [-0.023578, -1.294933, 0.007068, -2.081377, -0.038693, 1.389299, 1.149294]  # t=345\nRETREAT_346_JOINTS = [-0.024944, -1.302040, -0.013308, -2.085143, -0.048619, 1.390499, 1.132348]  # t=346\nAPPROACH_000_JOINTS = [-0.018305, -1.043733, -0.008421, -2.258683, 0.038732, 1.521158, 0.671115]  # t=1\n\n# Phase-level helper functions keep the open-loop policy readable while preserving\n# the exact primitive execution order used at runtime.\n\ndef move_to_control_panel():\n    \"\"\"Approach the appliance control region.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_064_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_076_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_096_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_106_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_128_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_130_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_132_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_134_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_136_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_138_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_140_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_142_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_144_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_148_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_150_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_156_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_158_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_162_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_166_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_170_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_208_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_214_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_216_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_218_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_226_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_228_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_230_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_232_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_234_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_236_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_238_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_240_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_242_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_244_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_246_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_248_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_250_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_252_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_254_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_256_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_258_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_260_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_262_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_264_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_266_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_268_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_270_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_272_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_274_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_276_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_278_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_280_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_282_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_284_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_286_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_288_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_290_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_292_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_293_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_294_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_296_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_297_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_298_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_300_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_302_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_304_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_305_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_306_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_308_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    wait(duration=0.10, hold_target=PRESS_308_JOINTS, input_type='joint', gripper=1.000)\n    moveJoint(PRESS_309_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_310_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_311_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    wait(duration=0.25, hold_target=PRESS_311_JOINTS, input_type='joint', gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_315_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_316_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_317_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_319_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_321_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_323_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_325_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_327_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_329_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_330_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_331_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_332_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_333_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_335_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_337_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_339_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_341_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_343_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_345_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_346_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\nretreat_after_press()\n\n# Fitting strategy:\n# - adaptive per-phase waypoint selection on EE position + quaternion error\n# - tight tolerances near descend / lift / place, looser tolerances in transport\n# - optional moveC / moveA / segmented moveLinear chains / moveActionSequence when a segment is better represented by a smooth or constrained path\n# - GT used only during generation; runtime execution uses this saved policy plus scene artifact\n", "code_char_count": 38438, "code_num_lines": 412, "code_num_nonblank_lines": 402, "compressed_candidate_available": false, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "fallback_current_policy", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseBlenderLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseBlenderLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"blender_right_group\":{\"cls\":\"Blender\"},\"blender_right_group_auxiliary_right_group\":{\"cls\":\"BlenderLid\"},\"bottom_right_group_1\":{\"cls\":\"HingeCabinet\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_2_main_group\":{\"cls\":\"Box\"},\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_corner_1_main_group\":{\"cls\":\"Box\"},\"cab_corner_2_main_group\":{\"cls\":\"Box\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"corner_counter_right_group\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_2_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeFrenchDoor\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"middle_right_group\":{\"cls\":\"HingeCabinet\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_right_group\":{\"cls\":\"Accessory\"},\"sink_1_left_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"PanelCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_4\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_4\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_2_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"Drawer\"},\"stack_4_right_group_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_4\":{\"cls\":\"Drawer\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_2\":{\"cls\":\"Drawer\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"Drawer\"},\"stack_5_main_group_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_3\":{\"cls\":\"Drawer\"},\"stack_5_main_group_4\":{\"cls\":\"Drawer\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_right_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[4.397733149371838,-3.7450642800990663,0.0],\"lang\":\"Close the lid blender by securely placing the lid on top.\",\"layout_id\":25,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1001577228307724,\"qx\":0.66326904296875,\"qy\":0.732332170009613,\"qz\":0.1171841099858284,\"x\":4.642616199496024,\"y\":-3.7445676417595286,\"z\":1.3070469007801118},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseBlenderLid\"}", "initial_scene_json": 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top.\",\"layout_id\":25,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1001577228307724,\"qx\":0.66326904296875,\"qy\":0.732332170009613,\"qz\":0.1171841099858284,\"x\":4.642616199496024,\"y\":-3.7445676417595286,\"z\":1.3070469007801118},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-13.745064143770414,-5.602267358739165,-1.857192529088355e-07,3.2544757576995346e-08,-0.018418493497402797,-1.0436861379762057,-0.008422427446435551,-2.258683727103221,0.03873003462484155,1.5212278135410946,0.6711094133556487,0.0205243987012525,-0.02054216042645774,-5.955550291391781e-05,1.7489242901873983e-08,-6.596058338521797e-10,-3.1200705561678723e-10,2.838888540643517e-09,-6.504014830527927e-11,-3.395163220339508e-11,-4.135050024722708e-10,2.918252722070137e-08,0.0,0.0,-2.5938011231663255e-16,-2.5938011231663255e-16,-2.5938011231663255e-16,-2.5938011231663255e-16,0.0,0.0,-2.58537224679366e-16,-2.58537224679366e-16,-2.58537224679366e-16,-2.58537224679366e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.732766205318979e-05,0.0,-1.0228314000285349e-12,-0.0015956507144571097,-1.0068962445749456e-09,4.650828023128653e-08,0.0,0.0,0.0,0.0,0.0,-1.1188787935796633e-05,-0.002088599990735836,0.0,0.0,-5.624548538214663e-17,-5.624548538214663e-17,-5.421660941709295e-17,-5.421660941709295e-17,0.0,-5.3054096674534774e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-8.540444029383714e-12,-5.883193601553465e-10,-1.9587819533605378e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00018297975239888365,0.0,-0.0003391986373351205,4.62750633424548,-3.9884787039940908,0.9405691974957006,0.7071068078790854,-2.1135837796011903e-11,2.0474625754919842e-11,-0.7071067544940086,0.0,-1.9528828615368487e-15,0.0,0.0,0.0,-7.851978013292707e-16,0.0,-7.851978013292707e-16,0.0,-1.3340164188311103e-15,0.0,-1.334016418831112e-15,0.0,0.0,0.0,-1.3340164188311103e-15,6.06320762725855e-07,4.5786126366094153e-07,2.659052984551571e-06,7.068104530907633e-08,9.06834988818404e-06,0.0005356397884641678,0.0006064015405616705,-2.8720413297276658e-05,0.0007620405663267965,0.0001312050097641308,0.0001072310346333979,-0.00045226341822332896,0.0004837864657600123,-9.023929474834522e-07,3.558746273792544e-08,-1.1913344376379393e-11,-5.635255651245127e-12,5.776627423158544e-09,-1.174710177722098e-12,-6.132109000362853e-13,-7.468441369909146e-12,5.9381192536024574e-08,0.0,0.0,-9.929329859885658e-18,-9.929329859885658e-18,-9.929329859885658e-18,-9.929329859885658e-18,0.0,0.0,-9.744167538018126e-18,-9.744167538018126e-18,-9.744167538018126e-18,-9.744167538018126e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0246550458936047e-06,0.0,-2.0656389219440493e-14,-7.309534891238199e-07,-2.048861214319524e-09,9.463637592061754e-08,0.0,0.0,0.0,0.0,0.0,-1.5122823658052405e-06,1.8288239119964093e-07,0.0,0.0,-4.0928527132234336e-18,-4.0928527132234336e-18,-3.5382178072851934e-18,-3.5382178072851934e-18,0.0,-2.6326317490759327e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.3173141432149008e-06,-1.5425159171268337e-13,-1.0625817286821386e-11,-3.5378164488579022e-12,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00038132853620328913,0.0,-5.052237893524753e-07,-9.931720942977884e-12,2.9728630009500952e-15,8.652273009443995e-05,4.757037607071051e-10,-1.433252811588225e-13,-3.887689070785135e-22,0.0,-8.11883987096355e-17,0.0,0.0,0.0,-4.204106116823169e-17,0.0,-4.204106116823169e-17,0.0,-5.311594847267542e-17,0.0,-5.311594847267558e-17,0.0,0.0,0.0,-5.311594847267542e-17],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseBlenderLid\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 182, "pretrain_task_id": 3, "retained_waypoint_count": 182, "sim_aggregate_success": true, "sim_saved_summary_success": null, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the lid blender by securely placing the lid on top.", "task_name": "CloseBlenderLid", "video_available": true, "video_bytes": 610250, "video_relpath": "videos/compressed/03_CloseBlenderLid.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseCabinet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 139, 'stable_release_contact_loss_t': 139, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.05097, -1.019523, -0.033659, -2.290474, 0.02973, 1.546336, 0.676788], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.094814, -1.762832, -0.279122, -1.993271, -0.352379, 1.577391, 0.772128], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.078516, -1.549204, -0.715303, -1.931337, -0.223354, 2.112503, 0.477698], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.098473, -1.61788, -0.621897, -2.125348, 0.240346, 1.978472, 0.227647], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.112464, -1.273251, -0.173097, -2.566434, 1.008812, 2.542795, -0.533999], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.108936, -0.462565, 0.398288, -1.900048, 1.824847, 3.751859, -1.301264], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2595, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseCabinet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseCabinet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"singlecabinet_2_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"cube_4_island_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_island_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706379572530664],\"init_robot_base_pos\":[4.841322336164413,-0.9879262014570828,0.0],\"lang\":\"Close the cabinet door.\",\"layout_id\":54,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"mango\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"mango\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_16/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"singlecabinet_2_main_group_1\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[0.5042610000000001,0.34]},\"type\":\"object\"},{\"info\":{\"cat\":\"aluminum_foil\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"aluminum_foil\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.342302,0.055938,0.055938],\"ref\":\"singlecabinet_2_main_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.3555,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"fish\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"fish\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.04940418759999999,0.18773543939999998,0.03373475745],\"ref\":\"singlecabinet_2_main_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.3555,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"cupcake\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cupcake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_2/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_3\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06860664150000001,0.06860664150000001,0.07553844450000001],\"ref\":\"singlecabinet_2_main_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.3555,0.65]},\"type\":\"object\"}],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01653376966714859,\"qx\":0.02026812918484211,\"qy\":-0.9898990392684937,\"qz\":-0.13934123516082764,\"x\":4.8602050499174725,\"y\":-0.7317930569342141,\"z\":1.2892051451054198},\"goal_pose\":{\"qw\":0.9790935308997166,\"qx\":2.1333869835750028e-07,\"qy\":-3.4817277614379024e-05,\"qz\":-0.20341056152038597,\"x\":4.633733622037834,\"y\":-0.5431066430451348,\"z\":0.9479553911488543},\"object_pose\":{\"qw\":0.9245770409355701,\"qx\":-0.12257210995574534,\"qy\":0.09691850953586752,\"qz\":-0.3474768708060527,\"x\":5.011534572385686,\"y\":-0.32682799739570045,\"z\":1.4665607894567714}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseCabinet\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseCabinet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseCabinet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"singlecabinet_2_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"cube_4_island_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_island_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706379572530664],\"init_robot_base_pos\":[4.841322336164413,-0.9879262014570828,0.0],\"lang\":\"Close the cabinet 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"is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 4, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the cabinet door.", "task_name": "CloseCabinet", "video_available": true, "video_bytes": 478928, "video_relpath": "videos/compressed/04_CloseCabinet.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseDishwasher/seed_195/episode_000000/refinement/20260403/CloseDishwasher/iter_004/candidate.py\n# Compression note: target_retained_waypoints=14; actual_retained_waypoints=14; keep_counts={0: 4, 1: 5, 2: 5}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseDishwasher', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 127, 'stable_release_contact_loss_t': 127, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.033497, -1.029915, -0.032503, -2.275192, 0.032116, 1.529353, 0.699408], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.028273, -1.042804, -0.012382, -2.289096, 0.04921, 1.511163, 0.70434], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.024855, -1.063976, 0.004752, -2.299761, 0.058241, 1.488392, 0.703226], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.012827, -1.283309, 0.217862, -2.403589, 0.089359, 1.370973, 0.664359], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.022327, -1.318693, 0.264128, -2.417441, 0.094911, 1.353463, 0.650666], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.282528, -1.677931, 0.982392, -2.454431, 0.281629, 1.292296, 0.50492], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.385164, -1.454353, 1.582848, -2.166988, 0.32346, 1.538613, 0.765949], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.153363, -1.625303, 2.085317, -1.7007, 0.431582, 1.966872, 0.97422], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.394605, -1.760988, 2.166996, -1.544261, 0.460522, 2.119502, 0.994391], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.400318, -1.761091, 2.167431, -1.546125, 0.433059, 2.113334, 1.006403], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.463163, -1.762213, 2.172212, -1.566626, 0.130966, 2.045493, 1.138534], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.542005, -1.763023, 2.138417, -1.613509, -0.032319, 2.03674, 1.191802], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.684229, -1.763011, 2.012955, -1.699841, 0.14972, 2.177461, 1.052526], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-1.08022, -1.763062, 1.886767, -1.611167, 0.267976, 2.35283, 0.952649], 'input_type': 'joint', 'steps': 13, 'settle_steps': 8, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(input_type='joint', hold_target=[-0.394605, -1.760988, 2.166996, -1.544261, 0.460522, 2.119502, 0.994391], duration=0.2, gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(input_type='joint', hold_target=[-1.08022, -1.763062, 1.886767, -1.611167, 0.267976, 2.35283, 0.952649], duration=0.2, gripper=1.0)\n", "code_char_count": 4344, "code_num_lines": 38, "code_num_nonblank_lines": 33, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseDishwasher\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseDishwasher\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"dishwasher_1_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_1_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_2_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_3_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_5_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_6_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_right_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_2\":{\"cls\":\"HingeCabinet\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"widestove_main_group_1\":{\"cls\":\"Stove\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.00014782238328514552],\"init_robot_base_pos\":[3.526905974114972,-3.786387853062878,0.0],\"lang\":\"Close the dishwasher door.\",\"layout_id\":48,\"object_cfgs\":[{\"info\":{\"cat\":\"bar\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bar\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_3_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.05912102061811603,0.13499999999999998,0.035669142533730755],\"ref\":\"dishwasher_1_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8487000230421273,-3.469446951953614e-17,0.46],\"size\":[0.7383462421877589,0.650012]},\"type\":\"object\"}],\"style_id\":11},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.08739854395389557,\"qx\":0.6864989399909973,\"qy\":0.712603747844696,\"qz\":0.11522427946329117,\"x\":3.7770963886443565,\"y\":-3.8002511493786866,\"z\":1.296950074754714},\"goal_pose\":{\"qw\":0.6722717038479766,\"qx\":0.001139136778805385,\"qy\":-0.003950495260400667,\"qz\":-0.7402930853114427,\"x\":4.114775357605459,\"y\":-3.0283325420808263,\"z\":0.9389056227151813},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseDishwasher\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseDishwasher\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseDishwasher\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"dishwasher_1_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_1_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_2_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_3_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_5_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_6_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_right_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_2\":{\"cls\":\"HingeCabinet\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"widestove_main_group_1\":{\"cls\":\"Stove\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.00014782238328514552],\"init_robot_base_pos\":[3.526905974114972,-3.786387853062878,0.0],\"lang\":\"Close the dishwasher door.\",\"layout_id\":48,\"object_cfgs\":[{\"info\":{\"cat\":\"bar\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bar\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_3_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.05912102061811603,0.13499999999999998,0.035669142533730755],\"ref\":\"dishwasher_1_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8487000230421273,-3.469446951953614e-17,0.46],\"size\":[0.7383462421877589,0.650012]},\"type\":\"object\"}],\"style_id\":11},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.08739854395389557,\"qx\":0.6864989399909973,\"qy\":0.712603747844696,\"qz\":0.11522427946329117,\"x\":3.7770963886443565,\"y\":-3.8002511493786866,\"z\":1.296950074754714},\"goal_pose\":{\"qw\":0.6722717038479766,\"qx\":0.001139136778805385,\"qy\":-0.003950495260400667,\"qz\":-0.7402930853114427,\"x\":4.114775357605459,\"y\":-3.0283325420808263,\"z\":0.9389056227151813},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-13.787344626642108,-6.471056058455334,-2.0354931394903415e-07,3.146176947520518e-08,-0.034126038662205795,-1.0299124155827577,-0.03317831525045739,-2.274954345711577,0.03144003989840764,1.5293691987187088,0.6989443064297969,0.02053374871798555,-0.020532810641311215,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,6.375449771802891e-09,-1.9630159470666046e-09,-0.00036567934970273074,-0.0003591140342648256,0.0,0.0,-5.159746811890536e-15,-1.303375474152595e-15,-1.303375474152595e-15,-1.2946036936587236e-15,0.0,0.0,0.0,0.0,0.0,0.6238741455384987,-0.0074047195176997664,0.0,0.0,0.0,0.0,-4.556626422584324e-05,-0.007625713354532444,7.080830865262639e-10,-0.00041583900485661347,-0.007587674975939194,-1.0261024662331579e-10,-0.00041583899783866394,-7.566476723625679e-05,3.0573863068269346e-08,5.642225209505692e-08,-1.6016506039568e-09,2.409878054200023e-09,3.828737464256958e-08,9.64999425175852e-09,3.122736347665836e-08,-1.8263815276048814e-09,0.0,0.0,-1.2617247337504534e-05,-1.2617247337504534e-05,-1.2617247337504534e-05,-1.2617247337504534e-05,-1.2525719172251068e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.999699100403761e-11,3.3435907623641845e-09,-4.803900570977595e-10,0.0,-8.571998095795335e-16,-8.571998095795335e-16,-8.497673287950495e-16,-8.571998095795335e-16,-8.571998095795335e-16,-8.497673287950495e-16,-1.6408163176646516e-15,0.0,0.0,4.114775357605459,-3.0283325420808263,0.9389056227151813,0.6722717038479766,0.001139136778805385,-0.003950495260400667,-0.7402930853114427,6.15953154899512e-07,4.794210196959825e-07,2.8232202113181948e-06,7.479329522464964e-08,8.510166073306808e-06,0.0005617546655251446,0.0006320358251995182,-2.6016989640103437e-05,0.0007762406141877101,0.00012991837746293195,0.00011025739061327592,-0.0004369123737594951,0.0004991377179846458,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.2972955234667476e-08,-3.5470710124187395e-11,-2.17664601386159e-08,-1.3843783513600784e-07,0.0,0.0,-1.774483217508714e-16,-4.326820471136248e-17,-4.326820471136248e-17,-4.1569559225235554e-17,0.0,0.0,0.0,0.0,0.0,-2.4466644332335563e-05,-5.034926218987304e-07,0.0,0.0,0.0,0.0,-9.885182610509488e-07,-5.52949126157164e-07,1.4408216694357166e-09,-5.5395780338167863e-08,-5.509089266600266e-07,-1.85327821640658e-12,-5.539579511401177e-08,-7.637860517050197e-07,6.221230871865467e-08,1.1480912770998375e-07,-2.8927950653255116e-11,4.90366807113075e-09,7.790791747880907e-08,1.9636001392734596e-08,6.354206482910107e-08,-3.298689173907394e-11,0.0,0.0,-2.809648608549359e-07,-2.809648608549359e-07,-2.809648608549359e-07,-2.809648608549359e-07,-2.7893755657941554e-07,0.0,0.0,0.0,0.0,0.0,0.0,-1.6970260090376106e-09,-3.611724024580946e-13,6.803605304334574e-09,-8.676486402707406e-12,0.0,-4.0481048678482865e-17,-4.0481048678482865e-17,-3.78923575754371e-17,-4.0481048678482865e-17,-4.0481048678482865e-17,-3.78923575754371e-17,-9.03092515012998e-17,0.0,0.0,1.857197504495641e-06,2.6538352397424845e-05,-2.4075092107836023e-05,3.7182033350654775e-05,-0.0014061105747548359,9.869467353143644e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseDishwasher\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 14, "pretrain_task_id": 5, "retained_waypoint_count": 14, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the dishwasher door.", "task_name": "CloseDishwasher", "video_available": true, "video_bytes": 302135, "video_relpath": "videos/compressed/05_CloseDishwasher.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 187, 'stable_release_contact_loss_t': 187, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.044247, -1.04162, -0.032867, -2.295311, 0.054272, 1.549349, 0.702722], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.109509, -1.323383, -0.613875, -2.182844, -0.426603, 1.205782, 0.230733], 'input_type': 'joint', 'steps': 49, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.272979, -1.374573, -1.281108, -2.177713, -0.40562, 1.261364, -0.007838], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.084922, -1.270489, -1.64538, -2.353026, -0.134157, 1.667522, -0.084164], 'input_type': 'joint', 'steps': 44, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.649303, -1.763089, -2.085852, -2.164521, -0.486498, 2.6003, 0.115132], 'input_type': 'joint', 'steps': 46, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.684015, -1.761431, -2.016548, -1.948414, -0.398907, 2.212372, 0.08222], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2584, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"drawer\":\"stack_3_dining_area_group_2\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"coffeemachine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"sta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-17,-1.3051437164684983e-07,9.495992785939336e-06,-3.900685738567961e-05,-7.067935803326267e-06,0.0002939544961212346,-0.0010358172929765986,6.041593297356594e-08,-4.996377549877649e-10,7.119089938900411e-08,2.30362306541154e-06,-2.68407632315364e-08,-2.518839521722108e-06,-8.219976974942497e-12],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseDrawer\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 6, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the right drawer.", "task_name": "CloseDrawer", "video_available": true, "video_bytes": 210470, "video_relpath": "videos/compressed/06_CloseDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 2, 1: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseElectricKettleLid', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 45, 'stable_release_contact_loss_t': 45, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.007665, -1.047581, -0.023419, -2.286876, 0.027752, 1.517545, 0.71029], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.008855, -1.062445, -0.023359, -2.286813, 0.027803, 1.500917, 0.710192], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.009284, -1.065517, -0.023246, -2.289923, 0.02787, 1.501116, 0.710131], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.114994, -0.943869, -0.411654, -2.487218, 0.480474, 1.752293, -0.422568], 'input_type': 'joint', 'steps': 29, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.088649, -0.863297, -0.098544, -2.569047, 0.478153, 1.918824, -0.421903], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2549, "code_num_lines": 24, "code_num_nonblank_lines": 19, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseElectricKettleLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseElectricKettleLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_right_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_right_group_1\":{\"cls\":\"Stovetop\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[4.397670584593691,-2.658066064989175,0.0],\"lang\":\"Close the lid of the electric kettle.\",\"layout_id\":42,\"object_cfgs\":[],\"style_id\":55},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.08654923737049103,\"qx\":0.6790623068809509,\"qy\":0.7205018997192383,\"qz\":0.11072716861963272,\"x\":4.642541543010384,\"y\":-2.6622080217989663,\"z\":1.2936497223955798},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseElectricKettleLid\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseElectricKettleLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseElectricKettleLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_right_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_right_group_1\":{\"cls\":\"Stovetop\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[4.397670584593691,-2.658066064989175,0.0],\"lang\":\"Close the lid of the electric kettle.\",\"layout_id\":42,\"object_cfgs\":[],\"style_id\":55},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.08654923737049103,\"qx\":0.6790623068809509,\"qy\":0.7205018997192383,\"qz\":0.11072716861963272,\"x\":4.642541543010384,\"y\":-2.6622080217989663,\"z\":1.2936497223955798},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-12.656373659453118,-5.606151899078497,-2.0541195997893604e-07,3.068832048518859e-08,-0.007361483307887265,-1.0461924198082975,-0.023459444413311808,-2.287268646700433,0.02771089547282313,1.519144857817648,0.7103408761201845,0.020530604895102444,-0.02053595456174371,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.430378746609266e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.8098905520338722e-15,-2.827160044470353e-15,-2.827160044470353e-15,0.0,0.0,0.0,0.0,0.0,-7.433757048786532e-16,-2.9169456990244198e-05,-1.513205430828224e-09,-5.824390628401577e-10,0.0,0.0,0.0,0.0,0.0,0.0,-0.007554031383885535,-1.1066956596213428e-21,-0.00039670904953572066,-0.007554032947270342,1.8399593680979406e-08,-0.0003967087673512463,-0.000210655055395959,1.4358979211871066,-0.00021046112589142703,0.0,0.0,0.0,0.0,5.514547890092938e-09,-5.952803613838895e-10,0.0,0.0,0.0,7.506871369662882e-09,9.227062515673312e-07,0.0,0.0,0.0,0.0,0.0,-2.5092304723089402e-05,0.002503978514442915,0.0025039785144429167,0.0,0.0,6.562266948391843e-07,4.791873475823314e-07,2.863643466971786e-06,8.481439702924003e-08,8.553701426267955e-06,0.000593538087698358,0.0006430227662945247,-2.43229178572821e-05,0.0007733007542422049,0.00012777877900948362,0.00011074415454358615,-0.0004417141602864177,0.0004943359805516289,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.4965423778390008e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-9.283307635128096e-17,-9.626068603185871e-17,-9.626068603185871e-17,0.0,0.0,0.0,0.0,0.0,-3.3097653301664076e-17,-4.844532071647122e-07,-2.733077120008065e-11,-1.0519727623044335e-11,0.0,0.0,0.0,0.0,0.0,0.0,-5.491340039086606e-07,-1.431576247167562e-21,-9.922728498971544e-08,-5.491340889300456e-07,3.7439862105894794e-08,-9.922814518407468e-08,-2.046302047283635e-06,-0.27196694601264015,-2.047791358347295e-06,0.0,0.0,0.0,-1.940735685571907e-06,1.1221112656028815e-08,-1.0751660696555024e-11,0.0,0.0,0.0,1.5275199162554106e-08,1.8775493847985588e-06,0.0,0.0,0.0,0.0,0.0,-4.935070378276557e-06,5.918156451618033e-08,5.9181564782198134e-08,0.0,0.0],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseElectricKettleLid\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 5, "pretrain_task_id": 7, "retained_waypoint_count": 5, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the lid of the electric kettle.", "task_name": "CloseElectricKettleLid", "video_available": true, "video_bytes": 247672, "video_relpath": "videos/compressed/07_CloseElectricKettleLid.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/CloseFridge/20260413_t3_k20_c536553ec83a_CloseFridge_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/CloseFridge/20260413_t3_k20_c536553ec83a_CloseFridge_source-compressed.py; retained_waypoints=19; fingerprint=8ace096ab1d5; keep_indices={0: [1], 1: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseFridge', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 278, 'stable_release_contact_loss_t': 278, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.080563, -1.560116, -0.35851, -2.281268, 0.112433, 1.578725, 0.756679], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.096236, -1.621103, -0.445781, -2.298233, 0.136367, 1.653922, 0.783499], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.103661, -1.399826, -0.874867, -2.187526, 0.274969, 1.825795, 1.106711], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.451845, -0.900358, -1.443194, -1.9611, 0.596611, 2.026755, 1.237783], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.847615, -1.171932, -1.523656, -1.723081, 0.292416, 1.891543, 1.42987], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.732618, -1.185173, -1.298724, -2.157325, 0.278379, 1.813963, 0.97035], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.700687, -0.469397, -0.940979, -2.245231, 1.114447, 2.866952, 0.893885], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.457485, -0.409905, -0.662935, -2.263866, 1.544406, 3.04827, 0.662047], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.007487, -0.887588, -0.197273, -2.605095, 1.408839, 3.150111, 0.81003], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.332991, -0.915964, 0.034046, -2.727244, 0.543394, 2.990646, 1.518691], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.203487, -1.275379, -0.057551, -2.174033, -0.181749, 1.754534, 1.732906], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.152694, -1.763135, 0.193483, -2.286105, -0.111023, 1.85201, 2.088655], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.128761, -1.730784, 0.375674, -2.105098, -0.156309, 1.674698, 2.259027], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.123275, -1.693698, 0.81991, -2.066353, -0.04262, 1.689416, 2.542639], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.361091, -1.395755, 1.150243, -1.995906, -0.091471, 1.988695, 2.897526], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.606869, -1.212975, 1.226723, -1.942053, -0.071488, 2.170085, 2.878833], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.628696, -1.212817, 1.15164, -2.037924, -0.04208, 2.132788, 2.897382], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.931254, -0.842386, 1.104128, -2.057658, -0.146289, 2.394464, 2.897453], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.645829, -0.924863, 0.848507, -2.488558, -0.042244, 3.028688, 2.819241], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 5660, "code_num_lines": 44, "code_num_nonblank_lines": 39, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseFridge\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseFridge\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"fridgefrenchdoor_front_group_1\"},\"fixtures\":{\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,4.712388892961913],\"init_robot_base_pos\":[1.56382329460717,-3.943739631014236,0.0],\"lang\":\"Close the fridge doors.\",\"layout_id\":36,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"croissant\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"croissant\",\"pastry\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"fridgefrenchdoor_front_group_1\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"fridge_shelf1\",\"offset\":[0.001149712457314156,0.05517546230841013,0.5465870370512383],\"size\":[0.7483246503761064,0.356599373595367]},\"type\":\"object\"},{\"info\":{\"cat\":\"placemat\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"placemat\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat019/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_front_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.3169328,0.2305024,0.0037440000000000004],\"ref\":\"fridgefrenchdoor_front_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.1105,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"ketchup\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"ketchup\",\"condiment\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_front_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06427166399999999,0.03698743039999999,0.15998434079999996],\"ref\":\"fridgefrenchdoor_front_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.1105,0.65]},\"type\":\"object\"}],\"style_id\":46},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12988489866256714,\"qx\":0.9914406538009644,\"qy\":0.0007161796092987061,\"qz\":0.013219612650573254,\"x\":1.5408714659987937,\"y\":-4.195467129614113,\"z\":1.2911206442629428},\"goal_pose\":{\"qw\":-0.04319218226224758,\"qx\":1.1636608437763425e-06,\"qy\":-4.2639429844452916e-07,\"qz\":0.9990667822472574,\"x\":0.6464414451718632,\"y\":-4.938412281015686,\"z\":0.9200473110922484},\"object_pose\":{\"qw\":0.024288123448086275,\"qx\":0.1584582247625538,\"qy\":-0.00104107525887467,\"qz\":0.9870663575600047,\"x\":1.5280398243322226,\"y\":-4.936388459291147,\"z\":1.456120007548257}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseFridge\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseFridge\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseFridge\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"fridgefrenchdoor_front_group_1\"},\"fixtures\":{\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,4.712388892961913],\"init_robot_base_pos\":[1.56382329460717,-3.943739631014236,0.0],\"lang\":\"Close the fridge doors.\",\"layout_id\":36,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"croissant\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"croissant\",\"pastry\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"fridgefrenchdoor_front_group_1\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"fridge_shelf1\",\"offset\":[0.001149712457314156,0.05517546230841013,0.5465870370512383],\"size\":[0.7483246503761064,0.356599373595367]},\"type\":\"object\"},{\"info\":{\"cat\":\"placemat\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"placemat\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat019/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_front_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.3169328,0.2305024,0.0037440000000000004],\"ref\":\"fridgefrenchdoor_front_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.1105,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"ketchup\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"ketchup\",\"condiment\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_front_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06427166399999999,0.03698743039999999,0.15998434079999996],\"ref\":\"fridgefrenchdoor_front_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.1105,0.65]},\"type\":\"object\"}],\"style_id\":46},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12988489866256714,\"qx\":0.9914406538009644,\"qy\":0.0007161796092987061,\"qz\":0.013219612650573254,\"x\":1.5408714659987937,\"y\":-4.195467129614113,\"z\":1.2911206442629428},\"goal_pose\":{\"qw\":-0.04319218226224758,\"qx\":1.1636608437763425e-06,\"qy\":-4.2639429844452916e-07,\"qz\":0.9990667822472574,\"x\":0.6464414451718632,\"y\":-4.938412281015686,\"z\":0.9200473110922484},\"object_pose\":{\"qw\":0.024288123448086275,\"qx\":0.1584582247625538,\"qy\":-0.00104107525887467,\"qz\":0.9870663575600047,\"x\":1.5280398243322226,\"y\":-4.936388459291147,\"z\":1.456120007548257}},\"initial_state\":[0.5000000000000003,-8.436175546337159,13.943740387951964,-2.0156837893484288e-07,3.262865392466172e-08,-0.043498083811023554,-1.0153493001752374,-0.03997182824399303,-2.2759190658816415,0.010157498214212003,1.5190883796751198,0.7172944896945186,0.020529378340029894,-0.020537182028794745,0.0,0.0,0.0,1.4221242588163718,1.4181858348843681,0.0,0.0,0.0,-6.646287050110709e-05,6.40713739252426e-08,-1.0260384704110253e-09,-6.67095828065086e-09,4.994696221716784e-08,7.241181586513015e-08,1.5743981649040325e-08,0.0,0.0,0.0,-1.716470963570969e-16,0.0,-5.974541314745961e-16,0.0,-5.42705015322917e-16,1.7241200539019576e-15,-4.877795212672016e-16,2.015926203253219e-16,-8.42420195395278e-16,-3.4339353135594673e-16,0.0,-8.424201953952778e-16,-0.007848337159872742,2.0435457966048805e-09,-0.0003167376466744787,0.0,1.4148290481718913e-08,-2.4469586349220885e-09,0.0,4.872210833625894e-08,4.1716464934090354e-07,-0.0003646251578486398,0.0,-1.5904407780213247e-16,0.0,0.0,-2.744843632362405e-16,0.0,0.0,0.0,-4.039780320016983e-16,-5.984138531770243e-05,-0.0020623767975390026,0.0,0.0,-0.0005953901331054429,-0.00038196276355100835,-0.0003598204357912371,-4.4384805474984976e-07,-7.133056955295983e-06,-0.0002623470734447927,1.5280398243322226,-4.936388459291147,1.456120007548257,0.024288123448086275,0.1584582247625538,-0.00104107525887467,0.9870663575600047,0.6464414451718632,-4.938412281015686,0.9200473110922484,-0.04319218226224758,1.1636608437763425e-06,-4.2639429844452916e-07,0.9990667822472574,0.5481255631415097,-5.253182009658992,0.9999557150164139,-0.04901588269307274,3.146488275804496e-07,2.3425063619443792e-07,0.9987979992188943,7.061758515148227e-07,-1.4905093325867356e-07,2.98024952862395e-06,3.22760497948294e-07,9.793136448645491e-06,3.979146276459326e-06,0.0006482914136301897,0.0010710473186928357,0.0007468781995308014,-0.0009600918807794681,0.00011319379301847237,-0.00044033306160692177,0.0004957177112814287,0.0,0.0,0.0,-3.964714055744427e-05,-5.2386989665917464e-05,0.0,0.0,0.0,-7.302804116257032e-07,1.3037371562764117e-07,-1.8531626857963177e-11,-1.204864300214725e-10,1.016330826181234e-07,1.4734500895321025e-07,3.203616862924475e-08,0.0,0.0,0.0,-1.486871112236604e-111,0.0,-2.8259170479890087e-44,0.0,-1.9586939406532946e-44,-5.786142358453296e-29,-1.694550284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"is_source_compressed_policy_file": true, "motion_primitive_count": 19, "pretrain_task_id": 8, "retained_waypoint_count": 19, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the fridge doors.", "task_name": "CloseFridge", "video_available": true, "video_bytes": 676973, "video_relpath": "videos/compressed/08_CloseFridge.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseFridgeDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 101, 'stable_release_contact_loss_t': 101, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.0438, -1.050213, -0.03374, -2.284728, 0.043175, 1.520718, 0.714233], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.354723, -1.504686, -0.908278, -2.654101, -1.020824, 1.131374, 1.483875], 'input_type': 'joint', 'steps': 56, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.094772, 0.248732, -0.250256, -2.51292, 1.479775, 3.013549, 0.422746], 'input_type': 'joint', 'steps': 59, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2160, "code_num_lines": 22, "code_num_nonblank_lines": 17, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseFridgeDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseFridgeDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_left_group\"},\"fixtures\":{\"box_front_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"OpenCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"OpenCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_left_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"dining_front_group\":{\"cls\":\"Counter\"},\"dishwasher_right_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeFrenchDoor\"},\"ligh_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"microwave_left_group\":{\"cls\":\"Microwave\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"sink_right_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1\":{\"cls\":\"Drawer\"},\"stack_2_front_group_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_3\":{\"cls\":\"Drawer\"},\"stack_2_front_group_4\":{\"cls\":\"Drawer\"},\"stack_2_front_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"Drawer\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_left_gr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"is_source_compressed_policy_file": true, "motion_primitive_count": 3, "pretrain_task_id": 9, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Fully close the fridge drawer.", "task_name": "CloseFridgeDrawer", "video_available": true, "video_bytes": 302183, "video_relpath": "videos/compressed/09_CloseFridgeDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 203, 'stable_release_contact_loss_t': 203, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.016103, -1.020079, -0.037544, -2.278405, 0.039894, 1.519546, 0.701247], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.194793, -1.763398, 0.295514, -1.499692, -0.432524, 1.627636, 0.777945], 'input_type': 'joint', 'steps': 49, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.550323, -1.498658, 1.171342, -1.845061, -0.968818, 1.045284, 1.523882], 'input_type': 'joint', 'steps': 49, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.145257, -1.144676, 0.466745, -2.277174, -0.844028, 1.943187, 1.826717], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.010565, -0.853225, -0.098124, -2.325555, -0.24948, 2.830508, 1.020452], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.022925, -0.775628, -0.163816, -2.193891, 0.187539, 2.698922, 0.648047], 'input_type': 'joint', 'steps': 36, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2617, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"microwave_main_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"counter_left_group\":{\"cls\":\"Counter\"},\"counter_stack_main_group_1\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_2\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_3\":{\"cls\":\"HingeCabinet\"},\"counter_stack_main_group_base\":{\"cls\":\"Box\"},\"dining_dining_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeBottomFreezer\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"panel_cab_left_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_left_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"sink_left_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_4\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"Drawer\"},\"stack_4_main_group_4\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_2\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_1_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.025495690521569,-0.876590163234804,0.0],\"lang\":\"Close the microwave door.\",\"layout_id\":11,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"tupperware\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tupperware\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"microwave_main_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.33417867703179815,\"name\":\"tray\",\"offset\":[-0.057362644721110974,0.018949835055598212,-0.15348896596964093],\"size\":[0.3628455607914186,0.25622305232786396]},\"type\":\"object\"},{\"info\":{\"cat\":\"corn\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"corn\",\"vegetable\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06648958553999999,0.16172615602499998,0.0644791624575],\"ref\":\"microwave_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.131,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"wooden_spoon\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"wooden_spoon\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.09402261149999999,0.3193453785,0.038789449999999996],\"ref\":\"microwave_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.131,0.65]},\"type\":\"object\"}],\"style_id\":43},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.027578871697187424,\"qx\":0.02574148029088974,\"qy\":-0.9905300140380859,\"qz\":-0.13201168179512024,\"x\":2.0344699950272127,\"y\":-0.625187795226393,\"z\":1.2915559302155262},\"goal_pose\":{\"qw\":0.8700769893039662,\"qx\":-0.13189051732714063,\"qy\":0.2913748994234446,\"qz\":0.37506211766706316,\"x\":2.764875572735408,\"y\":-0.09880914964609477,\"z\":0.9497160853090479},\"object_pose\":{\"qw\":0.9999892789732774,\"qx\":-8.689709144131472e-05,\"qy\":-3.4671267811379244e-06,\"qz\":0.004629727354674816,\"x\":2.144317312821777,\"y\":-0.24716228837739115,\"z\":1.4725885353255113}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseMicrowave\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"microwave_main_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"counter_left_group\":{\"cls\":\"Counter\"},\"counter_stack_main_group_1\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_2\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_3\":{\"cls\":\"HingeCabinet\"},\"counter_stack_main_group_base\":{\"cls\":\"Box\"},\"dining_dining_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeBottomFreezer\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"panel_cab_left_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_left_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"sink_left_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_4\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"Drawer\"},\"stack_4_main_group_4\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_2\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_1_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.025495690521569,-0.876590163234804,0.0],\"lang\":\"Close the microwave door.\",\"layout_id\":11,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"tupperware\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tupperware\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"microwave_main_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.33417867703179815,\"name\":\"tray\",\"offset\":[-0.057362644721110974,0.018949835055598212,-0.15348896596964093],\"size\":[0.3628455607914186,0.25622305232786396]},\"type\":\"object\"},{\"info\":{\"cat\":\"corn\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"corn\",\"vegetable\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06648958553999999,0.16172615602499998,0.0644791624575],\"ref\":\"microwave_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.131,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"wooden_spoon\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"wooden_spoon\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.09402261149999999,0.3193453785,0.038789449999999996],\"ref\":\"microwave_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.131,0.65]},\"type\":\"object\"}],\"style_id\":43},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.027578871697187424,\"qx\":0.02574148029088974,\"qy\":-0.9905300140380859,\"qz\":-0.13201168179512024,\"x\":2.0344699950272127,\"y\":-0.625187795226393,\"z\":1.2915559302155262},\"goal_pose\":{\"qw\":0.8700769893039662,\"qx\":-0.13189051732714063,\"qy\":0.2913748994234446,\"qz\":0.37506211766706316,\"x\":2.764875572735408,\"y\":-0.09880914964609477,\"z\":0.9497160853090479},\"object_pose\":{\"qw\":0.9999892789732774,\"qx\":-8.689709144131472e-05,\"qy\":-3.4671267811379244e-06,\"qz\":0.004629727354674816,\"x\":2.144317312821777,\"y\":-0.24716228837739115,\"z\":1.4725885353255113}},\"initial_state\":[0.5000000000000003,7.974504371436363,-10.876590200380845,2.073819714414818e-07,1.9582256858928e-08,-0.016100820102842632,-1.0200347674648782,-0.03753864511883089,-2.278405340313582,0.03989967377600446,1.5196211017626613,0.7012487919616831,0.020566247939581197,-0.020500312739362557,-3.0140799283301772e-05,-6.405031875514284e-09,8.561235427215417e-08,3.145170668371622e-08,-2.2558508140618426e-09,5.3665702831958034e-08,-1.1371991651423658e-08,0.0,-2.476949398480553e-16,-2.476949398480553e-16,-2.476949398480553e-16,-2.476949398480553e-16,0.0,-2.4298059795492193e-16,0.0,-2.420815513471689e-16,-2.485357625126487e-16,-2.485357625126487e-16,-2.485357625126487e-16,-2.485357625126487e-16,0.0,0.0,0.0,0.0,-1.4389274074464515,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.007823083849934437,6.617529523044477e-10,-0.00040191428297806444,-8.596066008873382e-09,2.3463643364629016e-07,0.0,-0.006523882698249136,-5.614938413883575e-06,0.0,0.0,0.0,0.0,0.0,-1.0400005875106896e-16,0.0,0.0,0.0,-4.7051182504136554e-07,-9.399482217934049e-05,0.0,0.0,0.0,0.0,0.0,2.144317312821777,-0.24716228837739115,1.4725885353255113,0.9999892789732774,-8.689709144131472e-05,-3.4671267811379244e-06,0.004629727354674816,2.764875572735408,-0.09880914964609477,0.9497160853090479,0.8700769893039662,-0.13189051732714063,0.2913748994234446,0.37506211766706316,1.5529235360015619,-0.2760562968996354,0.9303498292268219,0.9974071305157562,0.0402339092214128,-0.006051340173468452,-0.059360170377054766,-7.346249851600492e-07,4.429680362641418e-07,-3.059888680995451e-06,5.6675266297232327e-08,-9.462420277338071e-06,0.000566954011978588,-0.0006625078551673771,-2.707654575791123e-05,-0.0007221476543596519,9.789156720692649e-05,-0.00011432698274447835,-0.0004512558978534202,0.0004847948233707726,-4.2710007971658275e-07,-1.1568341698619935e-10,1.7420574053036396e-07,6.399856539817452e-08,-4.074367398672004e-11,1.0920004551695062e-07,-2.0539332228075954e-10,0.0,-9.463849344552364e-18,-9.463849344552364e-18,-9.463849344552364e-18,-9.463849344552364e-18,0.0,-8.464256255739161e-18,0.0,-8.2820754134865e-18,-9.650059267388412e-18,-9.650059267388412e-18,-9.650059267388412e-18,-9.650059267388412e-18,0.0,0.0,0.0,0.0,8.103172933788017e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.630971044577038e-07,1.346548184636963e-09,-9.40756679257845e-08,-1.749153339007968e-08,4.774452648321289e-07,0.0,-4.835798728643312e-07,-1.0170965484085591e-07,0.0,0.0,0.0,0.0,0.0,-4.2602965687605136e-18,0.0,0.0,0.0,-1.0594698466614099e-08,-1.809716219932623e-06,0.0,0.0,0.0,0.0,0.0,-6.049829327789043e-07,-3.3106124058033356e-07,2.0254206787151503e-06,8.562735275327132e-06,-1.6115863707640294e-05,-4.436581381003726e-08,0.02667776897328839,0.019478008243010957,-0.0018352911750379214,0.15637023527148597,1.0871270436685605,0.1350180468473776,0.00013959071008166977,-1.5596329468625326e-05,1.1144246176505644e-05,-4.3458275799702374e-05,0.010510476130635056,-0.0009291502476739234],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseMicrowave\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 10, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the microwave door.", "task_name": "CloseMicrowave", "video_available": true, "video_bytes": 586916, "video_relpath": "videos/compressed/10_CloseMicrowave.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseOven/seed_195/episode_000000/refinement/20260403/CloseOven/iter_001/candidate.py\n# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_counts={0: 13, 1: 2, 2: 1}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 153, 'stable_release_contact_loss_t': 153, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [0.001777, -1.040713, -0.007125, -2.262362, 0.045935, 1.566951, 0.686096], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.032798, -1.421188, 0.304466, -2.398301, 0.295954, 1.385962, 0.950507], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.222696, -1.732382, 0.973982, -2.34257, 0.922556, 1.29582, 1.656826], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.282895, -1.594835, 1.388657, -2.292473, 1.166431, 1.56181, 1.939858], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.267054, -1.650404, 2.125185, -1.886223, 1.483949, 2.196373, 1.868787], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.359184, -1.76297, 2.203035, -1.709071, 0.979425, 2.217647, 2.309247], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.331791, -1.762886, 2.160992, -1.718795, 0.812699, 2.132109, 2.436066], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.264967, -1.762808, 2.063592, -1.864696, 0.830812, 2.115913, 2.27859], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.268413, -1.744325, 1.966491, -1.994027, 0.882282, 2.121725, 2.129986], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.388143, -1.701474, 1.85329, -2.107786, 0.906656, 2.230445, 1.905065], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.565507, -1.6751, 1.796004, -2.1007, 0.941831, 2.372295, 1.731983], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.819369, -1.655147, 1.746769, -1.982642, 0.974163, 2.435358, 1.601085], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.868934, -1.648273, 1.729379, -1.948142, 0.955477, 2.436336, 1.593161], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveLinear', 'target': pose(x=0.737756, y=-3.166585, z=0.86793, qw=0.27277, qx=0.585859, qy=-0.65044, qz=-0.399117), 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveLinear', 'target': pose(x=0.733211, y=-3.194068, z=0.863334, qw=0.30019, qx=0.5833, qy=-0.630174, qz=-0.415366), 'steps': 8, 'settle_steps': 2, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.80741, -1.699978, 1.724872, -1.91771, 0.842072, 2.446105, 1.782835], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 4959, "code_num_lines": 41, "code_num_nonblank_lines": 36, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"coffeemachine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"stack_2_island_grou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door.\",\"layout_id\":35,\"object_cfgs\":[{\"info\":{\"cat\":\"oven_tray\",\"groups\":[\"oven_tray\"],\"groups_containing_sampled_obj\":[\"all\",\"oven_tray\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml\",\"split\":\"train\"},\"name\":\"door_obj_container\",\"obj_groups\":\"oven_tray\",\"placement\":{\"fixture\":\"oven_left_group_1\",\"pos\":[null,-1.0],\"size\":[1.0,0.45],\"try_to_place_in\":\"oven_tray\"},\"reset_region\":{\"height\":0.11289428349840974,\"name\":\"rack0\",\"offset\":[0.001484587893097078,0.007471145706877291,-0.12796236999809324],\"size\":[0.5280805688426562,0.4704484027308083]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"aluminum_foil\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"aluminum_foil\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"door_obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"wooden_spoon\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"wooden_spoon\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.09275159699999999,0.31695553,0.03890589149999999],\"ref\":\"oven_left_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.8604560813499809,-3.469446951953614e-17,0.46],\"size\":[1.039087837300038,0.65]},\"type\":\"object\"}],\"style_id\":27},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1343887895345688,\"qx\":0.732026994228363,\"qy\":-0.6586822867393494,\"qz\":-0.1105150505900383,\"x\":0.9067977518928186,\"y\":-2.666266007687081,\"z\":1.3115185908155884},\"goal_pose\":{\"qw\":0.5096516645363613,\"qx\":0.011330861428404197,\"qy\":-0.005782057403281267,\"qz\":0.8602867895224189,\"x\":0.3438612999526004,\"y\":-2.5668722347835193,\"z\":0.9391912150210601},\"object_pose\":{\"qw\":0.6798611580007294,\"qx\":3.805399831933831e-06,\"qy\":9.791849897517643e-06,\"qz\":0.7333408523541741,\"x\":0.36465182419892106,\"y\":-3.154097183848726,\"z\":0.5854010268633031}},\"initial_state\":[0.5000000000000003,12.659038962374895,8.839834756992861,1.8076980644170614e-07,2.1386666094585814e-08,0.002224533143031871,-1.0408313871098755,-0.0072350341301066125,-2.262316261166166,0.04579997953095643,1.5674821683198346,0.6861434148453744,0.02055167086955297,-0.020514888227793085,-2.8904251140009236e-07,8.540648116472483e-07,-2.332642584628429e-06,2.730274345150484e-07,-6.873189047235853e-08,-6.904073203649757e-08,-6.904073203649757e-08,1.1791584164066861e-06,0.0,0.0,0.0,0.0,0.0,-0.007252039876465342,1.409691907978435e-09,-0.00037920929554327614,-1.3296186517673134e-08,7.130455864883416e-08,-0.0003642970438206997,0.0,-2.717586092605536e-07,-6.873182445500062e-08,-6.904065464214157e-08,-6.904065464214157e-08,-8.501935533117589e-08,-1.458132227837588e-06,4.1112043734543977e-07,-1.3448537536520679e-05,-0.0022209056722548377,-0.00222032875795927,0.0,0.0,0.0,0.0,0.0,0.0,-2.6671092641779514e-07,6.394265701655156e-08,-2.29167982816055e-06,1.1809413316710092e-06,-2.1227062264225404e-07,7.617436604656263e-08,-6.960341816921361e-08,1.1504048217368046,-1.513205728795453e-09,-5.824391775288321e-10,1.3762192568668475e-07,0.0,0.0,0.0,-7.969738364141586e-08,1.8480123609226153e-06,-1.6978515173595416e-07,6.363134311532479e-08,-6.972168399498232e-08,-2.8985795324693553e-07,8.719200983070188e-07,-2.716087692891512e-07,6.361925295659357e-08,-6.972168321632137e-08,0.0,0.0,0.0,-5.496276864534165e-07,0.0,-1.6388253413764948e-22,5.649222264593253e-21,0.0,-7.112597178681033e-08,-7.112597178681033e-08,8.21727333355945e-07,-5.428261596548319e-07,-1.0504100796214331e-07,1.7374737140943288e-06,-7.318900683521455e-08,9.029475007128023e-08,-3.801152835079939e-07,-1.0504100796213993e-07,1.737473714095114e-06,-7.318900683521455e-08,0.35972626935050206,-3.149558152866925,0.6311645102229417,0.9995195370938641,-8.20558758931905e-06,7.245830495506552e-06,0.030995077800082132,0.36465182419892106,-3.154097183848726,0.5854010268633031,0.6798611580007294,3.805399831933831e-06,9.791849897517643e-06,0.7333408523541741,0.3438612999526004,-2.5668722347835193,0.9391912150210601,0.5096516645363613,0.011330861428404197,-0.005782057403281267,0.8602867895224189,-6.108569216016927e-07,-1.88594675251978e-07,-2.6359896994884033e-06,3.2086437984627674e-07,-9.352074160201973e-06,7.031204917475484e-06,-0.0006031594949399668,0.001142291541698903,-0.0007826570507499084,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"is_source_compressed_policy_file": true, "motion_primitive_count": 16, "pretrain_task_id": 11, "retained_waypoint_count": 16, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the oven door.", "task_name": "CloseOven", "video_available": true, "video_bytes": 334083, "video_relpath": "videos/compressed/11_CloseOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 4}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseStandMixerHead', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 62, 'stable_release_contact_loss_t': 62, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.004038, -1.011219, -0.044819, -2.295809, 0.035305, 1.50555, 0.693525], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.123274, -0.937699, -0.960015, -2.027831, 0.062616, 1.709142, -0.546938], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.466906, -1.027296, -0.78203, -2.107097, 0.169098, 1.783188, -2.058731], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.320059, -0.935607, -0.137351, -1.87528, -0.007282, 1.321898, -2.192736], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2351, "code_num_lines": 23, "code_num_nonblank_lines": 18, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseStandMixerHead\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseStandMixerHead\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_island_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"middle_main_group\":{\"cls\":\"HingeCabinet\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_box_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_box_1_island_group_base\":{\"cls\":\"Box\"},\"panel_cab_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_2_island_group_base\":{\"cls\":\"Box\"},\"panel_stack_main_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_main_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_island_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1\":{\"cls\":\"Drawer\"},\"stack_5_island_group_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_3\":{\"cls\":\"Drawer\"},\"stack_5_island_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"Drawer\"},\"stack_5_left_group_2\":{\"cls\":\"Drawer\"},\"stack_5_left_group_3\":{\"cls\":\"Drawer\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stand_mixer_island_group\":{\"cls\":\"StandMixer\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_left_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.4228548662085245e-08],\"init_robot_base_pos\":[1.1801004689309467,-3.1709186634555686,0.0],\"lang\":\"Close the stand mixer head.\",\"layout_id\":29,\"object_cfgs\":[],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.058474235236644745,\"qx\":0.678498387336731,\"qy\":0.7253673076629639,\"qz\":0.1003144234418869,\"x\":1.4318993743509856,\"y\":-3.179865997132939,\"z\":1.2790312629294085},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseStandMixerHead\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseStandMixerHead\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseStandMixerHead\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_island_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"middle_main_group\":{\"cls\":\"HingeCabinet\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_box_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_box_1_island_group_base\":{\"cls\":\"Box\"},\"panel_cab_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_2_island_group_base\":{\"cls\":\"Box\"},\"panel_stack_main_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_main_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_island_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1\":{\"cls\":\"Drawer\"},\"stack_5_island_group_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_3\":{\"cls\":\"Drawer\"},\"stack_5_island_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"Drawer\"},\"stack_5_left_group_2\":{\"cls\":\"Drawer\"},\"stack_5_left_group_3\":{\"cls\":\"Drawer\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stand_mixer_island_group\":{\"cls\":\"StandMixer\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_left_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.4228548662085245e-08],\"init_robot_base_pos\":[1.1801004689309467,-3.1709186634555686,0.0],\"lang\":\"Close the stand mixer head.\",\"layout_id\":29,\"object_cfgs\":[],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.058474235236644745,\"qx\":0.678498387336731,\"qy\":0.7253673076629639,\"qz\":0.1003144234418869,\"x\":1.4318993743509856,\"y\":-3.179865997132939,\"z\":1.2790312629294085},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-13.170918422287967,-8.819900024780534,-2.325631925279479e-07,2.6637934010429542e-08,-0.0036111813386186693,-1.0106856108238378,-0.04495127614217094,-2.2958919635956314,0.035215863808714526,1.5066838753856717,0.6935710748055567,0.020540835044006764,-0.0205257237631204,0.0,-1.6710613025028966e-06,2.580894781493162e-09,-9.479231444036264e-10,9.059220734086043e-05,2.91462175037537e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.6040265667027764e-16,-2.6040265667027764e-16,-2.5932244903555226e-16,-2.6040265667027764e-16,-2.6040265667027764e-16,-2.5932244903555226e-16,-2.6040265667027764e-16,-2.6040265667027764e-16,-2.5932244903555226e-16,-0.006247572777162012,-0.006247572777162012,-7.986052731610481e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.442081668113916e-09,4.90555531623289e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.881602374273474e-16,-6.881602374273474e-16,-2.360207720664469e-16,-2.360207720664469e-16,-2.3516811475991766e-16,-2.360207720664469e-16,-2.360207720664469e-16,-2.3516811475991766e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.00020444192636390592,-0.007822586925451845,1.2430416362445286e-09,-0.0006579637753081224,-1.606734827773424e-10,5.16397772168957e-07,-0.00036300620073894427,0.0,-3.0786682584309646e-16,-3.0786682584309646e-16,-3.0694631100300357e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.5712322895746067,-0.00041919548081770664,0.004640597966317315,6.795632961528827e-07,4.97148662097295e-07,3.0933371216554205e-06,8.11645539168942e-08,8.302348771144504e-06,0.0006226217788816331,0.0006623139601534849,-2.2342793497733466e-05,0.0007886732285455178,0.00012841792942934317,0.00011130476894142941,-0.00042641904655198843,0.0005096305179334146,0.0,-3.009102698307395e-08,5.25165642961736e-09,-1.701605431920827e-11,1.7534512366920106e-08,-3.0322117330626237e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0157098697353155e-17,-1.0157098697353155e-17,-9.916584830411756e-18,-1.0157098697353155e-17,-1.0157098697353155e-17,-9.916584830411756e-18,-1.0157098697353155e-17,-1.0157098697353155e-17,-9.916584830411756e-18,-4.372234383447536e-07,-4.372234383447536e-07,-1.437564934863473e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.8406886638762144e-06,-4.383751422359509e-11,9.981922392688445e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.409268942994182e-17,-3.409268942994182e-17,-8.77442830901769e-18,-8.77442830901769e-18,-8.59162912376151e-18,-8.77442830901769e-18,-8.77442830901769e-18,-8.59162912376151e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.043564947222863e-06,-5.258660666451143e-07,2.5293660671535003e-09,4.620273734003229e-13,-3.269430727064705e-10,1.0507811978495908e-06,-6.574751551845907e-08,0.0,-1.0996431430927583e-17,-1.0996431430927583e-17,-1.078720622541862e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0077581096359365e-08,-0.0008536001552045755,0.009689230626029997],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseStandMixerHead\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 12, "retained_waypoint_count": 4, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the stand mixer head.", "task_name": "CloseStandMixerHead", "video_available": true, "video_bytes": 353822, "video_relpath": "videos/compressed/12_CloseStandMixerHead.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CloseToasterOvenDoor/seed_195/episode_000000/refinement/20260403/CloseToasterOvenDoor/iter_002/candidate.py\n# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 5, 1: 2, 2: 4}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CloseToasterOvenDoor', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 140, 'stable_release_contact_loss_t': 140, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.002349, -0.976434, -0.006173, -2.24155, 0.020248, 1.53042, 0.673882], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.32135, -1.734482, 0.929497, -2.551018, 0.185995, 1.68909, 1.645305], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.04713, -1.113801, 1.451251, -2.741308, 0.118486, 2.362626, 2.282583], 'input_type': 'joint', 'steps': 38, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.089011, -1.238709, 1.373477, -2.817115, 0.006832, 2.787149, 2.394164], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.471642, -0.721504, 1.17906, -2.654346, 0.193736, 3.433814, 1.978483], 'input_type': 'joint', 'steps': 38, 'settle_steps': 1, 'gripper': -1.0},\n    {'primitive': 'moveLinear', 'target': pose(x=5.995379, y=-0.391809, z=1.134671, qw=0.252262, qx=-0.161802, qy=-0.798017, qz=-0.522832), 'steps': 6, 'settle_steps': 2, 'gripper': -1.0},\n    {'primitive': 'moveLinear', 'target': pose(x=5.997712, y=-0.37403, z=1.136242, qw=0.252262, qx=-0.161802, qy=-0.798017, qz=-0.522832), 'steps': 4, 'settle_steps': 6, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.472154, -0.699686, 1.177755, -2.65632, 0.195396, 3.461415, 1.959408], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.44107, -0.649945, 1.157053, -2.663266, 0.21167, 3.504246, 1.897334], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.393694, -0.617966, 1.12075, -2.668483, 0.225911, 3.498533, 1.849517], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.337277, -0.578851, 1.073216, -2.672875, 0.246242, 3.494769, 1.788811], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nwait(input_type='pose', hold_pose=pose(x=5.997712, y=-0.37403, z=1.136242, qw=0.252262, qx=-0.161802, qy=-0.798017, qz=-0.522832), duration=0.25, gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\n", "code_char_count": 4388, "code_num_lines": 40, "code_num_nonblank_lines": 35, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseToasterOvenDoor\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseToasterOvenDoor\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_main_group\"},\"fixtures\":{\"bottom_right_group_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_island_group_1\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeSideBySide\"},\"fridge_top_cabinet_right_group\":{\"cls\":\"HingeCabinet\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"panel_box_1_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_box_1_island_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"sink_1_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_4\":{\"cls\":\"Drawer\"},\"stack_3_main_group_5\":{\"cls\":\"Drawer\"},\"stack_3_main_group_6\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"Drawer\"},\"stack_5_main_group_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1\":{\"cls\":\"Drawer\"},\"stack_7_main_group_2\":{\"cls\":\"Drawer\"},\"stack_7_main_group_3\":{\"cls\":\"Drawer\"},\"stack_7_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_right_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_main_group_2\":{\"cls\":\"HingeCabinet\"},\"wall_stack_main_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[6.329967349897047,-0.8080740679036853,0.0],\"lang\":\"Close the toaster oven door.\",\"layout_id\":24,\"object_cfgs\":[],\"style_id\":32},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.004702928941696882,\"qx\":0.05411772429943085,\"qy\":-0.9896141290664673,\"qz\":-0.13309098780155182,\"x\":6.32862775415641,\"y\":-0.5435581153570743,\"z\":1.2992488367639055},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseToasterOvenDoor\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CloseToasterOvenDoor\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CloseToasterOvenDoor\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_main_group\"},\"fixtures\":{\"bottom_right_group_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_island_group_1\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeSideBySide\"},\"fridge_top_cabinet_right_group\":{\"cls\":\"HingeCabinet\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"panel_box_1_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_box_1_island_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"sink_1_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_4\":{\"cls\":\"Drawer\"},\"stack_3_main_group_5\":{\"cls\":\"Drawer\"},\"stack_3_main_group_6\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_island_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"Drawer\"},\"stack_5_main_group_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1\":{\"cls\":\"Drawer\"},\"stack_7_main_group_2\":{\"cls\":\"Drawer\"},\"stack_7_main_group_3\":{\"cls\":\"Drawer\"},\"stack_7_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_right_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_main_group_2\":{\"cls\":\"HingeCabinet\"},\"wall_stack_main_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[6.329967349897047,-0.8080740679036853,0.0],\"lang\":\"Close the toaster oven door.\",\"layout_id\":24,\"object_cfgs\":[],\"style_id\":32},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.004702928941696882,\"qx\":0.05411772429943085,\"qy\":-0.9896141290664673,\"qz\":-0.13309098780155182,\"x\":6.32862775415641,\"y\":-0.5435581153570743,\"z\":1.2992488367639055},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,3.6700327077139825,-10.808074102376878,2.105956621371884e-07,2.31718843121115e-08,-0.002029343977101874,-0.9756678108008281,-0.0062375284055754595,-2.2416640440474063,0.02020013100432392,1.5319641062121363,0.673895799692504,0.020545676244552707,-0.020520884106419394,-2.4189529474078972e-05,5.918704202022024e-09,1.5514352368468116e-08,7.75962554962642e-09,-8.163533206906076e-09,-1.2269534197441126e-09,-3.950510577244178e-09,-3.4551042452344684e-10,-1.687486467071146e-10,0.0,-1.0889960572919526e-09,-1.087650880120333e-09,-1.087650880120333e-09,-1.0567871759334418e-08,-0.006692318887057929,-1.1584701470847503e-06,0.0,0.0,-1.0929710605977939e-09,-1.0929710605977939e-09,-1.0915083072392487e-09,-1.0915083072392487e-09,-1.0915083072392487e-09,-1.0915083072392487e-09,-1.0829189986255882e-09,-1.081752339389614e-09,-1.081752339389614e-09,-1.1340365111370143e-09,-1.1340365111370143e-09,-1.1340365111370143e-09,-1.1340365111370143e-09,-1.0829189986255882e-09,-1.081752339389614e-09,-1.081752339389614e-09,-1.7255849893076195e-09,5.590766585056871e-08,-1.5539828158882537e-09,8.20430697222803e-08,0.0,0.0,0.0,0.0,-5.910035391911459e-09,-2.5894545691420715e-08,2.690566199706412e-08,1.8126753161838792e-09,1.812675316183506e-09,-8.705969711675777e-09,2.093811154697885e-08,1.8126753161835051e-09,0.0,0.0,1.1673618778054116e-06,0.0,-0.007732930337554114,8.726004742063292e-09,-0.00038887793888057125,1.3711956503575586,4.242040015318615e-10,3.3339507008824173e-10,2.4197620617323577e-09,0.0,-1.1746947362403376e-09,-3.774871460773927e-08,7.200366136741905e-08,0.0,0.0,0.0,0.0,5.644004289149126e-09,-3.774871460773927e-08,7.200366136741905e-08,0.0,0.0,0.0,0.0,0.0,0.0,-1.580017771378167e-08,9.2428277920953e-08,-2.1876840741609744e-08,1.4253676906722359e-06,0.0,-1.1565146792369465e-09,-1.1551685280835864e-09,-1.1551685280835864e-09,-3.12878688411799e-08,-9.88166777573633e-09,4.088592489844998e-08,7.0621213607302676e-09,-1.1565146792369465e-09,-1.1551685280835864e-09,-1.1551685280835864e-09,-2.506322385292077e-07,9.251435690595608e-09,-6.618569049478733e-07,4.311748011384541e-07,-2.9870900985559497e-06,3.5992111629029697e-08,-9.367183854964468e-06,0.0004960741176720851,-0.0006216127748157031,-3.0599076166871987e-05,-0.000734668655950264,0.0001095034983705637,-0.00011318965143623692,-0.0004833529893190363,0.00045269803566070954,-4.3662073306875167e-07,1.20434980924262e-08,3.1568915467469886e-08,1.5789441702870145e-08,-1.472996559159577e-10,-2.213867594987112e-11,-7.128149544540122e-11,-6.234257283129844e-12,-3.0448357176162738e-12,0.0,-4.418887271195522e-11,-4.3759236706805216e-11,-4.3759236706805216e-11,1.4372748950344393e-08,-4.91245315699637e-07,-2.0966905023030112e-08,0.0,0.0,-4.5474076314673153e-11,-4.5474076314673153e-11,-4.4998366908885946e-11,-4.4998366908885946e-11,-4.4998366908885946e-11,-4.4998366908885946e-11,-4.2270107637890285e-11,-4.190814178755561e-11,-4.190814178755561e-11,-6.018872312181985e-11,-6.018872312181985e-11,-6.018872312181985e-11,-6.018872312181985e-11,-4.2270107637890285e-11,-4.190814178755561e-11,-4.190814178755561e-11,4.569269844839548e-09,-1.150299724290085e-07,2.905197881779295e-09,-1.9374882108428183e-08,0.0,0.0,0.0,0.0,5.905802049850512e-09,1.1034072862753766e-06,2.0162618525335845e-07,-6.3510300210788125e-09,-6.351030021078825e-09,1.6514338466215487e-06,-1.1867083508732696e-06,-6.351030021078829e-09,0.0,0.0,-1.1260404692588982e-05,0.0,-5.535999877970047e-07,1.7755849475497597e-08,-1.2424594151827057e-07,1.1035091033994913e-07,8.631788277570982e-10,6.783989864050833e-10,4.923780485996627e-09,0.0,-5.264456056848407e-11,-2.891141313527375e-07,-9.147250143098835e-07,0.0,0.0,0.0,0.0,1.1484544842885153e-08,-2.891141313527375e-07,-9.147250143098835e-07,0.0,0.0,0.0,0.0,0.0,0.0,4.1639791567444956e-07,1.5240406075857101e-06,-4.451563141518775e-08,2.900379585661508e-06,0.0,-4.652671150430458e-11,-4.609271124823778e-11,-4.609271124823778e-11,7.378076820116265e-09,6.054254936864973e-09,-1.0556115612421129e-08,-3.968292971725204e-09,-4.652671150430458e-11,-4.609271124823778e-11,-4.609271124823778e-11,5.91052512833787e-08,-9.115553353999166e-09],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseToasterOvenDoor\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 11, "pretrain_task_id": 13, "retained_waypoint_count": 11, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Close the toaster oven door.", "task_name": "CloseToasterOvenDoor", "video_available": true, "video_bytes": 541939, "video_relpath": "videos/compressed/13_CloseToasterOvenDoor.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/CoffeeServeMug/seed_195/episode_000000/refinement/20260403/CoffeeServeMug/iter_002/candidate.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CoffeeServeMug', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 65, 'stable_release_contact_loss_t': 113, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.025185, -1.063129, -0.029761, -2.261026, 0.053602, 1.548416, 0.68292], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.054927, -1.097832, 0.120373, -2.994496, 0.212718, 2.309447, 0.569823], 'input_type': 'joint', 'steps': 63, 'settle_steps': 1, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.054025, -1.077764, 0.119024, -2.986179, 0.212113, 2.31992, 0.567931], 'input_type': 'joint', 'steps': 2, 'settle_steps': 1, 'gripper': 1.0},\n    {'target': [0.052631, -1.048784, 0.113045, -2.958193, 0.205552, 2.293949, 0.565326], 'input_type': 'joint', 'steps': 7, 'settle_steps': 2, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.055981, -1.06421, 0.117825, -2.954991, 0.208304, 2.264551, 0.570604], 'input_type': 'joint', 'steps': 5, 'settle_steps': 2, 'gripper': 1.0},\n    {'target': [0.076926, -1.164319, 0.154749, -2.952794, 0.230766, 2.136098, 0.607078], 'input_type': 'joint', 'steps': 15, 'settle_steps': 6, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'target': [0.088876, -1.20817, 0.178155, -2.956132, 0.247865, 2.097934, 0.623557], 'input_type': 'joint', 'steps': 3, 'settle_steps': 1, 'gripper': 1.0},\n    {'target': [0.162457, -1.030227, 0.496738, -2.965026, 0.506304, 2.455904, 0.752357], 'input_type': 'joint', 'steps': 35, 'settle_steps': 5, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_04 = [\n    {'target': [0.165847, -1.055886, 0.490049, -2.960257, 0.492839, 2.438909, 0.759067], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.218936, -1.761234, 0.337104, -2.352066, -0.072461, 1.86573, 1.054864], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[0.054927, -1.097832, 0.120373, -2.994496, 0.212718, 2.309447, 0.569823], input_type='joint', close_steps=3, settle_steps=2, gripper=1.0, require_contact_count=4)\nwait(duration=0.2, hold_target=[0.054927, -1.097832, 0.120373, -2.994496, 0.212718, 2.309447, 0.569823], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.1, hold_target=[0.052631, -1.048784, 0.113045, -2.958193, 0.205552, 2.293949, 0.565326], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.1, hold_target=[0.076926, -1.164319, 0.154749, -2.952794, 0.230766, 2.136098, 0.607078], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_03)\nwait(duration=0.1, hold_target=[0.162457, -1.030227, 0.496738, -2.965026, 0.506304, 2.455904, 0.752357], input_type='joint', gripper=1.0)\nrelease(hold_target=[0.162457, -1.030227, 0.496738, -2.965026, 0.506304, 2.455904, 0.752357], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.162457, -1.030227, 0.496738, -2.965026, 0.506304, 2.455904, 0.752357], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_04)\n", "code_char_count": 4647, "code_num_lines": 48, "code_num_nonblank_lines": 43, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CoffeeServeMug\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CoffeeServeMug\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_08_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_right_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_02_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_05_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.57064844767067],\"init_robot_base_pos\":[1.4829492695366502,-0.8463788547020453,0.0],\"lang\":\"Pick the mug from under the coffee machine dispenser and place it on the counter.\",\"layout_id\":51,\"object_cfgs\":[{\"info\":{\"cat\":\"mug\",\"groups\":[\"mug\"],\"groups_containing_sampled_obj\":[\"all\",\"mug\",\"stackable\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"ensure_valid_placement\":false,\"fixture\":\"coffee_machine_main_group_1\",\"margin\":0.0,\"rotation\":[0.39269908169872414,0.7853981633974483]},\"reset_region\":{\"name\":\"bottom\",\"offset\":[-0.03624425440292678,-0.23125414287951745,-0.09300895963032214],\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":21},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0265184435993433,\"qx\":0.03395858034491539,\"qy\":-0.9833313226699829,\"qz\":-0.17664483189582825,\"x\":1.4890154311373218,\"y\":-0.6023704467060756,\"z\":1.3149547321852086},\"goal_pose\":{\"qw\":0.9545258795657583,\"qx\":0.000559586713888778,\"qy\":0.00025578698216784893,\"qz\":0.29812743361681115,\"x\":1.2749002999834962,\"y\":-0.5015230590730236,\"z\":0.9656230452782804},\"object_pose\":{\"qw\":0.9511139078891798,\"qx\":0.0005074615282571865,\"qy\":0.0005126613421224911,\"qz\":0.3088394629591847,\"x\":1.4055080164205322,\"y\":-0.5065158775554682,\"z\":1.030056101213508}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CoffeeServeMug\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CoffeeServeMug\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CoffeeServeMug\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_08_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_right_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_02_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_05_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.57064844767067],\"init_robot_base_pos\":[1.4829492695366502,-0.8463788547020453,0.0],\"lang\":\"Pick the mug from under the coffee machine dispenser and place it on the counter.\",\"layout_id\":51,\"object_cfgs\":[{\"info\":{\"cat\":\"mug\",\"groups\":[\"mug\"],\"groups_containing_sampled_obj\":[\"all\",\"mug\",\"stackable\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"ensure_valid_placement\":false,\"fixture\":\"coffee_machine_main_group_1\",\"margin\":0.0,\"rotation\":[0.39269908169872414,0.7853981633974483]},\"reset_region\":{\"name\":\"bottom\",\"offset\":[-0.03624425440292678,-0.23125414287951745,-0.09300895963032214],\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":21},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0265184435993433,\"qx\":0.03395858034491539,\"qy\":-0.9833313226699829,\"qz\":-0.17664483189582825,\"x\":1.4890154311373218,\"y\":-0.6023704467060756,\"z\":1.3149547321852086},\"goal_pose\":{\"qw\":0.9545258795657583,\"qx\":0.000559586713888778,\"qy\":0.00025578698216784893,\"qz\":0.29812743361681115,\"x\":1.2749002999834962,\"y\":-0.5015230590730236,\"z\":0.9656230452782804},\"object_pose\":{\"qw\":0.9511139078891798,\"qx\":0.0005074615282571865,\"qy\":0.0005126613421224911,\"qz\":0.3088394629591847,\"x\":1.4055080164205322,\"y\":-0.5065158775554682,\"z\":1.030056101213508}},\"initial_state\":[0.5000000000000003,8.515446744403011,-10.847638265106134,1.7952448888463566e-07,2.8609948181841506e-08,-0.025454957352960918,-1.0630001718815607,-0.029684518950790727,-2.2610276773914673,0.05366553081975184,1.5486199810933479,0.6829100762771437,0.020563606066383158,-0.020502954707199608,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.9399435976619125e-09,2.559249637468956e-07,0.0,-6.646287055810264e-05,6.407137392525257e-08,-1.0260384718073041e-09,-6.6709582897271734e-09,4.994696221716785e-08,7.241181586513675e-08,1.574398164903832e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.6649092543389563e-16,0.0,0.0,-3.6649092543389563e-16,0.0,0.0,0.0,-0.006523882698389252,-5.614938420032618e-06,0.0,0.0,0.0,0.0,0.0,0.00022427191589098475,-9.322424260129748e-05,-0.00722314042895473,-2.714736168079911e-10,-0.0004110541421126615,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.1107634787675851e-14,0.0,-1.9908634326297428e-10,-1.9908643565683874e-10,0.0,0.0,-2.5658132116989244e-15,-2.5658132116989244e-15,-2.5419388324544723e-15,0.0,-1.3021026284544587e-15,0.0,0.0,-1.9630294625764067e-15,1.4055080164205322,-0.5065158775554682,1.030056101213508,0.9511139078891798,0.0005074615282571865,0.0005126613421224911,0.3088394629591847,-7.065884296685557e-07,4.272757448523503e-07,-2.8266842631220174e-06,6.722504930529459e-08,-9.442365860952677e-06,0.0005351284145936774,-0.0006362601894627368,-2.7552278907670894e-05,-0.0007188916427964936,9.746796475359959e-05,-0.00011367433309602806,-0.00045621944133239267,0.0004798314018864796,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.947452436771054e-09,5.207633986024201e-07,0.0,-7.302796213443398e-07,1.3037371562770382e-07,-1.8531607802106245e-11,-1.2048630598657562e-10,1.016330826181928e-07,1.4734500895322783e-07,3.203616862923872e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.778403466615529e-17,0.0,0.0,-1.778403466615529e-17,0.0,0.0,0.0,-4.835768469642644e-07,-1.0170957085927041e-07,0.0,0.0,0.0,0.0,0.0,0.00045700777210677326,-1.7992080052845393e-06,-5.300192395814385e-07,-4.903171348304271e-12,-6.322834990952726e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.953918780446755e-16,-7.094398441753036e-07,-3.5957617549014783e-12,-3.595763452819754e-12,0.0,0.0,-9.347311758424795e-17,-9.347311758424795e-17,-8.851057000777651e-17,0.0,-4.783212381231133e-17,0.0,0.0,-7.597814525379121e-17,0.00037970204942235086,-0.00015529686310593703,0.0002025517251665842,0.0076393943693927185,0.004733037229550466,5.416534837797786e-08],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CoffeeServeMug\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 14, "retained_waypoint_count": 10, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the mug from under the coffee machine dispenser and place it on the counter.", "task_name": "CoffeeServeMug", "video_available": true, "video_bytes": 267337, "video_relpath": "videos/compressed/14_CoffeeServeMug.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/CoffeeSetupMug/20260413_t2_k32_CoffeeSetupMug_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/CoffeeSetupMug/20260413_t2_k32_CoffeeSetupMug_source-compressed.py; retained_waypoints=20; fingerprint=752796b6ee39; keep_indices={0: [0, 1, 2, 3, 4, 5, 6, 7], 1: [0, 2], 2: [0, 2, 3, 6], 3: [0, 3, 4, 6], 4: [0, 6]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'CoffeeSetupMug', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 103, 'stable_release_contact_loss_t': 206, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.062465, -0.994317, -0.008781, -2.28727, 0.06916, 1.545456, 0.718407], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.037257, -1.060328, -0.379496, -2.395058, 0.196191, 1.713961, 0.245052], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.016158, -1.139386, -0.629179, -2.609171, 0.30057, 1.71541, -0.314226], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.02382, -1.072313, -0.767203, -2.666487, 0.321276, 1.652577, -0.710537], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.114947, -1.088537, -0.831663, -3.013173, 0.21516, 1.898127, -0.678212], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.126293, -1.045773, -0.86317, -3.05225, 0.187256, 1.946622, -0.73306], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.019293, -0.905609, -0.803667, -2.941166, 0.280324, 1.820884, -0.890095], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.033602, -0.941478, -0.733272, -3.028401, 0.281266, 1.80085, -0.9365], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.032716, -0.938575, -0.732093, -3.028385, 0.282059, 1.80033, -0.941049], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.96807], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.026198, -0.910656, -0.728642, -3.012351, 0.288775, 1.782714, -0.970027], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.080551, -0.920846, -0.909356, -2.884409, 0.408441, 1.681917, -0.908431], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.035234, -0.929755, -0.819659, -2.907969, 0.559079, 1.981343, -0.712036], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.101095, -0.763837, -0.636041, -2.870389, 0.667496, 2.326343, -0.711281], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.10034, -0.755788, -0.634179, -2.864027, 0.664213, 2.318836, -0.706921], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.042969, -0.915506, -0.970463, -2.645388, 0.501635, 1.812902, -0.608826], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.017415, -0.90318, -1.188249, -2.520849, 0.479869, 1.622888, -0.646671], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [0.126173, -0.974863, -1.276358, -2.456615, 0.391752, 1.592569, -0.602919], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.055901, -1.145359, -1.046141, -2.46755, -0.080678, 1.63865, -0.759663], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.96807], input_type='joint', gripper=-0.3)\ngrasp(hold_target=[-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.96807], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.96807], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 6952, "code_num_lines": 57, "code_num_nonblank_lines": 52, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CoffeeSetupMug\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CoffeeSetupMug\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_right_group_1\":{\"cls\":\"Stovetop\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.941229337175995,-0.7915669248016896,0.0],\"lang\":\"Pick the mug from the counter and place it under the coffee machine dispenser.\",\"layout_id\":42,\"object_cfgs\":[{\"info\":{\"cat\":\"mug\",\"groups\":[\"mug\"],\"groups_containing_sampled_obj\":[\"all\",\"mug\",\"receptacle\",\"stackable\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"rotation\":[0.7853981633974483,1.5707963267948966],\"sample_region_kwargs\":{\"min_size\":[0.07693444709999998,0.105,0.0893758425],\"ref\":\"coffeemachine_main_group_1\"},\"size\":[0.3,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.008401329690366666,0.0,0.46],\"size\":[1.0951973406192668,0.65]},\"type\":\"object\"}],\"style_id\":42},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.029241586104035378,\"qx\":0.004745806101709604,\"qy\":-0.9912999868392944,\"qz\":-0.1282452493906021,\"x\":3.9465707701435817,\"y\":-0.5287060454571699,\"z\":1.284620743445589},\"goal_pose\":{\"qw\":0.9713168183494805,\"qx\":0.0003713734376431883,\"qy\":-0.0003361553027375975,\"qz\":0.23778853520055318,\"x\":3.997765346936894,\"y\":-0.4196048585060273,\"z\":1.016746704244679},\"object_pose\":{\"qw\":0.8860383528919553,\"qx\":-0.00047161700062071243,\"qy\":0.00044276388367892706,\"qz\":0.4636114954809239,\"x\":3.925721594188668,\"y\":-0.5673390093424173,\"z\":0.9646436348176932}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CoffeeSetupMug\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"CoffeeSetupMug\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"CoffeeSetupMug\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_right_group_1\":{\"cls\":\"Stovetop\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.941229337175995,-0.7915669248016896,0.0],\"lang\":\"Pick the mug from the counter and place it under the coffee machine dispenser.\",\"layout_id\":42,\"object_cfgs\":[{\"info\":{\"cat\":\"mug\",\"groups\":[\"mug\"],\"groups_containing_sampled_obj\":[\"all\",\"mug\",\"receptacle\",\"stackable\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"rotation\":[0.7853981633974483,1.5707963267948966],\"sample_region_kwargs\":{\"min_size\":[0.07693444709999998,0.105,0.0893758425],\"ref\":\"coffeemachine_main_group_1\"},\"size\":[0.3,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.008401329690366666,0.0,0.46],\"size\":[1.0951973406192668,0.65]},\"type\":\"object\"}],\"style_id\":42},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.029241586104035378,\"qx\":0.004745806101709604,\"qy\":-0.9912999868392944,\"qz\":-0.1282452493906021,\"x\":3.9465707701435817,\"y\":-0.5287060454571699,\"z\":1.284620743445589},\"goal_pose\":{\"qw\":0.9713168183494805,\"qx\":0.0003713734376431883,\"qy\":-0.0003361553027375975,\"qz\":0.23778853520055318,\"x\":3.997765346936894,\"y\":-0.4196048585060273,\"z\":1.016746704244679},\"object_pose\":{\"qw\":0.8860383528919553,\"qx\":-0.00047161700062071243,\"qy\":0.00044276388367892706,\"qz\":0.4636114954809239,\"x\":3.925721594188668,\"y\":-0.5673390093424173,\"z\":0.9646436348176932}},\"initial_state\":[0.5000000000000003,6.058770731694646,-10.791566961400704,2.4091131572120304e-07,1.818620131117494e-08,-0.06420056950248415,-0.994361668945202,-0.008058999312429399,-2.287247492237046,0.0700148814177454,1.5455800664497452,0.7175258309704113,0.020570069241787736,-0.020496491696862646,-0.0007070084473885065,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0004254279644882956,0.0005292473781700118,0.0,0.0,0.0,0.0,0.0,1.5833869988504005e-15,-2.0514639363543733e-15,0.0,-9.404695704717155e-15,0.0,0.0,0.0,0.0,-2.1078581814523156e-15,-2.1128798275308198e-15,-2.1128798275308198e-15,-2.970133530423817e-15,-2.9847254969643953e-15,-1.258417876658385e-15,0.0,-1.1127817900431177e-15,-2.6937554119830467e-15,-2.8470810365764915e-06,-2.248711776308592e-09,-2.6206990288330036e-08,0.0,0.0,0.0,0.0,0.0,0.0,-1.420556308256471e-15,1.7360700282260534e-15,-0.0069483794865442036,3.421602952267124e-10,-0.00039599656844907906,-0.0069483786867532635,-2.6969579908690517e-10,-0.000395996381762938,0.0,0.0,0.0,0.0,-2.691784019921007e-09,-2.513414948250286e-09,0.0,2.2341475266967014e-08,5.022243811471398e-07,0.0,0.0,0.0,0.0,0.0,0.001875214454558798,-0.007318553695618889,0.0,0.0,3.925721594188668,-0.5673390093424173,0.9646436348176932,0.8860383528919553,-0.00047161700062071243,0.00044276388367892706,0.4636114954809239,-8.24373438055351e-07,4.3175958628356464e-07,-3.4645980679931636e-06,5.172025683055237e-08,-9.227033392215918e-06,0.0005758771323612814,-0.0006993656518947187,-2.4764555235944826e-05,-0.0007316000634316899,9.078955253507427e-05,-0.00011706639697134827,-0.000446137972585186,0.0004899128116549184,-0.000700297556092878,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.715818185786743e-08,4.953976696309003e-07,0.0,0.0,0.0,0.0,0.0,4.522285800745751e-16,-1.1932183140534447e-32,0.0,2.2734067442962365e-15,0.0,0.0,0.0,0.0,-9.315009739651405e-17,-9.624940487313775e-17,-9.624940487313775e-17,-1.5952841580684128e-16,-1.6993279327290064e-16,-7.255990839854581e-16,0.0,-5.009576838753665e-17,-1.4462802036787264e-16,-5.160658942440855e-08,-4.061399116906251e-11,-5.332650987836134e-08,0.0,0.0,0.0,0.0,0.0,0.0,-1.7734908668746735e-47,6.500126271236846e-56,-5.126622614808382e-07,6.962346267467249e-10,-1.0309644766157163e-07,-5.126622091102389e-07,-4.870976836325903e-12,-1.0309703458595187e-07,0.0,0.0,0.0,-1.9862070343493156e-06,-4.861632116744784e-11,-4.5394796991430966e-11,0.0,4.5461075365950056e-08,1.0219405904022237e-06,0.0,0.0,0.0,0.0,0.0,3.0799240233579806e-06,-5.204676248400967e-07,0.0,0.0,-0.00016690739481091144,0.0009893622771605798,0.0002302455370683558,-0.014899349277178701,0.015108981584292839,4.040849786402621e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CoffeeSetupMug\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 20, "pretrain_task_id": 15, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the mug from the counter and place it under the coffee machine dispenser.", "task_name": "CoffeeSetupMug", "video_available": true, "video_bytes": 386962, "video_relpath": "videos/compressed/15_CoffeeSetupMug.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'LowerHeat', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 157, 'stable_release_contact_loss_t': 157, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.037254, -1.017783, -0.011157, -2.299278, 0.065523, 1.496358, 0.695959], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.228026, 0.334725, 0.224004, -1.640389, -1.355165, 2.262521, 0.881499], 'input_type': 'joint', 'steps': 120, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.227175, 0.333631, 0.222968, -1.643679, -1.364038, 2.269217, 0.891199], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.13723, 0.261274, 0.164851, -1.742961, -0.626639, 2.662993, 1.321607], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2232, "code_num_lines": 23, "code_num_nonblank_lines": 18, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"LowerHeat\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"LowerHeat\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"stove\":\"stove_left_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"counter_3_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[0.8222967453346715,-1.894289027615436,0.0],\"lang\":\"Lower the heat of the kettle.\",\"layout_id\":21,\"object_cfgs\":[{\"info\":{\"cat\":\"kettle_non_electric\",\"groups\":[\"kettle_non_electric\"],\"groups_containing_sampled_obj\":[\"all\",\"kettle_non_electric\",\"receptacle\",\"kettle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_10/model.xml\",\"split\":\"train\"},\"name\":\"kettle\",\"obj_groups\":\"kettle_non_electric\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_left_group\",\"sample_region_kwargs\":{\"locs\":[\"front_left\"]},\"size\":[0.05,0.05]},\"reset_region\":{\"name\":\"front_left\",\"offset\":[-0.16961108907365305,-0.14769091467718246,0.3066376428402726],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"refs\":{\"knob\":\"front_left\"},\"style_id\":23},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.09759662300348282,\"qx\":0.7225580215454102,\"qy\":-0.6820241808891296,\"qz\":-0.05681433528661728,\"x\":0.5738812810477116,\"y\":-1.894858826585301,\"z\":1.27820656003762},\"goal_pose\":{\"qw\":0.6093114083487485,\"qx\":-0.0005079365352135905,\"qy\":-0.0004886656788327756,\"qz\":0.792930710000814,\"x\":0.5254187389415049,\"y\":-1.9619808017239022,\"z\":1.013544301090364},\"object_pose\":{\"qw\":0.6093564387798229,\"qx\":-0.0003906031563685004,\"qy\":-0.00035178309736960515,\"qz\":0.7928962442813043,\"x\":0.5254554988469957,\"y\":-1.9619745426247581,\"z\":1.0135418902194044}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"LowerHeat\"}", 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gleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[0.8222967453346715,-1.894289027615436,0.0],\"lang\":\"Lower the heat of the kettle.\",\"layout_id\":21,\"object_cfgs\":[{\"info\":{\"cat\":\"kettle_non_electric\",\"groups\":[\"kettle_non_electric\"],\"groups_containing_sampled_obj\":[\"all\",\"kettle_non_electric\",\"receptacle\",\"kettle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_10/model.xml\",\"split\":\"train\"},\"name\":\"kettle\",\"obj_groups\":\"kettle_non_electric\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_left_group\",\"sample_region_kwargs\":{\"locs\":[\"front_left\"]},\"size\":[0.05,0.05]},\"reset_region\":{\"name\":\"front_left\",\"offset\":[-0.16961108907365305,-0.14769091467718246,0.3066376428402726],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"refs\":{\"knob\":\"front_left\"},\"style_id\":23},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.09759662300348282,\"qx\":0.7225580215454102,\"qy\":-0.6820241808891296,\"qz\":-0.05681433528661728,\"x\":0.5738812810477116,\"y\":-1.894858826585301,\"z\":1.27820656003762},\"goal_pose\":{\"qw\":0.6093114083487485,\"qx\":-0.0005079365352135905,\"qy\":-0.0004886656788327756,\"qz\":0.792930710000814,\"x\":0.5254187389415049,\"y\":-1.9619808017239022,\"z\":1.013544301090364},\"object_pose\":{\"qw\":0.6093564387798229,\"qx\":-0.0003906031563685004,\"qy\":-0.00035178309736960515,\"qz\":0.7928962442813043,\"x\":0.5254554988469957,\"y\":-1.9619745426247581,\"z\":1.0135418902194044}},\"initial_state\":[0.5000000000000003,11.89428940074531,9.177702869925055,2.1573519675064273e-07,2.8771874528001502e-08,-0.03812075136209389,-1.0177243337309743,-0.010261274200380551,-2.299302945198063,0.06455603822517361,1.496097761323496,0.695493321410609,0.02056483485309798,-0.020501724097967407,-1.992524881735609e-09,9.252996704094024e-07,0.0,0.0,0.0,-0.007137240708230335,-3.2596799777406666e-05,0.0,0.0,0.0,-2.4210785070437543e-16,0.0,-8.807913983401596e-05,-1.895886741051754e-09,-0.0024720807666877005,-8.807732010421113e-05,-1.6617744109410734e-09,-0.0024720807721740744,1.9854347998391109,1.0165746865865378e-07,-3.327526322105646e-09,7.66490269227933e-08,-5.491276384188458e-05,-8.775287479815982e-06,3.9617124380926716e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.3908944271320707e-16,2.0151579407287827e-16,-9.662535300133225e-16,0.0,0.0,0.0,0.0,0.0,1.71265796556888e-14,-1.3546639297610023e-16,0.0,5.4556778899225795e-15,-1.5251758809615033e-09,0.0,0.0,0.0,2.1362797324635393e-16,0.0,0.0,0.0,0.0,0.0,-1.30493713626569e-09,-6.114356666913381e-10,-3.08424769687132e-11,7.115468276259505e-17,7.117807404239472e-17,-1.5044094645916037e-14,3.557322027447112e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-9.71902306758565e-16,0.0,0.0,-1.6869816698319927e-15,0.5254554988469957,-1.9619745426247581,1.0135418902194044,0.6093564387798229,-0.0003906031563685004,-0.00035178309736960515,0.7928962442813043,-6.517975482809607e-07,-1.8190694730354424e-07,-2.865385381372142e-06,3.114510598458022e-07,-8.943526594571719e-06,2.5179867380458997e-06,-0.0006496647762053693,0.0010560359074067852,-0.0007964844720681629,-0.000963169778147384,-0.00010394977557285617,-0.0004470680214871724,0.0004889815410504505,-4.054447132707e-09,1.882826466955933e-06,0.0,0.0,0.0,-5.247782998639345e-07,-5.80583050743693e-07,0.0,0.0,0.0,-8.28736307964299e-18,0.0,-1.726931713181528e-06,-1.8211856755269302e-15,-1.2021083108542257e-06,-1.7269020476344745e-06,-1.5962981931595024e-15,-1.2021094607993176e-06,-2.2419688809350317e-07,2.068546517971607e-07,-6.009967567962513e-11,1.5596696905672021e-07,-5.941780783962079e-07,-8.240113144439591e-12,8.069137748409942e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.6820956318767016e-18,6.383009714428556e-94,-3.0455827214790574e-17,0.0,0.0,0.0,0.0,0.0,-2.9328405061193943e-13,-4.7640191217441094e-18,0.0,2.0305766849345188e-82,3.607132083810888e-08,0.0,0.0,0.0,1.7957530653495325e-74,0.0,0.0,0.0,0.0,-1.8125433571614674e-06,-2.356895045872653e-11,-1.1043364873051369e-11,-5.570573416394414e-13,1.4478837973118478e-16,1.44835946035822e-16,-6.135171316058817e-126,6.722254991169387e-126,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.2999036702476466e-17,0.0,0.0,-5.727815404086692e-17,-0.00044518351741767065,-4.785023934014354e-05,3.6256763348414074e-05,-0.004673813317305806,0.0007219040166763764,2.4324126563309787e-07],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"LowerHeat\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 16, "retained_waypoint_count": 4, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Lower the heat of the kettle.", "task_name": "LowerHeat", "video_available": true, "video_bytes": 293905, "video_relpath": "videos/compressed/16_LowerHeat.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/MakeIcedCoffee/seed_195/episode_000000/refinement/20260403/MakeIcedCoffee/iter_001/candidate.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 3, 1: 2, 2: 3, 3: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'MakeIcedCoffee', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 171, 'stable_release_contact_loss_t': 332, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.053261, -1.057428, 0.009055, -2.280279, 0.047029, 1.525328, 0.70382], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.033252, -0.442377, 0.413067, -2.630786, 0.221977, 2.243973, 0.577462], 'input_type': 'joint', 'steps': 104, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.063678, -0.259471, 0.468541, -2.544261, -0.194785, 2.226896, -0.050777], 'input_type': 'joint', 'steps': 58, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.064249, -0.256534, 0.469969, -2.540597, -0.203218, 2.222297, -0.055072], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.06722, -0.242701, 0.473517, -2.527079, -0.228322, 2.211918, -0.060579], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.068032, -0.241897, 0.473104, -2.525477, -0.228699, 2.210196, -0.060171], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.024615, -1.181681, -0.031793, -2.629517, 0.124562, 1.75756, 0.848196], 'input_type': 'joint', 'steps': 77, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], 'input_type': 'joint', 'steps': 83, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.024931, -0.852038, 0.045664, -2.841036, 0.015985, 2.293705, 0.861597], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.0195, -1.762968, 0.005951, -2.55639, 0.025996, 1.523833, 0.85277], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[0.067659, -0.242199, 0.473386, -2.526155, -0.228554, 2.2109, -0.060233], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.1, hold_target=[0.067659, -0.242199, 0.473386, -2.526155, -0.228554, 2.2109, -0.060233], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', gripper=1.0)\nrelease(hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4250, "code_num_lines": 40, "code_num_nonblank_lines": 35, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"MakeIcedCoffee\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"MakeIcedCoffee\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"cabinet\":\"cab_3_main_group_1\",\"counter\":\"counter_1_right_group_1\"},\"fixtures\":{\"box_1_island_group\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_island_group\":{\"cls\":\"Box\"},\"cab_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"panel_stack_right_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wall_right_4_backing_room\":{\"cls\":\"Wall\"},\"wall_right_4_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[2.2099802495792695,-1.4914444191001213,0.0],\"lang\":\"Pick up an ice cube and place it in the glass of coffee.\",\"layout_id\":16,\"object_cfgs\":[{\"info\":{\"cat\":\"bowl\",\"groups\":[\"bowl\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"receptacle\",\"stackable\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"ice_bowl\",\"obj_groups\":\"bowl\",\"object_scale\":[1,1,0.75],\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23999765999999986,0.2399966807999999,0.07885812599999997],\"ref\":\"cab_3_main_group_1\"},\"size\":[1.0,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.4986878490419762,-3.469446951953614e-17,0.46],\"size\":[1.652624301916048,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"ice_cube\",\"groups\":[\"ice_cube\"],\"groups_containing_sampled_obj\":[\"all\",\"ice_cube\",\"iced_item\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml\",\"split\":\"train\"},\"name\":\"ice_cube1\",\"obj_groups\":\"ice_cube\",\"object_scale\":0.8,\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"ice_bowl\"},\"size\":[0.11999834039999994,0.11999834039999994]},\"type\":\"object\"},{\"info\":{\"cat\":\"ice_cube\",\"groups\":[\"ice_cube\"],\"groups_containing_sampled_obj\":[\"all\",\"ice_cube\",\"iced_item\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml\",\"split\":\"train\"},\"name\":\"ice_cube2\",\"obj_groups\":\"ice_cube\",\"object_scale\":0.8,\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"ice_bowl\"},\"size\":[0.11999834039999994,0.11999834039999994]},\"type\":\"object\"},{\"info\":{\"cat\":\"glass_cup\",\"groups\":[\"glass_cup\"],\"groups_containing_sampled_obj\":[\"all\",\"glass_cup\",\"receptacle\",\"stackable\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup007/model.xml\",\"split\":\"train\"},\"name\":\"cup\",\"obj_groups\":\"glass_cup\",\"object_scale\":[1.25,1.25,1],\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"reuse_region_from\":\"ice_bowl\",\"size\":[0.5,0.25]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.4986878490419762,-3.469446951953614e-17,0.46],\"size\":[1.652624301916048,0.65]},\"type\":\"object\"}],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10063871741294861,\"qx\":0.683546245098114,\"qy\":0.7139360308647156,\"qz\":0.11371743679046631,\"x\":2.4530039607050016,\"y\":-1.491491602456033,\"z\":1.3006218635644329},\"goal_pose\":{\"qw\":0.6914795781304234,\"qx\":-0.00016241071276798302,\"qy\":0.000762823590534559,\"qz\":-0.7223955874391135,\"x\":2.559417551547301,\"y\":-1.2910160437971274,\"z\":0.9594393140181633},\"object_pose\":{\"qw\":0.9910231567640382,\"qx\":-0.10326311467649554,\"qy\":-0.08183759325371252,\"qz\":0.02263714282298764,\"x\":2.5789623694160793,\"y\":-1.3174884412137187,\"z\":0.9567344224262724}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"MakeIcedCoffee\"}", "initial_scene_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"MakeIcedCoffee\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"MakeIcedCoffee\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"cabinet\":\"cab_3_main_group_1\",\"counter\":\"counter_1_right_group_1\"},\"fixtures\":{\"box_1_island_group\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_island_group\":{\"cls\":\"Box\"},\"cab_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"panel_stack_right_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wall_right_4_backing_room\":{\"cls\":\"Wall\"},\"wall_right_4_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[2.2099802495792695,-1.4914444191001213,0.0],\"lang\":\"Pick 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"is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 17, "retained_waypoint_count": 10, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick up an ice cube and place it in the glass of coffee.", "task_name": "MakeIcedCoffee", "video_available": true, "video_bytes": 650699, "video_relpath": "videos/compressed/17_MakeIcedCoffee.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 1, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'NavigateKitchen', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 0, 'stable_release_contact_loss_t': 155, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.015075, -0.996273, -0.029384, -2.296258, 0.01899, 1.513406, 0.6852], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.456689, y=-0.002129, z=1.275943, qw=0.06444, qx=0.66683, qy=0.737268, qz=0.0873), pose(x=0.457511, y=-0.001436, z=1.277556, qw=0.061794, qx=0.66731, qy=0.737303, qz=0.085231)], base_waypoints=[[1.459233, -3.068363, -0.000846], [1.252728, -0.867127, -4.69968]], base_modes=[1.0, 1.0], torso_targets=[0.0, 0.000009], segment_steps=[4, 152], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)\n", "code_char_count": 2428, "code_num_lines": 21, "code_num_nonblank_lines": 16, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":1,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"NavigateKitchen\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"NavigateKitchen\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"src_fixture\":\"stack_1_island_group_1\",\"target_fixture\":\"fridge_1_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"box_island_group\":{\"cls\":\"Box\"},\"cab_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_front_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_island_group\":{\"cls\":\"Dishwasher\"},\"electric_kettle_island_group\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"floor_3_backing_room\":{\"cls\":\"Floor\"},\"floor_3_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_left_group_1\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_main_group_1\":{\"cls\":\"Oven\"},\"panel_stack_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_island_group\":{\"cls\":\"Accessory\"},\"sink_island_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stand_mixer_left_group_1\":{\"cls\":\"StandMixer\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_1_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_front_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[1.6605146637841095,-3.0683583969505057,0.0],\"lang\":\"Navigate to the fridge.\",\"layout_id\":15,\"object_cfgs\":[],\"style_id\":13},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06444656848907471,\"qx\":0.6667215824127197,\"qy\":0.7373545169830322,\"qz\":0.08739305287599564,\"x\":1.91715931637367,\"y\":-3.0706038087681518,\"z\":1.275959878179235},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"NavigateKitchen\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":1,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"NavigateKitchen\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"NavigateKitchen\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"src_fixture\":\"stack_1_island_group_1\",\"target_fixture\":\"fridge_1_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"box_island_group\":{\"cls\":\"Box\"},\"cab_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_front_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_island_group\":{\"cls\":\"Dishwasher\"},\"electric_kettle_island_group\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"floor_3_backing_room\":{\"cls\":\"Floor\"},\"floor_3_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_left_group_1\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_main_group_1\":{\"cls\":\"Oven\"},\"panel_stack_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_island_group\":{\"cls\":\"Accessory\"},\"sink_island_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stand_mixer_left_group_1\":{\"cls\":\"StandMixer\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_1_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_front_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[1.6605146637841095,-3.0683583969505057,0.0],\"lang\":\"Navigate to the fridge.\",\"layout_id\":15,\"object_cfgs\":[],\"style_id\":13},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06444656848907471,\"qx\":0.6667215824127197,\"qy\":0.7373545169830322,\"qz\":0.08739305287599564,\"x\":1.91715931637367,\"y\":-3.0706038087681518,\"z\":1.275959878179235},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-13.068358171334062,-8.339485825688199,-2.529214028009744e-07,2.532840120505099e-08,0.016169897045860332,-0.9962830498113575,-0.02984414460716441,-2.2962571083526244,0.018514049906307214,1.513406463654829,0.6856714679250864,0.020529077843717776,-0.020537477850602847,0.0,0.0,0.0,0.0,0.0,-1.0424726985877899e-06,-2.239810753261014e-08,-3.6736967523884054e-08,-0.00011012414106332907,-2.0218140866025466e-09,1.9044414846808463e-22,0.0,0.0,0.0,0.0,0.0,-3.4480015502789025e-07,1.955361001974419e-06,-3.5778891679978284e-08,-3.5778891679978284e-08,-3.5727055275210124e-08,-3.0946959036264866e-07,-3.5545219972495354e-08,-6.833618437440841e-07,8.387063485761042e-07,-0.007634363106610443,-2.622745753210302e-10,-0.00035329533250192475,0.0,0.0,0.0,0.0,-2.4408768056771035e-07,4.6040892859245053e-07,-1.460985543358185e-07,8.551607214521478e-07,-3.6351955824188603e-08,-1.2786656762193709e-06,5.534454611519062e-07,-3.6351955824188603e-08,4.9268395232571216e-05,-4.709726960531369e-05,-4.709726960531369e-05,-4.709725880981892e-05,-1.900792795917284e-06,1.0628076524732653e-06,-1.1286533573678376e-07,7.072621598224926e-07,0.0,0.0,-9.175568009111078e-05,-0.0014620097324243018,-0.0006180640612064033,-0.0008528013652144928,2.982261913447198e-07,-1.5712128043820446e-06,-4.6262878727373066e-07,6.244468576648121e-08,-3.6351956640626754e-08,-4.982172504703037e-07,1.897572259978802e-06,-3.641446011742639e-08,-1.6112535937245128e-06,7.947947377783979e-07,-3.628942274540388e-08,-1.3669283026041907e-06,1.9821996267736926e-06,-3.974968956174224e-07,4.954412189314959e-07,-1.5331542561224234e-06,6.050347427210279e-08,0.0,2.0720594682091537e-20,-2.47714855185121e-22,4.05115351707109e-21,0.0,6.135684716456526e-09,2.1583911060014252e-07,0.0,-1.3040339898629869e-05,-0.005507903821197338,0.0,0.0,-6.466867939511315e-07,1.8171532323499456e-06,-1.5265097225645185e-06,1.1347789046937075e-06,-3.563739996573466e-08,-3.563739996573466e-08,-0.00021064712120589987,-0.0007119319116317318,-4.424996258448137e-05,7.111877783601895e-07,4.7808037978009e-07,3.188713734815998e-06,6.443854741957576e-08,8.495317895372348e-06,0.0006051407144950678,0.0006683832292575536,-2.3663524003338604e-05,0.0007766761959970228,0.000121901860147968,0.00011242616248132979,-0.0004443450366522504,0.0004917282259388463,0.0,0.0,0.0,0.0,0.0,-1.7345712030476952e-05,-4.615822349591052e-05,-1.6012059019005114e-09,-5.699680713829776e-07,-3.597900144722886e-11,2.5510517436158586e-39,0.0,0.0,0.0,0.0,0.0,3.885528167336581e-05,2.1603032532997458e-05,-1.2761533111989615e-09,-1.2761533111989615e-09,-1.2599135664720193e-09,3.5010179649829266e-05,-1.2040162255999001e-09,6.975599005049498e-05,5.3999640792872746e-05,-4.45496944526637e-07,-4.6672822969075966e-12,-2.6569878499201697e-07,0.0,0.0,0.0,0.0,-9.224137218418866e-05,-4.219524600962546e-05,-2.9112372077842547e-05,4.916683797033853e-06,-1.4163341912776868e-09,-5.1240907136128066e-05,-3.658699014691419e-05,-1.4163341912776868e-09,0.0005337725420961429,-9.583241308185003e-07,-9.583241308185003e-07,-9.58323928157349e-07,-2.7872345698322555e-05,8.693695672943848e-05,-5.072863450840854e-05,2.7310709008235553e-05,0.0,0.0,-4.951583259450304e-12,-0.001565635774045999,-6.495820026045663e-11,-2.3083328884169933e-11,6.12295365147366e-07,-7.954826710456049e-13,4.7300394624253317e-05,-3.5560977970766034e-05,-1.4163342277758208e-09,-1.9728401179378117e-05,-2.2719444210609828e-05,-1.4378520226851162e-09,3.950727425338474e-05,2.9899577837766025e-05,-1.3950159816584325e-09,3.328468258013413e-05,-5.5473577440830275e-05,-0.00018288997044603667,-3.336611538015451e-05,-1.970988676939635e-05,5.528364965934722e-05,-1.9713579736307196e-06,4.641389402221401e-20,-8.49995254705806e-21,-2.565638977382148e-21,0.0,1.2485066489204198e-08,4.391955860544921e-07,0.0,-2.2667347193920649e-07,-3.325033204608952e-07,0.0,0.0,-8.730810706956686e-06,-1.1457238396201758e-05,5.5904228291031856e-05,2.6591204105410816e-05,-1.1850488127875346e-09,-1.1850488127875346e-09,-1.982774104067051e-06,1.9204848318760714e-11,-9.491166668326172e-07],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"NavigateKitchen\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 2, "pretrain_task_id": 18, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Navigate to the fridge.", "task_name": "NavigateKitchen", "video_available": true, "video_bytes": 666637, "video_relpath": "videos/compressed/18_NavigateKitchen.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 2, 1: 3, 2: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenBlenderLid', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 184, 'stable_release_contact_loss_t': 184, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.027772, -1.002051, -0.023663, -2.292466, 0.056263, 1.495511, 0.703285], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.036559, -0.508632, -0.192916, -1.702642, -0.155189, 1.318592, 1.007853], 'input_type': 'joint', 'steps': 74, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.036578, -0.508602, -0.193252, -1.70252, -0.154522, 1.318589, 1.007816], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.029294, -0.579321, -0.087749, -1.517029, -0.05267, 1.197009, 1.122499], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.090756, -0.995459, 0.744162, -2.993028, 0.57412, 2.465266, 1.505287], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.085694, -0.95659, 0.756333, -2.998628, 0.583546, 2.505618, 1.502775], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.157149, -1.764405, 0.173115, -2.60481, 0.097236, 1.688123, 1.617657], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2786, "code_num_lines": 26, "code_num_nonblank_lines": 21, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenBlenderLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenBlenderLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"blender_island_group_2\":{\"cls\":\"Blender\"},\"blender_island_group_2_auxiliary_island_group_2\":{\"cls\":\"BlenderLid\"},\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_main_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_2\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_island_group_2\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_2_base\":{\"cls\":\"Box\"},\"stack_5_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_hood_right_group_1\":{\"cls\":\"Hood\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,4.71238898038469],\"init_robot_base_pos\":[2.922159852051153,-2.266446800105438,0.0],\"lang\":\"Open 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"is_source_compressed_policy_file": true, "motion_primitive_count": 7, "pretrain_task_id": 19, "retained_waypoint_count": 7, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the blender by taking off the lid and placing it on the counter.", "task_name": "OpenBlenderLid", "video_available": true, "video_bytes": 439119, "video_relpath": "videos/compressed/19_OpenBlenderLid.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet_source-compressed.py; retained_waypoints=20; fingerprint=344ac18f1c30; keep_indices={0: [0, 1, 2, 3, 4, 5, 6], 1: [0, 2, 3, 4, 6], 2: [0, 1, 2, 3, 4, 5, 6, 7]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenCabinet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 153, 'stable_release_contact_loss_t': 153, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.050354, -1.040944, -0.016365, -2.271171, 0.041964, 1.499065, 0.688404], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.039864, -1.195132, 0.022485, -2.273344, 0.04279, 1.509222, 0.707758], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.027196, -1.293587, 0.086717, -2.225698, 0.126497, 1.653085, 0.801036], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.020907, -1.09334, 0.08565, -2.058312, 0.230902, 1.845715, 0.906835], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.026511, -0.988054, 0.148472, -1.981541, 0.166764, 2.033463, 0.890864], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.038547, -0.877174, 0.177162, -2.040268, 0.101344, 2.34158, 0.883029], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.047581, -0.744829, 0.193035, -2.055084, 0.066936, 2.60922, 0.888888], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.049464, -0.72438, 0.196722, -2.056274, 0.059775, 2.653111, 0.892119], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.073096, -0.691518, 0.216012, -2.12385, -0.00797, 2.922954, 1.016081], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.101635, -0.872823, 0.217852, -2.241547, -0.074036, 2.908183, 1.104178], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.109476, -1.047753, 0.20733, -2.333396, -0.094978, 2.864968, 1.143145], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.060342, -1.424833, 0.076855, -2.436515, -0.067972, 2.614684, 1.008878], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.059062, -1.451114, 0.066866, -2.437068, -0.069406, 2.59098, 0.998566], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.05878, -1.596957, -0.004481, -2.45442, -0.112932, 2.515275, 0.877843], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.035083, -1.621006, 0.107845, -2.406247, -0.073979, 2.476904, 0.756309], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.167397, -1.358519, 0.438571, -2.230464, -0.460666, 2.3187, 0.978284], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.231938, -1.165107, 0.462862, -2.279355, -0.971242, 2.086098, 1.320359], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.128379, -1.36668, 0.187013, -2.430009, -1.293482, 1.776841, 1.270472], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.117224, -1.291535, -0.194379, -2.381712, -1.617294, 1.88256, 1.389888], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.116596, -1.236701, -0.333833, -2.33269, -1.757382, 2.001913, 1.684631], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 5816, "code_num_lines": 45, "code_num_nonblank_lines": 40, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenCabinet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenCabinet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"cab_3_main_group\"},\"fixtures\":{\"bottom_right_group_1\":{\"cls\":\"HingeCabinet\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_2_main_group\":{\"cls\":\"Box\"},\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_corner_1_main_group\":{\"cls\":\"Box\"},\"cab_corner_2_main_group\":{\"cls\":\"Box\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"corner_counter_right_group\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_2_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeFrenchDoor\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"middle_right_group\":{\"cls\":\"HingeCabinet\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_right_group\":{\"cls\":\"Accessory\"},\"sink_1_left_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_gr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the cabinet 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door.\",\"layout_id\":25,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"bar\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bar\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"cab_3_main_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.43999999999999995,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.21999999999999997],\"size\":[0.49000000000000005,0.34]},\"type\":\"object\"},{\"info\":{\"cat\":\"jug_wide_opening\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"jug_wide_opening\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_4/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.14077271521858256,0.10846947206942971,0.15154676699999994],\"ref\":\"cab_3_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.3984999999999994,0.0,0.46],\"size\":[0.6500000000000012,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"fish\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"fish\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06883066499999999,0.14894569499999996,0.10287241874999996],\"ref\":\"cab_3_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.3984999999999994,0.0,0.46],\"size\":[0.6500000000000012,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"bar_soap\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bar_soap\",\"cleaner\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_3\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.06339870034228504,0.09392994469999996,0.03259918021387442],\"ref\":\"cab_3_main_group\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.3984999999999994,0.0,0.46],\"size\":[0.6500000000000012,0.65]},\"type\":\"object\"}],\"style_id\":18},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.016964923590421677,\"qx\":0.022457605227828026,\"qy\":-0.990323007106781,\"qz\":-0.13589812815189362,\"x\":4.118592470442601,\"y\":-0.6011153222429515,\"z\":1.2973470589380156},\"goal_pose\":{\"qw\":0.9543806059737266,\"qx\":7.655262480646055e-06,\"qy\":-6.703832387309079e-05,\"qz\":0.29859279024866087,\"x\":4.2077277288509425,\"y\":-0.1410422337752087,\"z\":0.9958020444013466},\"object_pose\":{\"qw\":0.9790205563496989,\"qx\":0.003243723216602897,\"qy\":-0.002526319770017954,\"qz\":-0.20372001917543558,\"x\":4.142229820676706,\"y\":-0.15920095195004974,\"z\":1.4689056228423558}},\"initial_state\":[0.5000000000000003,5.890586931127879,-10.843501083526968,2.104768195677644e-07,2.3285965660483367e-08,-0.05159878105142121,-1.0405372682737921,-0.015878805198930715,-2.271240584441447,0.042561118988767285,1.4998564105263792,0.6878261832035256,0.02055842252910872,-0.02050813822272402,-1.6111789604882972e-05,-6.819015318213093e-12,-5.593279845615559e-10,-9.684996453337962e-10,-5.32177364978066e-10,-2.459076870910367e-10,1.5804216000741325e-10,-3.788812714968274e-09,0.0,0.0,-2.5281599977657055e-16,-2.5281599977657055e-16,-2.5281599977657055e-16,-2.5281599977657055e-16,0.0,0.0,-2.5230406636699624e-16,-2.5230406636699624e-16,-2.5230406636699624e-16,-2.5230406636699624e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0007062955952007417,-4.7324985483043704e-05,-0.007449066565657276,8.934623253568216e-09,-0.0003481167590494689,-0.007449066565657276,1.0020262291242714e-08,-0.00034811648773407636,3.4748452196388013e-09,3.330710701186804e-07,0.0,0.0,0.0,0.0,0.0,-1.1188787572476845e-05,-0.0020885999974954977,0.0,0.0,-5.3670046397601893e-17,-5.3670046397601893e-17,-5.331840965559833e-17,-5.331840965559833e-17,0.0,-5.259840992529862e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,9.359251549585708e-10,1.0971776619333767e-09,3.927635824099633e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.89102228885009e-15,0.0,0.0,0.0,-7.767249619401472e-16,0.0,-7.767249619401472e-16,0.0,-2.249836089467237e-15,0.0,-2.249836089467237e-15,0.0,0.0,0.0,-2.249836089467237e-15,4.142229820676706,-0.159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"is_source_compressed_policy_file": true, "motion_primitive_count": 20, "pretrain_task_id": 20, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the cabinet door.", "task_name": "OpenCabinet", "video_available": true, "video_bytes": 517596, "video_relpath": "videos/compressed/20_OpenCabinet.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 4, 1: 3, 2: 2, 3: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenDishwasher', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 121, 'stable_release_contact_loss_t': 121, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.026551, -1.011721, -0.020807, -2.28342, 0.026653, 1.51584, 0.683065], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.124709, -1.42782, -0.459006, -2.451413, -0.108067, 1.509971, 0.769402], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.156714, -1.260053, -1.866913, -2.386007, 0.127696, 2.460593, 0.475503], 'input_type': 'joint', 'steps': 38, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.631407, -1.731059, -2.090025, -2.134887, -0.088783, 2.83656, 0.395287], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.628517, -1.736177, -2.090721, -2.140649, -0.096366, 2.852729, 0.394344], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.677929, -1.631455, -2.121771, -2.187824, 0.034855, 3.080056, 0.669281], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.359276, -1.763146, -2.432257, -1.565221, 0.699233, 1.914557, -0.280079], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.331632, -1.763154, -2.445202, -1.576532, 0.754847, 1.936978, -0.359541], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.300735, -1.763137, -2.448942, -1.606458, 0.811754, 1.965129, -0.443862], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.08032, -1.763213, -2.400594, -1.880467, 1.431053, 2.268292, -1.175191], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.041866, -1.763096, -2.393352, -1.961349, 2.002592, 2.211798, -1.685826], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 3442, "code_num_lines": 30, "code_num_nonblank_lines": 25, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenDishwasher\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenDishwasher\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"dishwasher_1_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_1_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_2_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_3_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_5_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_6_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_right_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_2\":{\"cls\":\"HingeCabinet\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"widestove_main_group_1\":{\"cls\":\"Stove\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.00014782238328514552],\"init_robot_base_pos\":[3.6310814327082426,-2.6859279961411375,0.0],\"lang\":\"Open the dishwasher door.\",\"layout_id\":48,\"object_cfgs\":[{\"info\":{\"cat\":\"fish\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"fish\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_3_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.05344079369399976,0.16891454346687698,0.031033123311460444],\"ref\":\"dishwasher_1_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8486999854702217,-3.469446951953614e-17,0.46],\"size\":[0.7665273627182578,0.650012]},\"type\":\"object\"},{\"info\":{\"cat\":\"syrup_bottle\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"syrup_bottle\",\"condiment\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle003/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_3_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.1034881748,0.053546822699999996,0.2269318298],\"ref\":\"dishwasher_1_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8486999854702217,-3.469446951953614e-17,0.46],\"size\":[0.7665273627182578,0.650012]},\"type\":\"object\"},{\"info\":{\"cat\":\"juice\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"juice\",\"drink\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice003/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_3\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_3_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.08357682,0.08425147999999999,0.23637633],\"ref\":\"dishwasher_1_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8486999854702217,-3.469446951953614e-17,0.46],\"size\":[0.7665273627182578,0.650012]},\"type\":\"object\"}],\"style_id\":23},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.07762041687965393,\"qx\":0.6775752902030945,\"qy\":0.7249669432640076,\"qz\":0.09638335555791855,\"x\":3.8841505973245303,\"y\":-2.6943586488008173,\"z\":1.2864414216414635},\"goal_pose\":{\"qw\":0.5172206316888938,\"qx\":0.038189861364667364,\"qy\":-0.048621154438805714,\"qz\":-0.8536160354546569,\"x\":4.221945354210935,\"y\":-3.1102959012057756,\"z\":0.9317395697109337},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenDishwasher\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenDishwasher\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenDishwasher\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"dishwasher_1_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_1_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_2_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_3_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_5_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_6_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_right_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_right_group_1_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the dishwasher 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"is_source_compressed_policy_file": true, "motion_primitive_count": 11, "pretrain_task_id": 21, "retained_waypoint_count": 11, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the dishwasher door.", "task_name": "OpenDishwasher", "video_available": true, "video_bytes": 213243, "video_relpath": "videos/compressed/21_OpenDishwasher.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 3, 1: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 169, 'stable_release_contact_loss_t': 169, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.022245, -1.048325, -0.037527, -2.278245, 0.031587, 1.518674, 0.698715], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.240481, -1.098678, 1.36776, -2.536105, 0.213241, 2.083064, 0.445526], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.38838, -1.524694, 2.076003, -2.528434, -0.105943, 2.932101, 1.202628], 'input_type': 'joint', 'steps': 68, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.38379, -1.535693, 2.076555, -2.531728, -0.111059, 2.945781, 1.220554], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.078689, -1.25209, 2.100288, -2.513137, -0.204009, 2.458867, 1.523168], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.219235, -1.365488, 2.098892, -1.914675, -0.002778, 1.903042, 1.562776], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2568, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"drawer\":\"stack_4_right_group_1_3\"},\"fixtures\":{\"box_1_island_group\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_island_group\":{\"cls\":\"Box\"},\"cab_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"panel_stack_right_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wall_right_4_backing_room\":{\"cls\":\"Wall\"},\"wall_right_4_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[2.1533662355240493,-4.119324904940581,0.0],\"lang\":\"Open the left drawer.\",\"layout_id\":16,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"reamer\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"reamer\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer007/model.xml\",\"split\":\"train\"},\"max_size\":[null,null,0.1],\"name\":\"drawer_obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_4_right_group_1_3\",\"pos\":[null,-0.75],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.118,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.044],\"size\":[0.22799999999999998,0.51]},\"type\":\"object\"},{\"info\":{\"cat\":\"bowl\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"stackable\",\"receptacle\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.2599988533999999,0.2599999999999999,0.09118975319999997],\"ref\":\"stack_4_right_group_1_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.75,-3.469446951953614e-17,0.46],\"size\":[1.4407045923826454,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"water_bottle\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"water_bottle\",\"drink\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.0747179397,0.07500651435,0.20250000202499996],\"ref\":\"stack_4_right_group_1_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.75,-3.469446951953614e-17,0.46],\"size\":[1.4407045923826454,0.65]},\"type\":\"object\"}],\"style_id\":17},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0871325358748436,\"qx\":0.6826538443565369,\"qy\":0.7157707810401917,\"qz\":0.11859143525362015,\"x\":2.397069658171539,\"y\":-4.131637827696956,\"z\":1.2983890770101252},\"goal_pose\":{\"qw\":0.5881255363012922,\"qx\":9.503429536397092e-05,\"qy\":-0.000185404042889283,\"qz\":-0.8087696273625392,\"x\":2.796998834081933,\"y\":-3.8600637784984095,\"z\":0.9655887053868154},\"object_pose\":{\"qw\":0.7535726928542791,\"qx\":1.3040571582054701e-05,\"qy\":1.333905558091583e-05,\"qz\":-0.6573645839535048,\"x\":2.684348562750565,\"y\":-3.7433176449033563,\"z\":0.7886606507449802}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenDrawer\"}", "initial_scene_json": 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the left drawer.\",\"layout_id\":16,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"reamer\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"reamer\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer007/model.xml\",\"split\":\"train\"},\"max_size\":[null,null,0.1],\"name\":\"drawer_obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_4_right_group_1_3\",\"pos\":[null,-0.75],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.118,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.044],\"size\":[0.22799999999999998,0.51]},\"type\":\"object\"},{\"info\":{\"cat\":\"bowl\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"stackable\",\"receptacle\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.2599988533999999,0.2599999999999999,0.09118975319999997],\"ref\":\"stack_4_right_group_1_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.75,-3.469446951953614e-17,0.46],\"size\":[1.4407045923826454,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"water_bottle\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"water_bottle\",\"drink\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.0747179397,0.07500651435,0.20250000202499996],\"ref\":\"stack_4_right_group_1_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.75,-3.469446951953614e-17,0.46],\"size\":[1.4407045923826454,0.65]},\"type\":\"object\"}],\"style_id\":17},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0871325358748436,\"qx\":0.6826538443565369,\"qy\":0.7157707810401917,\"qz\":0.11859143525362015,\"x\":2.397069658171539,\"y\":-4.131637827696956,\"z\":1.2983890770101252},\"goal_pose\":{\"qw\":0.5881255363012922,\"qx\":9.503429536397092e-05,\"qy\":-0.000185404042889283,\"qz\":-0.8087696273625392,\"x\":2.796998834081933,\"y\":-3.8600637784984095,\"z\":0.9655887053868154},\"object_pose\":{\"qw\":0.7535726928542791,\"qx\":1.3040571582054701e-05,\"qy\":1.333905558091583e-05,\"qz\":-0.6573645839535048,\"x\":2.684348562750565,\"y\":-3.7433176449033563,\"z\":0.7886606507449802}},\"initial_state\":[0.5000000000000003,-14.11932469349716,-7.846634289082098,-2.0216763993956627e-07,3.3782809112169146e-08,-0.022383100318461274,-1.048331537188617,-0.0379126329420676,-2.2782443452924825,0.031189653582283507,1.5186743075321196,0.6986050402774413,0.02053517531692954,-0.020531384039768976,6.040008898015087e-08,1.0165746866168938e-07,-3.327526273908704e-09,7.664902692508071e-08,-5.4912763356654043e-05,-8.77528747975451e-06,3.961712438305854e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.349675011186218e-09,1.7063684051019624e-07,0.0,0.0,0.0,-2.8307668438345324e-15,-2.8307668438345324e-15,0.0,0.0,-2.8307668438345324e-15,-2.8307668438345324e-15,0.0,0.0,0.0,0.0,-1.9932596225998146e-15,-3.1163299103447476e-07,0.0,0.0,-1.9932596225998146e-15,-1.9932596225998146e-15,-4.073598183918829e-05,-0.0018617934983035853,-0.0018617934983035868,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0008301186049891546,0.0,-4.062920432763497e-10,-2.2745532354458e-09,-1.0998598072247606e-09,0.0,-0.007051021913864053,-1.3828993180211018e-09,-0.00038628319579546964,-2.961194766792459e-15,-2.961194766792459e-15,-2.961194766792459e-15,-2.7161794591216105e-15,-2.7161794591216105e-15,-2.961194766792459e-15,-2.961194766792459e-15,2.684348562750565,-3.7433176449033563,0.7886606507449802,0.7535726928542791,1.3040571582054701e-05,1.333905558091583e-05,-0.6573645839535048,2.796998834081933,-3.8600637784984095,0.9655887053868154,0.5881255363012922,9.503429536397092e-05,-0.000185404042889283,-0.8087696273625392,2.6918724694286884,-3.4273680628167495,1.0223276073775218,0.5892797462391981,-5.136670850378784e-05,6.468091824927352e-05,-0.8079290648628173,6.329174592881853e-07,4.888549763340632e-07,2.830468005404553e-06,8.812197809202899e-08,8.464924695780273e-06,0.0005911699239586434,0.0006360459206962074,-2.3964495694581603e-05,0.0007791913380966111,0.00012935977581330445,0.00011014660588725589,-0.00043481421754676153,0.0005012358865628124,1.2290330697788296e-07,2.0685465179714764e-07,-6.010034277679466e-11,1.5596696905676805e-07,-5.941848595067212e-07,-8.242388624718591e-12,8.069137748409774e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2.746357052318775e-09,3.472166902032887e-07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"is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 22, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the left drawer.", "task_name": "OpenDrawer", "video_available": true, "video_bytes": 287465, "video_relpath": "videos/compressed/22_OpenDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 5, 1: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenElectricKettleLid', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 43, 'stable_release_contact_loss_t': 43, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.007052, -1.025241, -0.033795, -2.316659, 0.04977, 1.51474, 0.721474], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.009215, -1.030215, -0.043091, -2.3191, 0.043818, 1.506176, 0.716775], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.012989, -1.041505, -0.064312, -2.328418, 0.030849, 1.495532, 0.702325], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.015337, -1.047496, -0.07961, -2.336138, 0.023466, 1.494393, 0.692196], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.024865, -1.058378, -0.140312, -2.36791, -0.005744, 1.513274, 0.66615], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.036705, -1.061335, -0.197324, -2.405031, -0.047545, 1.545862, 0.665279], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.053662, -0.898318, -0.276042, -2.475292, -0.115397, 1.759205, 0.81947], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.049447, -0.721939, -0.262924, -2.473482, -0.09002, 1.93944, 0.996373], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.047145, -0.63391, -0.241921, -2.41743, -0.071113, 1.976918, 1.074122], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.050536, -0.60027, -0.24171, -2.366931, -0.052548, 1.97767, 1.12936], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.186694, -1.269949, -0.347012, -2.588847, -0.188778, 1.629431, 1.166823], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 3509, "code_num_lines": 30, "code_num_nonblank_lines": 25, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenElectricKettleLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenElectricKettleLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_main_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_main_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_main_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_island_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"widestove_hood_right_group_1\":{\"cls\":\"Hood\"},\"widestove_right_group_1\":{\"cls\":\"Stove\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.1746013684072634,-0.8074402384541927,0.0],\"lang\":\"Press the button to open the lid of the electric kettle.\",\"layout_id\":32,\"object_cfgs\":[],\"style_id\":29},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03390859439969063,\"qx\":0.022459087893366814,\"qy\":-0.9927568435668945,\"qz\":-0.11304724961519241,\"x\":2.1772649678376927,\"y\":-0.557521536877392,\"z\":1.274223690958088},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenElectricKettleLid\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenElectricKettleLid\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenElectricKettleLid\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_main_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_main_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_main_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_island_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"widestove_hood_right_group_1\":{\"cls\":\"Hood\"},\"widestove_right_group_1\":{\"cls\":\"Stove\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.1746013684072634,-0.8074402384541927,0.0],\"lang\":\"Press the button to open the lid of the electric kettle.\",\"layout_id\":32,\"object_cfgs\":[],\"style_id\":29},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03390859439969063,\"qx\":0.022459087893366814,\"qy\":-0.9927568435668945,\"qz\":-0.11304724961519241,\"x\":2.1772649678376927,\"y\":-0.557521536877392,\"z\":1.274223690958088},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,7.8253986977006065,-10.807440279910654,2.2865255328967208e-07,1.6141603116360895e-08,-0.006705931324481643,-1.025252638570793,-0.03377877093250651,-2.3164322981541186,0.04978588270386717,1.5147386012164858,0.721543396736612,0.02057175153696636,-0.02049480923225863,-5.942439505874965e-10,1.026736707450082e-07,0.0017686128548722584,0.0,0.0,0.0,0.0,-1.3448520226063224e-05,-0.0022209058513206767,-0.002220328936825426,0.0,0.0,-0.007797220979474784,-1.223719981910972e-09,-0.00034812461679949007,-0.007797220979474784,-4.323943129946988e-10,-0.0003481240791112589,-0.00021063984397007263,-0.0007119319115912176,-4.4247618830812784e-05,-2.4189490582578753e-05,5.9187042023467006e-09,1.551435236931234e-08,7.759625550050792e-09,-8.163520118949204e-09,-1.2269514526647742e-09,-3.950504243699167e-09,-3.4550987059381515e-10,-1.687483761651432e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.00032013679794909753,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.662520859084336e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-8.637553425830891e-16,0.0,0.0,0.0,0.0,0.00029751229744129956,0.0,-9.323464682484497e-05,-9.298323728085751e-16,-9.298323728085751e-16,-9.268858684112863e-16,0.0,0.0,-9.298323728085751e-16,-9.298323728085751e-16,-9.268858684112863e-16,-7.966315674466288e-07,4.7223350378540054e-07,-3.3083465914018886e-06,6.800105287571951e-08,-9.235196491776457e-06,0.0006432353606257263,-0.0007203632044982464,-2.2619135876749103e-05,-0.0007301347936754451,9.339162950818833e-05,-0.00011671595341185275,-0.0004424177806872467,0.0004936328716175701,-1.2091846957513899e-09,2.089233406461151e-07,0.00020780087451352579,0.0,0.0,0.0,0.0,-3.04697210049305e-06,1.0277085334357686e-07,1.0278628176416155e-07,0.0,0.0,-5.618148889016313e-07,-2.2102018670368774e-11,-3.186310729684591e-07,-5.618148889016313e-07,-7.809619292266302e-12,-3.1863467437186144e-07,-2.046383459371259e-06,1.1785230928140678e-12,-9.643691394236412e-07,-4.3704979935696983e-07,1.204349809241667e-08,3.15689154674567e-08,1.5789441702881464e-08,-1.4744408597350388e-10,-2.2160383345042853e-11,-7.13513882762606e-11,-6.240370084409811e-12,-3.047821244356768e-12,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.152068040107963e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.003073302213915e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.8754202739245004e-17,0.0,0.0,0.0,0.0,0.0006198922278102706,0.0,-1.7997986700179005e-06,-4.430117124747706e-17,-4.430117124747706e-17,-4.241942592649139e-17,0.0,0.0,-4.430117124747706e-17,-4.430117124747706e-17,-4.241942592649139e-17],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenElectricKettleLid\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 11, "pretrain_task_id": 23, "retained_waypoint_count": 11, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Press the button to open the lid of the electric kettle.", "task_name": "OpenElectricKettleLid", "video_available": true, "video_bytes": 162485, "video_relpath": "videos/compressed/23_OpenElectricKettleLid.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3_k21_3229d9d7b4ac_OpenFridge_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3_k21_3229d9d7b4ac_OpenFridge_source-compressed.py; retained_waypoints=20; fingerprint=86cf1d864312; keep_indices={0: [0, 1, 2, 3, 4, 5], 1: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenFridge', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 172, 'stable_release_contact_loss_t': 172, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [0.005834, -1.047178, -0.032023, -2.283393, 0.056499, 1.51766, 0.696908], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.000972, -1.20539, 0.10262, -2.455116, 0.129824, 2.052812, 0.735574], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.007702, -1.045082, 0.153419, -2.459001, 0.119953, 2.221678, 0.755943], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.031174, -0.847885, 0.172708, -2.367514, 0.05035, 2.281218, 0.79348], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.039747, -0.328352, 0.198818, -2.029211, -0.287585, 2.327174, 1.095367], 'input_type': 'joint', 'steps': 36, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.091843, -0.359953, 0.146938, -2.290606, -0.570487, 3.007044, 1.482187], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.104724, -0.350098, 0.145384, -2.298885, -0.599409, 3.070623, 1.513726], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.195877, -0.286282, 0.16374, -2.322454, -0.680613, 3.395673, 1.576073], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.251749, -0.195321, 0.188518, -2.356228, -0.576969, 3.744509, 1.423762], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.246089, -0.191914, 0.203059, -2.379863, -0.465157, 3.750078, 1.305485], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.217508, -0.547627, 0.362253, -2.52085, 0.414004, 3.195749, 0.716196], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.221948, -0.842291, 0.309043, -2.643161, 0.321228, 2.880871, 0.911857], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.057314, -1.202098, 0.050055, -2.849555, 0.247931, 2.744747, 0.809574], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.186839, -1.764526, -0.394325, -2.906311, 0.001555, 2.250495, 0.586704], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.264313, -1.753433, -0.648327, -2.687271, -0.101655, 1.95742, 0.399849], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.198565, -1.517248, -0.981937, -2.221463, -0.12074, 1.789549, 0.116678], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.1674, -1.474123, -1.029225, -2.153396, -0.101295, 1.78379, 0.083031], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.087013, -1.393054, -1.131408, -2.025088, -0.050293, 1.792433, 0.030436], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.150735, -1.275424, -1.34395, -1.832, 0.034976, 2.015312, 0.046979], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.602956, -1.348169, -1.544111, -1.35188, -0.122218, 2.532092, 0.257972], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.2, hold_target=[0.602956, -1.348169, -1.544111, -1.35188, -0.122218, 2.532092, 0.257972], input_type='joint', gripper=1.0)\n", "code_char_count": 6031, "code_num_lines": 46, "code_num_nonblank_lines": 41, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenFridge\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenFridge\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"fridge_right_group\"},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"counter_left_group\":{\"cls\":\"Counter\"},\"counter_stack_main_group_1\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_2\":{\"cls\":\"SingleCabinet\"},\"counter_stack_main_group_3\":{\"cls\":\"HingeCabinet\"},\"counter_stack_main_group_base\":{\"cls\":\"Box\"},\"dining_dining_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeBottomFreezer\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"panel_cab_left_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_cab_left_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"sink_left_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_4\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"Drawer\"},\"stack_4_main_group_4\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_2\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_1_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[3.797317295469225,-0.9222955230380797,0.0],\"lang\":\"Open the fridge 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"is_source_compressed_policy_file": true, "motion_primitive_count": 20, "pretrain_task_id": 24, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the fridge door.", "task_name": "OpenFridge", "video_available": true, "video_bytes": 409080, "video_relpath": "videos/compressed/24_OpenFridge.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenFridgeDrawer/seed_195/episode_000000/refinement/20260403/OpenFridgeDrawer/iter_005/candidate.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 1, 1: 2, 2: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenFridgeDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 122, 'stable_release_contact_loss_t': 122, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.014242, -1.064884, -0.017011, -2.295262, 0.015505, 1.500089, 0.683763], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.019202, -0.502677, 0.105146, -2.554038, 0.080712, 2.314932, 0.918163], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.145965, -1.762827, -0.294213, -2.321704, 0.023172, 1.071265, 0.704866], 'input_type': 'joint', 'steps': 59, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.435494, y=0.000769, z=1.291793, qw=0.088905, qx=0.661481, qy=0.737802, qz=0.100927), pose(x=0.628619, y=0.040793, z=1.070848, qw=0.072814, qx=0.740204, qy=0.659579, qz=0.108406)], base_waypoints=[[1.305894, -3.417518, -3.141583], [1.398745, -3.503364, -3.141645]], base_modes=[1.0, 1.0], torso_targets=[0.000001, 0.000049], segment_steps=[3, 93], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=0.702636, base_xy_priority=0.702636, base_yaw_priority=0.001641, base_position_gain=4.905272, base_yaw_gain=3.223879, base_position_ff_gain=16.863267, base_yaw_ff_gain=4.245352, base_ee_anchor_mix=0.543287)\nrun_joint_sequence(MOTION_SEQUENCE_01)\n", "code_char_count": 2980, "code_num_lines": 26, "code_num_nonblank_lines": 21, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenFridgeDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenFridgeDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_1_left_group\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"box_1_island_group\":{\"cls\":\"Box\"},\"box_1_left_group\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_2_left_group\":{\"cls\":\"Box\"},\"box_2_main_group\":{\"cls\":\"Box\"},\"box_3_left_group\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_1_left_group\":{\"cls\":\"FridgeFrenchDoor\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"knife_block_main_group\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"panel_stack_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_1_island_group_base\":{\"cls\":\"Box\"},\"panel_stack_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_2_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_1_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"PanelCabinet\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"Drawer\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_island_group_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_corner_1_main_group\":{\"cls\":\"Box\"},\"top_corner_2_main_group\":{\"cls\":\"Box\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.1058972367760562,-3.4175198407192706,0.0],\"lang\":\"Fully open the fridge drawer.\",\"layout_id\":12,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"kiwi\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"kiwi\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_drawer\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_1_left_group\",\"pos\":[0.0,0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.05761994327999999,0.07254297791999997,0.05125164552],\"rack_index\":-1,\"reg_type\":\"drawer\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_drawer0\",\"offset\":[0.0008222553403574029,0.059497331826690425,-0.1205327836617613],\"size\":[0.6719920481962567,0.5319859729361881]},\"type\":\"object\"},{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"sweet_potato\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"sweet_potato\",\"vegetable\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml\",\"split\":\"train\"},\"name\":\"distr_shelf\",\"placement\":{\"fixture\":\"fridge_1_left_group\",\"pos\":[0.0,0],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.0428590073,0.11305835380000002,0.05232753230000001],\"reg_type\":\"shelf\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_shelf1\",\"offset\":[8.615403676867639e-05,0.06749573964801626,0.5208841272189492],\"size\":[0.771092003098423,0.5150505212666887]},\"type\":\"object\"}],\"style_id\":49},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10153134912252426,\"qx\":0.7379098534584045,\"qy\":-0.6611874103546143,\"qz\":-0.08950863778591156,\"x\":0.8687019690370636,\"y\":-3.4183879256775214,\"z\":1.2915981673797932},\"goal_pose\":{\"qw\":0.8727415757785743,\"qx\":0.04004656678167884,\"qy\":0.038890519605105846,\"qz\":0.4849803520570461,\"x\":0.37853030100630686,\"y\":-3.4142968517998518,\"z\":0.7892664202741652},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenFridgeDrawer\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenFridgeDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenFridgeDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_1_left_group\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"box_1_island_group\":{\"cls\":\"Box\"},\"box_1_left_group\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_2_left_group\":{\"cls\":\"Box\"},\"box_2_main_group\":{\"cls\":\"Box\"},\"box_3_left_group\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_1_left_group\":{\"cls\":\"FridgeFrenchDoor\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"knife_block_main_group\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"panel_stack_1_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_1_island_group_base\":{\"cls\":\"Box\"},\"panel_stack_2_island_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_2_island_group_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_1_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"PanelCabinet\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"Drawer\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_island_group_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_corner_1_main_group\":{\"cls\":\"Box\"},\"top_corner_2_main_group\":{\"cls\":\"Box\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.1058972367760562,-3.4175198407192706,0.0],\"lang\":\"Fully 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"is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 25, "retained_waypoint_count": 5, "sim_aggregate_success": false, "sim_saved_summary_success": false, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Fully open the fridge drawer.", "task_name": "OpenFridgeDrawer", "video_available": true, "video_bytes": 328081, "video_relpath": "videos/compressed/25_OpenFridgeDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260414/OpenMicrowave/20260414_openmicro_cubic49_a_e539a3c9bb16_OpenMicrowave_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260414/OpenMicrowave/20260414_openmicro_cubic49_a_e539a3c9bb16_OpenMicrowave_source-compressed.py; retained_waypoints=13; fingerprint=ef1fb44b2aa3; keep_indices={0: [0, 12, 19], 1: [0, 8], 2: [0, 4, 6, 9]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 234, 'stable_release_contact_loss_t': 234, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.027125, -1.035315, -0.00261, -2.280738, 0.056623, 1.531858, 0.691949], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.056388, -1.225889, -0.390564, -2.222747, 0.28072, 2.43463, 0.207061], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.219646, -0.711095, -0.453635, -2.009918, 0.671314, 2.692745, -0.111338], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.21647, -0.710783, -0.449266, -2.013686, 0.674646, 2.703729, -0.111137], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.054201, -1.268041, -0.224032, -2.357355, 0.182563, 2.606945, 0.398971], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nmoveC(via=pose(x=3.328103, y=-0.670982, z=1.522345, qw=-0.015979, qx=-0.00659, qy=-0.723592, qz=-0.690011), target=pose(x=3.281581, y=-0.780196, z=1.568166, qw=-0.072071, qx=-0.031195, qy=-0.766515, qz=-0.637407), steps=11, settle_steps=0, gripper=-1.0, joint_target=[-0.109555, -1.364722, -0.110931, -2.089461, -0.046533, 2.121501, 0.635103])\nmoveC(via=pose(x=3.392554, y=-0.962444, z=1.525298, qw=0.381743, qx=-0.294701, qy=-0.780873, qz=-0.397066), target=pose(x=3.392995, y=-0.934254, z=1.509991, qw=0.442465, qx=-0.327745, qy=-0.752278, qz=-0.36178), steps=42, settle_steps=0, gripper=-1.0, joint_target=[-0.023935, -1.314832, -0.550274, -1.642121, 0.335201, 1.288401, 1.415331])\nmoveC(via=pose(x=3.36885, y=-0.658314, z=1.468322, qw=0.644243, qx=-0.358496, qy=-0.662761, qz=-0.131067), target=pose(x=3.305558, y=-0.652492, z=1.469316, qw=0.659584, qx=-0.29199, qy=-0.692533, qz=0.009432), steps=36, settle_steps=0, gripper=-1.0, joint_target=[0.114408, -0.924539, -0.619648, -2.022626, 0.962618, 1.44862, 1.515322])\nmoveC(via=pose(x=2.870664, y=-0.778412, z=1.50014, qw=0.608732, qx=-0.097099, qy=-0.76704, qz=0.177952), target=pose(x=2.869734, y=-0.773639, z=1.515793, qw=0.598429, qx=-0.119972, qy=-0.776164, qz=0.158302), steps=52, settle_steps=0, gripper=-1.0, joint_target=[0.092499, -0.990749, 0.245427, -2.059135, 1.48525, 1.661436, 1.71715])\n", "code_char_count": 4405, "code_num_lines": 34, "code_num_nonblank_lines": 29, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"microwave_main_group_3\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_right_group_1\":{\"cls\":\"Box\"},\"box_dining_area_group\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_3\":{\"cls\":\"OpenCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_corner_main_group_3\":{\"cls\":\"Box\"},\"cab_micro_main_group_3\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_3\":{\"cls\":\"Counter\"},\"counter_corner_right_group_1\":{\"cls\":\"Counter\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_3\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_3\":{\"cls\":\"FridgeBottomFreezer\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group_3\":{\"cls\":\"Microwave\"},\"middle_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"middle_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_3\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_4\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1\":{\"cls\":\"Drawer\"},\"stack_3_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_3_dining_area_group_3\":{\"cls\":\"Drawer\"},\"stack_3_dining_area_group_4\":{\"cls\":\"Drawer\"},\"stack_3_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_main_group_3\":{\"cls\":\"Stove\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"top_1_main_group_3\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.2024653110491674,-0.8873190364634898,0.0],\"lang\":\"Open the microwave door.\",\"layout_id\":19,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"mug\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"mug\",\"stackable\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"microwave_main_group_3\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.3108317979657754,\"name\":\"tray\",\"offset\":[-0.0005216328376732998,0.0121457666891846,-0.14991802589477896],\"size\":[0.2724506474900532,0.30497268320643156]},\"type\":\"object\"},{\"info\":{\"cat\":\"egg\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"egg\",\"dairy\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_13/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.04873731105,0.0625963137,0.0481998290625],\"ref\":\"microwave_main_group_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.972,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"pitcher\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pitcher\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_2\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.14544657,0.16947315000000002,0.22724964],\"ref\":\"microwave_main_group_3\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.972,0.65]},\"type\":\"object\"}],\"style_id\":38},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.020136285573244095,\"qx\":0.03722124174237251,\"qy\":-0.9886213541030884,\"qz\":-0.14434920251369476,\"x\":3.198484664095003,\"y\":-0.6372407520631307,\"z\":1.2960903284532241},\"goal_pose\":{\"qw\":0.6221308283866621,\"qx\":-0.00048642164420249003,\"qy\":0.002070399247165928,\"qz\":-0.7829104094415057,\"x\":4.047034293134351,\"y\":-1.5087094588031604,\"z\":0.9441644820812526},\"object_pose\":{\"qw\":0.9781281261637037,\"qx\":0.0006436295686875699,\"qy\":0.0002574396229053808,\"qz\":0.20800213526139993,\"x\":3.149127716474791,\"y\":-0.26547254909988427,\"z\":1.478170830091653}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenMicrowave\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"microwave_main_group_3\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_right_group_1\":{\"cls\":\"Box\"},\"box_dining_area_group\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_3\":{\"cls\":\"OpenCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_corner_main_group_3\":{\"cls\":\"Box\"},\"cab_micro_main_group_3\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_3\":{\"cls\":\"Counter\"},\"counter_corner_right_group_1\":{\"cls\":\"Counter\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_main_group_3\":{\"cls\":\"HousingCabinet\"},\"fridge_1_main_group_3\":{\"cls\":\"FridgeBottomFreezer\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group_3\":{\"cls\":\"Microwave\"},\"middle_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"middle_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_3\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_4\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"}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"is_source_compressed_policy_file": true, "motion_primitive_count": 9, "pretrain_task_id": 26, "retained_waypoint_count": 13, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the microwave door.", "task_name": "OpenMicrowave", "video_available": true, "video_bytes": 629120, "video_relpath": "videos/compressed/26_OpenMicrowave.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 162, 'stable_release_contact_loss_t': 162, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.017667, -1.017234, -0.03204, -2.265026, 0.088428, 1.549616, 0.674877], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.663137, -1.506192, 1.840837, -2.272424, -0.20833, 2.930812, 1.081338], 'input_type': 'joint', 'steps': 104, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.723567, -1.547773, 1.843366, -2.195185, -0.150303, 2.910681, 1.045209], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.053876, -1.758725, 2.42033, -1.670175, 0.178318, 2.147417, 1.633229], 'input_type': 'joint', 'steps': 67, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2223, "code_num_lines": 23, "code_num_nonblank_lines": 18, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"oven_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_right_group_1\":{\"cls\":\"Stovetop\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[4.153930737988134,-4.1213656130362635,0.0],\"lang\":\"Open the oven door.\",\"layout_id\":42,\"object_cfgs\":[{\"info\":{\"cat\":\"oven_tray\",\"groups\":[\"oven_tray\"],\"groups_containing_sampled_obj\":[\"all\",\"oven_tray\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml\",\"split\":\"train\"},\"name\":\"door_obj_container\",\"obj_groups\":\"oven_tray\",\"placement\":{\"fixture\":\"oven_right_group_1\",\"pos\":[null,-1.0],\"size\":[1.0,0.45],\"try_to_place_in\":\"oven_tray\"},\"reset_region\":{\"height\":0.16346020253844512,\"name\":\"rack0\",\"offset\":[0.0024572801385276954,0.026203076003446082,0.0002766218406292746],\"size\":[0.5443022743904073,0.4638021611084153]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"onion\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"onion\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"door_obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"pan\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pan\",\"receptacle\",\"cookware\",\"pots_and_pans\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23020288977290324,0.40713166325977823,0.023283831478911273],\"ref\":\"oven_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8591808737549804,-3.469446951953614e-17,0.46],\"size\":[0.8466382524900397,0.65]},\"type\":\"object\"}],\"style_id\":21},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.07600150257349014,\"qx\":0.666651725769043,\"qy\":0.727952241897583,\"qz\":0.14101368188858032,\"x\":4.4109598767383185,\"y\":-4.119388084916967,\"z\":1.302188027770334},\"goal_pose\":{\"qw\":0.4836301217877151,\"qx\":-0.0007950006013539423,\"qy\":-0.0007693683282110397,\"qz\":-0.8752717757051348,\"x\":4.98476033601809,\"y\":-2.6434276898174303,\"z\":0.9366181465605552},\"object_pose\":{\"qw\":0.62934646327966,\"qx\":3.196645674686896e-08,\"qy\":3.387993215889113e-06,\"qz\":-0.7771248478500118,\"x\":4.858377167449274,\"y\":-3.6031436265539103,\"z\":0.7156804752436129}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenOven\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fxtr\":\"oven_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_left_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_right_group_1\":{\"cls\":\"Oven\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\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the oven door.\",\"layout_id\":42,\"object_cfgs\":[{\"info\":{\"cat\":\"oven_tray\",\"groups\":[\"oven_tray\"],\"groups_containing_sampled_obj\":[\"all\",\"oven_tray\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml\",\"split\":\"train\"},\"name\":\"door_obj_container\",\"obj_groups\":\"oven_tray\",\"placement\":{\"fixture\":\"oven_right_group_1\",\"pos\":[null,-1.0],\"size\":[1.0,0.45],\"try_to_place_in\":\"oven_tray\"},\"reset_region\":{\"height\":0.16346020253844512,\"name\":\"rack0\",\"offset\":[0.0024572801385276954,0.026203076003446082,0.0002766218406292746],\"size\":[0.5443022743904073,0.4638021611084153]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"onion\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"onion\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"door_obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"pan\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pan\",\"receptacle\",\"cookware\",\"pots_and_pans\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23020288977290324,0.40713166325977823,0.023283831478911273],\"ref\":\"oven_right_group_1\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.8591808737549804,-3.469446951953614e-17,0.46],\"size\":[0.8466382524900397,0.65]},\"type\":\"object\"}],\"style_id\":21},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.07600150257349014,\"qx\":0.666651725769043,\"qy\":0.727952241897583,\"qz\":0.14101368188858032,\"x\":4.4109598767383185,\"y\":-4.119388084916967,\"z\":1.302188027770334},\"goal_pose\":{\"qw\":0.4836301217877151,\"qx\":-0.0007950006013539423,\"qy\":-0.0007693683282110397,\"qz\":-0.8752717757051348,\"x\":4.98476033601809,\"y\":-2.6434276898174303,\"z\":0.9366181465605552},\"object_pose\":{\"qw\":0.62934646327966,\"qx\":3.196645674686896e-08,\"qy\":3.387993215889113e-06,\"qz\":-0.7771248478500118,\"x\":4.858377167449274,\"y\":-3.6031436265539103,\"z\":0.7156804752436129}},\"initial_state\":[0.5000000000000003,-14.119599527908273,-5.850333641033585,-1.9528725485068944e-07,3.525651773947335e-08,-0.01781994071153703,-1.0169940028440156,-0.03202899838112885,-2.265125417056929,0.08842485959009981,1.549024277288773,0.6748752794900499,0.02055162817622356,-0.02051493048300033,-0.0014868143980703177,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00022427191588019263,-9.322424245842054e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.850514549901642e-15,-2.874702917582481e-15,-2.874702917582481e-15,0.0,0.0,0.0,0.0,0.0,-5.668156080634859e-16,-9.508909027659123e-06,-6.707779769829281e-09,3.0079266044351843e-21,6.462290509161438e-08,0.0,0.0,0.0,0.0,-0.007223140428782859,-2.7147361648346444e-10,-0.0004110541420878588,0.0,0.0,0.0,0.0,-1.990863430235979e-10,-1.9908643541956953e-10,0.0,0.0,-1.939943597624598e-09,2.5592496374179163e-07,0.0,0.0,0.0,0.0,0.0,-0.006523882698235615,-5.614938413300839e-06,0.0,0.0,4.850970683979098,-3.590661263886207,0.7503635692919686,0.9788300893644577,-0.1274434447252071,-0.06175188372149311,-0.14777188300955005,4.858377167449274,-3.6031436265539103,0.7156804752436129,0.62934646327966,3.196645674686896e-08,3.387993215889113e-06,-0.7771248478500118,4.98476033601809,-2.6434276898174303,0.9366181465605552,0.4836301217877151,-0.0007950006013539423,-0.0007693683282110397,-0.8752717757051348,5.848815341583372e-07,4.420487785185639e-07,2.689831077991658e-06,5.315782160720983e-08,9.28138813710335e-06,0.00048636093035685717,0.000597459901594104,-3.268811165828368e-05,0.0007851051310464513,0.00015217072968036957,9.735474945401938e-05,-0.0004111705921130095,0.0005248791202289869,-0.0023300821574235493,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0004570077721067886,-1.7992099534522447e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0103062271315648e-16,-1.0613607333645793e-16,-1.0613607333645793e-16,0.0,0.0,0.0,0.0,0.0,-3.031441098149993e-17,-1.7232621722973198e-07,-1.211514517464866e-10,5.273496238775485e-21,-3.6701157375354845e-06,0.0,0.0,0.0,0.0,-5.300229587593758e-07,-4.903175784513321e-12,-6.322899949290592e-08,0.0,0.0,0.0,-7.094423107857443e-07,-3.595765026046125e-12,-3.5957666912099812e-12,0.0,0.0,-3.947452436764312e-09,5.207633986024151e-07,0.0,0.0,0.0,0.0,0.0,-4.835801650209523e-07,-1.0170966280156081e-07,0.0,0.0,-0.02062343842990779,0.03144507745979769,-0.0136127440676056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"is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 27, "retained_waypoint_count": 4, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the oven door.", "task_name": "OpenOven", "video_available": true, "video_bytes": 352141, "video_relpath": "videos/compressed/27_OpenOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 5}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenStandMixerHead', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 84, 'stable_release_contact_loss_t': 84, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.00277, -1.060588, -0.023759, -2.278174, 0.068107, 1.506477, 0.710727], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.003867, -1.485159, 0.404044, -2.748812, 0.156135, 1.672405, 1.596515], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.124345, -1.00067, 0.475606, -2.598044, -0.208504, 1.897401, 2.037166], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.166793, -0.738333, 0.03, -2.023522, -0.385387, 1.529376, 1.89709], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.109548, -0.67663, -0.588267, -1.671651, -0.284261, 1.307192, 1.083041], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2498, "code_num_lines": 24, "code_num_nonblank_lines": 19, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": 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head.\",\"layout_id\":43,\"object_cfgs\":[],\"style_id\":34},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.14568127691745758,\"qx\":0.9879900813102722,\"qy\":0.03572104871273041,\"qz\":0.03710097074508667,\"x\":3.5201566795691552,\"y\":-3.314750585972421,\"z\":1.3002126237064449},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-6.485109481698437,13.076138674327453,-1.9613563252414679e-07,3.035511893411014e-08,-0.002415976570190205,-1.060537936595431,-0.023862473377995373,-2.278184490341268,0.0680175684027707,1.5065701358535144,0.710756379008947,0.020542711801219173,-0.020523849181676317,-8.152680557808837e-05,9.95569753876725e-08,-1.9877385864815746e-08,-5.220418706910141e-09,2.712993491422691e-07,-1.0222483641921799e-08,-4.524015939098846e-09,0.0,0.0,-4.916162192594255e-05,-4.916162192594255e-05,-4.916162192594255e-05,-4.9161610662589085e-05,0.0,0.0,0.0,0.0,0.0,0.0,-3.25195638732537e-05,-0.0005574807452884384,-0.0075180836091779885,0.0,-0.0004253021078432741,-0.0075180836091779885,0.0,-0.0004253021078432197,0.0,0.0,-2.668760382672308e-16,-2.668760382672308e-16,0.0,0.0,0.0,-1.0296577949020367e-15,0.0,4.767609853887434e-06,-0.000741023677346469,1.8064507614510116e-07,-3.604781756087676e-08,0.0,0.0,0.0,0.0,-1.2442240532554428e-15,-1.2442240532554428e-15,-1.2341728913127207e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.7210540207124574e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.428725118518563e-08,-1.4104433496495029e-09,1.9203150371316783e-08,-8.788364447981571e-10,0.0,-7.09701760655425e-08,4.832602421349081e-07,-0.0003601957712678692,0.0,0.0,0.0,0.0,0.0,0.0,-0.004776108308740621,-0.00477610747144691,0.002901366831315856,0.0,0.0,0.0,0.0,0.0,0.0,7.639052838474612e-07,-1.7542735546541302e-07,3.1091131730549833e-06,3.0703319777069603e-07,9.790486828951388e-06,1.392462010104412e-06,0.000672508189876582,0.0010352906605076546,0.0007108871648680815,-0.000885492315937175,0.00011727951556690038,-0.0004171498889408361,0.0005189013824940436,-7.308059416764306e-07,2.0258052951832762e-07,-3.5901215171806023e-10,-9.428773926623984e-11,5.520453548652733e-07,-1.8463171729739952e-10,-8.170977452221815e-11,0.0,0.0,-1.0108407726128944e-06,-1.0108407726128944e-06,-1.0108407726128944e-06,-1.0108405602994087e-06,0.0,0.0,0.0,0.0,0.0,0.0,-7.182824941037946e-07,5.485023738437043e-12,-5.471114530768468e-07,0.0,-3.676730970725922e-08,-5.471114530768468e-07,0.0,-3.676731117554603e-08,0.0,0.0,-1.1680327477595883e-17,-1.1680327477595883e-17,0.0,0.0,0.0,-4.011320329415492e-17,0.0,9.707739038632495e-06,2.8782533045024047e-13,3.7068622047279155e-07,-3.4615804921206755e-14,0.0,0.0,0.0,0.0,-4.53581240896279e-17,-4.53581240896279e-17,-4.325651603341458e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.7172923581508826e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.5425811158515094e-06,2.9071985334594004e-08,-2.5474492273985815e-11,3.907495561860211e-08,-1.5872960959040006e-11,0.0,-1.4441218218824098e-07,9.833520211078886e-07,2.413169838026461e-12,0.0,0.0,0.0,0.0,0.0,0.0,-3.3802715979255103e-07,-3.380270828594281e-07,8.265735681827472e-05,0.0,0.0,0.0,0.0,0.0,0.0],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenStandMixerHead\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 5, "pretrain_task_id": 28, "retained_waypoint_count": 5, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the stand mixer head.", "task_name": "OpenStandMixerHead", "video_available": true, "video_bytes": 304236, "video_relpath": "videos/compressed/28_OpenStandMixerHead.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenToasterOvenDoor/seed_195/episode_000000/refinement/20260403/OpenToasterOvenDoor/iter_005/candidate.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 2, 1: 1, 2: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenToasterOvenDoor', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 118, 'stable_release_contact_loss_t': 118, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.046595, -1.032737, -0.056082, -2.314732, 0.046409, 1.518914, 0.685818], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.024153, -0.867467, -0.682295, -2.751199, 1.452597, 2.150206, 0.445853], 'input_type': 'joint', 'steps': 61, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.027249, -0.868907, -0.675443, -2.751934, 1.452234, 2.159063, 0.449698], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.030585, -0.871154, -0.667752, -2.752959, 1.451088, 2.169913, 0.454882], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.362687, -1.112559, -0.680039, -2.904775, -0.374275, 1.553743, 1.911622], 'input_type': 'joint', 'steps': 74, 'settle_steps': 1, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.12, hold_target=[-0.027249, -0.868907, -0.675443, -2.751934, 1.452234, 2.159063, 0.449698], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.2, hold_target=[-0.362687, -1.112559, -0.680039, -2.904775, -0.374275, 1.553743, 1.911622], input_type='joint', gripper=1.0)\n", "code_char_count": 2961, "code_num_lines": 29, "code_num_nonblank_lines": 24, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenToasterOvenDoor\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenToasterOvenDoor\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_right_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_11_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_5_left_group_1\":{\"cls\":\"Counter\"},\"counter_6_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_main_group_1\":{\"cls\":\"Box\"},\"cube_12_main_group_1\":{\"cls\":\"Box\"},\"cube_13_right_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_left_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_right_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_04_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_05_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_06_right_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_01_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stack_8_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_8_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_left_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_08_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_09_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_10_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_12_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.714033083301871e-07],\"init_robot_base_pos\":[3.9438972600089284,-1.1053186870984868,0.0],\"lang\":\"Open the toaster oven door.\",\"layout_id\":60,\"object_cfgs\":[],\"style_id\":31},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.061130911111831665,\"qx\":0.6918967962265015,\"qy\":0.7107511758804321,\"qz\":0.11124063283205032,\"x\":4.192483020998447,\"y\":-1.1262937773699317,\"z\":1.2772500572589744},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenToasterOvenDoor\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"OpenToasterOvenDoor\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenToasterOvenDoor\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_right_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_11_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_5_left_group_1\":{\"cls\":\"Counter\"},\"counter_6_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_main_group_1\":{\"cls\":\"Box\"},\"cube_12_main_group_1\":{\"cls\":\"Box\"},\"cube_13_right_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_left_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_right_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_04_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_05_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_06_right_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_01_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stack_8_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_8_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_left_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_08_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_09_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_10_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_12_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.714033083301871e-07],\"init_robot_base_pos\":[3.9438972600089284,-1.1053186870984868,0.0],\"lang\":\"Open the toaster oven door.\",\"layout_id\":60,\"object_cfgs\":[],\"style_id\":31},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.061130911111831665,\"qx\":0.6918967962265015,\"qy\":0.7107511758804321,\"qz\":0.11124063283205032,\"x\":4.192483020998447,\"y\":-1.1262937773699317,\"z\":1.2772500572589744},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-11.105316495585916,-6.056106909640885,-2.2564454107045968e-07,2.977295228335838e-08,-0.047541709705811265,-1.031906039925019,-0.05518168499137761,-2.3148812989538086,0.04574046074865287,1.520720990026395,0.6852188688461118,0.020547180607599677,-0.02051937855569505,-2.1749623186348836e-05,8.2063637925846e-08,-4.337405533744949e-09,-1.192216105941509e-09,-2.8883671303616916e-10,1.5680532814903555e-08,-2.521326655337043e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.5812086374928207e-16,-2.5812086374928207e-16,-2.5585419820898893e-16,0.0,0.0,-0.0003448005557810468,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.8473628581610336e-15,0.0,0.0,0.0,-4.062920501806672e-10,-2.2745532741002082e-09,-1.0998598259162375e-09,0.0,4.643684120418365e-09,4.172260856322068e-07,0.0,-4.363592314669619e-16,-4.363592314669619e-16,0.0,0.0,0.0,-1.5072660143203976e-15,-1.3949029889566574e-15,0.0018723398821548665,-0.007318554079900478,0.0,0.0,-0.007276185065218587,3.1517287698349604e-09,-0.00031108530690974616,-0.007276185065218587,1.6496684864302418e-08,-0.00037576823892982803,6.418958656368952e-07,5.19133536062144e-07,3.008208399402816e-06,9.362537896414444e-08,7.963453369077789e-06,0.0006434173640013459,0.0006744637529819358,-2.066434372754992e-05,0.0008030690747035494,0.00013472529324306143,0.00011039200523534658,-0.0004170781778858955,0.0005189718408075484,-3.24544081450704e-07,1.669847366564793e-07,-7.833934171076277e-11,-2.153301652827933e-11,-5.216777133425428e-12,3.190706272486379e-08,-4.5538529640371864e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-9.653559948643271e-18,-9.653559948643271e-18,-9.170212658202576e-18,0.0,0.0,-3.876001693738612e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.202864388098535e-16,0.0,0.0,-6.283198044415092e-08,-7.338177471647277e-12,-4.108147287027074e-11,-1.9864938499386756e-11,0.0,9.449101179328626e-09,8.489835643307738e-07,0.0,-2.3123274526359225e-17,-2.3123274526359225e-17,0.0,0.0,0.0,-8.041853689227454e-17,-5.2093232686438724e-17,3.088045627538393e-05,-5.199887128349916e-07,0.0,0.0,-5.332206667468356e-07,6.413200836337303e-09,-6.714357190554769e-07,-5.332206667468356e-07,3.3567784823770574e-08,-1.952310122855953e-07],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenToasterOvenDoor\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 5, "pretrain_task_id": 29, "retained_waypoint_count": 5, "sim_aggregate_success": false, "sim_saved_summary_success": false, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Open the toaster oven door.", "task_name": "OpenToasterOvenDoor", "video_available": true, "video_bytes": 277520, "video_relpath": "videos/compressed/29_OpenToasterOvenDoor.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_counts={0: 3, 1: 3, 2: 4, 3: 3, 4: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PackDessert', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 167, 'stable_release_contact_loss_t': 293, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [0.003431, -1.053115, 0.005184, -2.311799, 0.030015, 1.500472, 0.685453], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.14584, -0.6809, -0.852359, -2.463906, -0.367659, 1.86715, -1.385754], 'input_type': 'joint', 'steps': 96, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.046511, -0.094099, -0.71284, -2.415904, 0.080811, 2.229117, -1.973897], 'input_type': 'joint', 'steps': 62, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.051726, -0.093201, -0.707594, -2.415292, 0.081822, 2.22806, -1.975016], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.061534, -0.09173, -0.69809, -2.414828, 0.082667, 2.226857, -1.976487], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.07077, -0.09122, -0.690979, -2.414509, 0.082263, 2.225077, -1.976739], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.084681, -0.09052, -0.676047, -2.412132, 0.084084, 2.224193, -1.97687], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.012112, -0.657639, -0.480759, -2.418621, -0.204155, 1.903077, -1.758197], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.10561, -0.754676, -0.508825, -2.729732, -0.418656, 2.098499, -2.110008], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.133274, -0.583166, -0.555285, -2.67435, -0.385326, 2.262997, -2.231914], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.134792, -0.575354, -0.554089, -2.668948, -0.380596, 2.263921, -2.233122], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.131188, -0.555939, -0.543586, -2.64962, -0.360462, 2.252497, -2.242961], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [0.111958, -0.600136, -0.526108, -2.646019, -0.358213, 2.207078, -2.246963], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.021575, -1.256517, -0.36896, -2.722, -0.36905, 1.747102, -2.219967], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.17508, -1.447546, 0.100409, -2.659606, 0.017707, 1.550437, -2.105621], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.08159, -0.090731, -0.679328, -2.412372, 0.083816, 2.224452, -1.976869], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.08159, -0.090731, -0.679328, -2.412372, 0.083816, 2.224452, -1.976869], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 5837, "code_num_lines": 52, "code_num_nonblank_lines": 47, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PackDessert\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PackDessert\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_right_group_1\"},\"fixtures\":{\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_right_group_1\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[2.9113448561602993,-2.508580681514054,0.0],\"lang\":\"Add the marshmallow to the tupperware that contains the hot dog.\",\"layout_id\":40,\"object_cfgs\":[{\"info\":{\"cat\":\"tupperware\",\"groups\":[\"tupperware\"],\"groups_containing_sampled_obj\":[\"all\",\"tupperware\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"cooked_food_container\",\"obj_groups\":\"tupperware\",\"object_scale\":[2.5,2.5,1.25],\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"rotation\":0,\"size\":[0.5,0.5],\"try_to_place_in\":\"tupperware\",\"try_to_place_in_kwargs\":{\"object_scale\":[2.5,2.5,1.25]}},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.7527243870119098,-3.469446951953614e-17,0.46],\"size\":[0.9295512259761805,0.65]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"hot_dog\",\"groups\":[\"cooked_food\"],\"groups_containing_sampled_obj\":[\"all\",\"hot_dog\",\"cooked_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml\",\"split\":\"train\"},\"init_robot_here\":false,\"name\":\"cooked_food\",\"obj_groups\":\"cooked_food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"cooked_food_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"exclude_obj_groups\":\"sugar_cube\",\"graspable\":true,\"info\":{\"cat\":\"marshmallow\",\"groups\":[\"sweets\"],\"groups_containing_sampled_obj\":[\"all\",\"marshmallow\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml\",\"split\":\"train\"},\"name\":\"dessert\",\"obj_groups\":\"sweets\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"reuse_region_from\":\"cooked_food_container\",\"size\":[0.5,0.2]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.7527243870119098,-3.469446951953614e-17,0.46],\"size\":[0.9295512259761805,0.65]},\"type\":\"object\"}],\"style_id\":26},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0807432308793068,\"qx\":0.6608681678771973,\"qy\":0.7406268119812012,\"qz\":0.09058583527803421,\"x\":3.1517583417017803,\"y\":-2.499192423262986,\"z\":1.2811663439921368},\"goal_pose\":{\"qw\":0.7072135399093185,\"qx\":8.571339681227825e-06,\"qy\":-0.00011084041620693232,\"qz\":-0.7069999976024514,\"x\":3.3119519321293063,\"y\":-2.57279037637563,\"z\":0.948548400938376},\"object_pose\":{\"qw\":0.7429614302651991,\"qx\":-0.0011399667680207204,\"qy\":0.001523961295875808,\"qz\":-0.6693315255955207,\"x\":3.2621057066666865,\"y\":-2.8073372426446803,\"z\":0.9335531820375895}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PackDessert\"}", "initial_scene_json": "{\"env_kwargs\":{\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PackDessert\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PackDessert\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_right_group_1\"},\"fixtures\":{\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_1_right_group_1\":{\"cls\":\"Box\"},\"box_2_right_group_1\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[2.9113448561602993,-2.508580681514054,0.0],\"lang\":\"Add the marshmallow to the tupperware that contains the hot dog.\",\"layout_id\":40,\"object_cfgs\":[{\"info\":{\"cat\":\"tupperware\",\"groups\":[\"tupperware\"],\"groups_containing_sampled_obj\":[\"all\",\"tupperware\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"cooked_food_container\",\"obj_groups\":\"tupperware\",\"object_scale\":[2.5,2.5,1.25],\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"rotation\":0,\"size\":[0.5,0.5],\"try_to_place_in\":\"tupperware\",\"try_to_place_in_kwargs\":{\"object_scale\":[2.5,2.5,1.25]}},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.7527243870119098,-3.469446951953614e-17,0.46],\"size\":[0.9295512259761805,0.65]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"hot_dog\",\"groups\":[\"cooked_food\"],\"groups_containing_sampled_obj\":[\"all\",\"hot_dog\",\"cooked_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml\",\"split\":\"train\"},\"init_robot_here\":false,\"name\":\"cooked_food\",\"obj_groups\":\"cooked_food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"cooked_food_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"exclude_obj_groups\":\"sugar_cube\",\"graspable\":true,\"info\":{\"cat\":\"marshmallow\",\"groups\":[\"sweets\"],\"groups_containing_sampled_obj\":[\"all\",\"marshmallow\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml\",\"split\":\"train\"},\"name\":\"dessert\",\"obj_groups\":\"sweets\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"pos\":[0,-1.0],\"reuse_region_from\":\"cooked_food_container\",\"size\":[0.5,0.2]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.7527243870119098,-3.469446951953614e-17,0.46],\"size\":[0.9295512259761805,0.65]},\"type\":\"object\"}],\"style_id\":26},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0807432308793068,\"qx\":0.6608681678771973,\"qy\":0.7406268119812012,\"qz\":0.09058583527803421,\"x\":3.1517583417017803,\"y\":-2.499192423262986,\"z\":1.2811663439921368},\"goal_pose\":{\"qw\":0.7072135399093185,\"qx\":8.571339681227825e-06,\"qy\":-0.00011084041620693232,\"qz\":-0.7069999976024514,\"x\":3.3119519321293063,\"y\":-2.57279037637563,\"z\":0.948548400938376},\"object_pose\":{\"qw\":0.7429614302651991,\"qx\":-0.0011399667680207204,\"qy\":0.001523961295875808,\"qz\":-0.6693315255955207,\"x\":3.2621057066666865,\"y\":-2.8073372426446803,\"z\":0.9335531820375895}},\"initial_state\":[0.5000000000000003,-12.506439419391747,-7.0924324168905315,-2.0811379666349023e-07,2.4682467868339047e-08,0.004087871063387216,-1.0531155183063627,0.005743432227727849,-2.3115341203488233,0.030651924540855174,1.5004496508179053,0.6859058531157807,0.020521075382921892,-0.020545483935977327,-6.54896537759494e-10,1.979448087583618e-09,2.587146857556173e-09,-9.03450699707349e-09,2.438659743341919e-09,-8.082583234955622e-10,1.2636629542712086e-09,0.0,-9.295050074641062e-06,6.756207761618059e-10,1.247821279556661e-07,0.0,-3.014079927248989e-05,-6.405031872619891e-09,8.561235427393665e-08,3.1451706684374764e-08,-2.255850813042559e-09,5.3665702833062214e-08,-1.1371991646283807e-08,0.0,0.0,0.0,-2.168785316517547e-09,2.162504088029084e-09,2.884066383379987e-09,-1.0206234402973935e-09,8.08375000774635e-09,5.490608084894173e-09,-7.7030045142731e-10,-1.832944948055568e-09,4.888279293052143e-10,-0.006051453318911354,-0.006051457462625696,-3.829031465899432e-06,0.0,0.0,-0.007625713354508506,7.080830865252919e-10,-0.000415839004852456,-0.007587674975915327,-1.0261024660462363e-10,-0.00041583899783450656,0.0,0.0,0.0,0.0,0.0,-1.4045617181099515e-08,1.2593964016574428e-09,3.3132780167377307,-2.5702128560380513,0.9579778608269353,0.9528026279983022,0.005853756984674358,-0.0020655391748017303,-0.30352696611110047,3.3119519321293063,-2.57279037637563,0.948548400938376,0.7072135399093185,8.571339681227825e-06,-0.00011084041620693232,-0.7069999976024514,3.2621057066666865,-2.8073372426446803,0.9335531820375895,0.7429614302651991,-0.0011399667680207204,0.001523961295875808,-0.6693315255955207,6.927419370552247e-07,4.79908413988449e-07,2.8943567753707135e-06,8.926612235760371e-08,8.709921484978626e-06,0.0006377240217960347,0.0006619403763750068,-2.3128356900935007e-05,0.0007652829820672331,0.00012625733505593363,0.00011121476713551513,-0.0004575308562320811,0.0004785191179073196,1.4095248932157943e-09,-2.930719807166759e-09,-1.8260078590520694e-09,2.7246401091726073e-09,-2.1321175241347396e-09,-3.9393361565923947e-11,-1.6965187717893928e-09,0.0,-2.088753541711446e-07,1.3747724214704962e-09,2.539102322003986e-07,0.0,-4.271002277336768e-07,-1.1568345656273798e-10,1.7420574053036907e-07,6.399856539815312e-08,-4.074368788732416e-11,1.0920004551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"is_source_compressed_policy_file": true, "motion_primitive_count": 16, "pretrain_task_id": 30, "retained_waypoint_count": 16, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Add the marshmallow to the tupperware that contains the hot dog.", "task_name": "PackDessert", "video_available": true, "video_bytes": 472922, "video_relpath": "videos/compressed/30_PackDessert.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCabinetToCounter/seed_195/episode_000000/refinement/20260403/PickPlaceCabinetToCounter/iter_005/candidate.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCabinetToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 106, 'stable_release_contact_loss_t': 170, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.01052, -1.025454, -0.058702, -2.297071, 0.053644, 1.544523, 0.70624], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.133274, 0.142967, -0.531275, -1.188434, 0.0638, 2.068814, 0.667806], 'input_type': 'joint', 'steps': 96, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.142568, 0.157793, -0.527481, -1.169316, 0.074427, 2.061475, 0.664108], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.207182, 0.262498, -0.484313, -1.028889, 0.125758, 2.01173, 0.659515], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.226379, 0.293053, -0.471352, -0.984556, 0.133634, 1.99603, 0.659793], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.301968, 0.39596, -0.431856, -0.812986, 0.165431, 1.907847, 0.651138], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.312879, 0.39731, -0.427397, -0.794715, 0.16865, 1.869162, 0.642764], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], 'input_type': 'joint', 'steps': 61, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'target': [0.021222, -0.318874, -0.580942, -2.57658, 0.082095, 1.908551, -0.418362], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.013282, -1.316872, -0.161613, -2.474925, 0.132523, 1.599873, -0.008301], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.216643, 0.277735, -0.47765, -1.007043, 0.129776, 2.003954, 0.659767], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.1, hold_target=[-0.216643, 0.277735, -0.47765, -1.007043, 0.129776, 2.003954, 0.659767], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.301968, 0.39596, -0.431856, -0.812986, 0.165431, 1.907847, 0.651138], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.1, hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', gripper=1.0)\nrelease(hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.1, hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_03)\n", "code_char_count": 4587, "code_num_lines": 44, "code_num_nonblank_lines": 39, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCabinetToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCabinetToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"cab\":\"singlecabinet_1_left_group_1\",\"counter\":\"counter_1_left_group_1\"},\"fixtures\":{\"cab_micro_left_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"cube_5_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_left_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_01_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_01_right_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_05_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_05_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1.001_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1.001_room\":{\"cls\":\"Wall\"},\"wall_front_2.002_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2.002_room\":{\"cls\":\"Wall\"},\"wall_front_3.003_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3.003_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1414412336089432],\"init_robot_base_pos\":[0.8767249828956615,-0.9804598540565577,0.0],\"lang\":\"Pick 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"is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 31, "retained_waypoint_count": 10, "sim_aggregate_success": false, "sim_saved_summary_success": false, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the ice cube from the cabinet and place it on the counter.", "task_name": "PickPlaceCabinetToCounter", "video_available": true, "video_bytes": 613821, "video_relpath": "videos/compressed/31_PickPlaceCabinetToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToBlender/20260413_t3_k113_0c07ac667a85_PickPlaceCounterToBlender_source-compressed.py\n# Compression note: ppctb_action49_g; source_kind=accepted; segments=[{'start': 0, 'end': 39, 'mode': 'cubic', 'keep': 6, 'selected_keep_indices': [0, 4, 6, 11, 19, 39], 'source_motion_count': 40, 'rebuilt_motion_count': 3}, {'start': 40, 'end': 42, 'mode': 'joint', 'keep': 3, 'selected_keep_indices': [0, 1, 2], 'source_motion_count': 3, 'rebuilt_motion_count': 3}, {'start': 43, 'end': 51, 'mode': 'joint', 'keep': 5, 'selected_keep_indices': [0, 3, 4, 6, 8], 'source_motion_count': 9, 'rebuilt_motion_count': 5}, {'start': 52, 'end': 91, 'mode': 'action_sequence', 'keep': 23, 'selected_keep_indices': [0, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 14, 15, 18, 19, 26, 27, 28, 31, 34, 35, 36, 39], 'source_motion_count': 40, 'rebuilt_motion_count': 1}, {'start': 92, 'end': 96, 'mode': 'joint', 'keep': 5, 'selected_keep_indices': [0, 1, 2, 3, 4], 'source_motion_count': 5, 'rebuilt_motion_count': 5}, {'start': 97, 'end': 112, 'mode': 'linear', 'keep': 7, 'selected_keep_indices': [0, 3, 6, 8, 10, 13, 15], 'source_motion_count': 16, 'rebuilt_motion_count': 7}]\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToBlender', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 106, 'stable_release_contact_loss_t': 239, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.288776, 0.254152, -0.497641, -1.963783, 0.105126, 2.012502, 0.174993], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.290076, 0.260419, -0.494748, -1.966875, 0.108555, 2.018459, 0.174531], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.290521, 0.262489, -0.492625, -1.968726, 0.110126, 2.020945, 0.174733], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.291014, 0.263508, -0.488267, -1.970979, 0.111321, 2.022768, 0.176688], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.29156, 0.261346, -0.484575, -1.967448, 0.098502, 2.010543, 0.186907], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.291963, 0.246766, -0.487646, -1.96263, 0.089578, 1.991973, 0.188828], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.290145, 0.215597, -0.490853, -1.948852, 0.07444, 1.957241, 0.194977], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.286471, 0.177616, -0.493682, -1.928464, 0.057799, 1.908867, 0.203975], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [0.016984, -0.764599, 0.247446, -2.020062, 0.201782, 1.657017, 0.496498], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.016266, -0.751176, 0.247141, -2.025713, 0.210743, 1.629404, 0.497471], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.015475, -0.742137, 0.246065, -2.016738, 0.213376, 1.615197, 0.497745], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.014926, -0.737648, 0.246055, -2.010546, 0.21299, 1.610049, 0.497755], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'primitive': 'moveLinear', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.167375, y=-2.879209, z=1.344834, qw=0.013818, qx=0.253766, qy=-0.954127, qz=-0.158282), 'joint_target': [0.015051, -0.754608, 0.248159, -2.000964, 0.207306, 1.584159, 0.521612]},\n    {'primitive': 'moveLinear', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.165438, y=-2.916706, z=1.394538, qw=-0.018602, qx=0.234716, qy=-0.949963, qz=-0.205261), 'joint_target': [0.015563, -0.823848, 0.266044, -1.917965, 0.158803, 1.532784, 0.580994]},\n    {'primitive': 'moveLinear', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.164732, y=-2.979469, z=1.466349, qw=-0.046049, qx=0.228424, qy=-0.927611, qz=-0.291958), 'joint_target': [0.017016, -0.922824, 0.271308, -1.795339, 0.122848, 1.493055, 0.60032]},\n    {'primitive': 'moveLinear', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.166328, y=-3.002641, z=1.480256, qw=-0.05025, qx=0.223683, qy=-0.920451, qz=-0.316562), 'joint_target': [0.018541, -0.967814, 0.268516, -1.781873, 0.119662, 1.48657, 0.60734]},\n    {'primitive': 'moveLinear', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.186461, y=-3.057541, z=1.500213, qw=-0.057628, qx=0.205545, qy=-0.894186, qz=-0.393525), 'joint_target': [0.029713, -1.13241, 0.232119, -1.837376, 0.107575, 1.538672, 0.605043]},\n    {'primitive': 'moveLinear', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.203677, y=-3.111012, z=1.501623, qw=-0.070301, qx=0.194999, qy=-0.856543, qz=-0.472617), 'joint_target': [0.044109, -1.328874, 0.208523, -1.948672, 0.094236, 1.627653, 0.589389]},\n    {'primitive': 'moveLinear', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.212099, y=-3.148859, z=1.491995, qw=-0.077549, qx=0.18911, qy=-0.830573, qz=-0.518046), 'joint_target': [0.054397, -1.471632, 0.201748, -2.030222, 0.091119, 1.671089, 0.583635]},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nmoveC(target=pose(x=3.439684, y=-2.957761, z=1.25585, qw=0.027264, qx=-0.086777, qy=-0.990384, qz=-0.104244), steps=12, settle_steps=0, gripper=-1.0, via=pose(x=3.325842, y=-2.927709, z=1.285104, qw=0.035871, qx=0.04404, qy=-0.992134, qz=-0.11155), joint_target=[-0.050922, -1.045022, -0.233137, -2.340244, -0.126135, 1.51285, 0.750284])\nmoveC(target=pose(x=3.691362, y=-2.875629, z=1.134644, qw=-0.018481, qx=-0.113489, qy=-0.993164, qz=0.020109), steps=27, settle_steps=0, gripper=-1.0, via=pose(x=3.53324, y=-2.953137, z=1.224008, qw=0.015494, qx=-0.110944, qy=-0.987855, qz=-0.107674), joint_target=[0.022765, -0.355429, -0.749111, -2.076491, -0.299406, 1.787387, 0.38907])\nmoveC(target=pose(x=3.716089, y=-2.78256, z=0.95359, qw=0.043287, qx=-0.112073, qy=-0.989923, qz=0.074948), steps=62, settle_steps=0, gripper=-1.0, via=pose(x=3.721763, y=-2.763375, z=1.040758, qw=0.018379, qx=-0.111011, qy=-0.992695, qz=0.043535), joint_target=[-0.288079, 0.250185, -0.498671, -1.962887, 0.103153, 2.009162, 0.175582])\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.290769, 0.263359, -0.490261, -1.970053, 0.111119, 2.022247, 0.175562], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.290769, 0.263359, -0.490261, -1.970053, 0.111119, 2.022247, 0.175562], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nmoveActionSequence(actions=[[-0.284522, 0.156551, -0.497513, -1.918351, 0.053794, 1.885393, 0.204749, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.280624, 0.11442, -0.505175, -1.898126, 0.045785, 1.838444, 0.206296, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.26893, 0.03583, -0.511215, -1.882127, 0.054852, 1.781142, 0.205399, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.21978, -0.175098, -0.483595, -1.894747, 0.029732, 1.709202, 0.235327, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.188078, -0.297704, -0.45448, -1.92357, 0.013634, 1.72876, 0.265517, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.154869, -0.421262, -0.416798, -1.961748, 0.01736, 1.768379, 0.285342, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.121122, -0.533249, -0.376862, -1.999403, 0.045461, 1.800508, 0.285129, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.087919, -0.621685, -0.339038, -2.017846, 0.089861, 1.832016, 0.270579, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.05616, -0.688777, -0.29653, -2.021288, 0.142372, 1.865964, 0.257786, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.025594, -0.725299, -0.251663, -2.018762, 0.197842, 1.905258, 0.243955, 1.0, 0.0, 0.0, 0.0, 0.0], [0.024098, -0.73554, -0.15622, -1.960829, 0.292652, 1.920343, 0.251538, 1.0, 0.0, 0.0, 0.0, 0.0], [0.040959, -0.725199, -0.11625, -1.939655, 0.329371, 1.896967, 0.257157, 1.0, 0.0, 0.0, 0.0, 0.0], [0.051395, -0.710122, -0.062173, -1.925462, 0.340927, 1.87315, 0.280557, 1.0, 0.0, 0.0, 0.0, 0.0], [0.055668, -0.684157, 0.003424, -1.90464, 0.333929, 1.846515, 0.340068, 1.0, 0.0, 0.0, 0.0, 0.0], [0.053188, -0.626836, 0.07204, -1.866978, 0.316848, 1.837439, 0.418864, 1.0, 0.0, 0.0, 0.0, 0.0], [0.042069, -0.588831, 0.103844, -1.8385, 0.256557, 1.815302, 0.424532, 1.0, 0.0, 0.0, 0.0, 0.0], [0.016439, -0.569071, 0.184096, -1.849008, 0.143997, 1.799962, 0.434529, 1.0, 0.0, 0.0, 0.0, 0.0], [0.015193, -0.598647, 0.180334, -1.854568, 0.14131, 1.765143, 0.441153, 1.0, 0.0, 0.0, 0.0, 0.0], [0.016119, -0.652166, 0.176938, -1.873006, 0.141455, 1.751153, 0.439126, 1.0, 0.0, 0.0, 0.0, 0.0], [0.017436, -0.724315, 0.178475, -1.935745, 0.148669, 1.773939, 0.437769, 1.0, 0.0, 0.0, 0.0, 0.0], [0.020776, -0.781517, 0.201125, -1.967053, 0.159967, 1.757589, 0.455015, 1.0, 0.0, 0.0, 0.0, 0.0], [0.021078, -0.799595, 0.244456, -1.994822, 0.167458, 1.756181, 0.490226, 1.0, 0.0, 0.0, 0.0, 0.0], [0.017866, -0.776441, 0.24754, -2.014771, 0.1932, 1.68429, 0.49581, 1.0, 0.0, 0.0, 0.0, 0.0]])\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.05, hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_03)\n", "code_char_count": 11667, "code_num_lines": 63, "code_num_nonblank_lines": 58, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToBlender\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToBlender\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"island_island_group_1\"},\"fixtures\":{\"blender_island_group_1\":{\"cls\":\"Blender\"},\"box_1_left_group\":{\"cls\":\"Box\"},\"box_2_left_group\":{\"cls\":\"Box\"},\"box_front_group_1\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_front_group_2\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_front_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_2_front_group_2\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_front_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_3_front_group_2\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_corner_left_group\":{\"cls\":\"Box\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_front_group_2\":{\"cls\":\"Counter\"},\"counter_1_island_group_2\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_1_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_1_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_left_group\":{\"cls\":\"Accessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"panel_stack_1_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"panel_stack_1_island_group_2_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"panel_stack_2_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"panel_stack_2_island_group_2_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"sink_1_left_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"st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ack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_2_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_2_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_front_group_2_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_2_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stove_main_group\":{\"cls\":\"Stove\"},\"toaster_front_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_front_group_2\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_front_3_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.326815840261759,-3.189404721218373,0.0],\"lang\":\"Pick 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"is_source_compressed_policy_file": true, "motion_primitive_count": 24, "pretrain_task_id": 32, "retained_waypoint_count": 49, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": false, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the orange from the counter and place it in the blender.", "task_name": "PickPlaceCounterToBlender", "video_available": true, "video_bytes": 484979, "video_relpath": "videos/compressed/32_PickPlaceCounterToBlender.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToCabinet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 91, 'stable_release_contact_loss_t': 195, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.031285, -1.079367, -0.012311, -2.286808, 0.023426, 1.552287, 0.694803], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.103691, -1.226845, -0.779371, -2.532019, -0.535865, 1.970457, 0.32208], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.047506, -0.551729, -0.93591, -2.509125, -0.362232, 2.466272, 0.215301], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.048833, -0.543536, -0.933867, -2.500739, -0.34903, 2.456977, 0.199484], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.05865, -0.500202, -0.902705, -2.461853, -0.292279, 2.3839, 0.118788], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.076166, -0.467396, -0.906191, -2.391128, -0.15442, 2.267242, -0.029474], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.115267, -1.451665, -0.480698, -2.440628, 0.370109, 2.264129, -0.061831], 'input_type': 'joint', 'steps': 42, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.081166, -0.518287, -0.270648, -1.547242, 0.239307, 1.805117, 0.080511], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.080023, -0.50563, -0.271073, -1.530659, 0.239459, 1.791243, 0.082533], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.063975, -0.42356, -0.267689, -1.395361, 0.258525, 1.687009, 0.088194], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.024901, -1.322707, -0.086016, -1.822166, 0.104744, 1.358957, 0.56422], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[0.073073, -0.474081, -0.901983, -2.406476, -0.183114, 2.289464, 0.002119], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[0.073073, -0.474081, -0.901983, -2.406476, -0.183114, 2.289464, 0.002119], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4635, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToCabinet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToCabinet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"cab\":\"hingecabinet_3_left_group_1\",\"counter\":\"counter_1_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_left_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_left_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1412906566438026],\"init_robot_base_pos\":[0.8001301505846555,-2.189862452134332,0.0],\"lang\":\"Pick the cereal from the counter and place it in the cabinet.\",\"layout_id\":34,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"cereal\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cereal\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.03766427779999999,0.11914475419999997,0.14500000289999992],\"ref\":\"hingecabinet_3_left_group_1\"},\"size\":[0.6,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[1.1362890000000003,-3.469446951953614e-17,0.46],\"size\":[1.1715220000000004,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"cheese\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cheese\",\"dairy\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,0.3],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.027149190159279808,0.11703501625277146,0.05390286950999998],\"ref\":\"hingecabinet_3_left_group_1\"},\"size\":[1.0,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[1.1362890000000003,-3.469446951953614e-17,0.46],\"size\":[1.1715220000000004,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"ice_cube_tray\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"ice_cube_tray\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray001/model.xml\",\"split\":\"train\"},\"name\":\"distr_cab\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"hingecabinet_3_left_group_1\",\"offset\":[0.0,0.0],\"pos\":[null,1.0],\"size\":[1.0,0.2]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[1.04,0.3716]},\"type\":\"object\"}],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.126180961728096,\"qx\":0.7157155275344849,\"qy\":-0.6766805052757263,\"qz\":-0.1180385872721672,\"x\":0.5580330623439932,\"y\":-2.1826392327963204,\"z\":1.3066866698337298},\"goal_pose\":{\"qw\":0.6526698729170355,\"qx\":-0.0003102304976494304,\"qy\":-0.0006171749810425088,\"qz\":0.7576421053759754,\"x\":0.14162569505751144,\"y\":-2.414320470678368,\"z\":1.435530520234708},\"object_pose\":{\"qw\":0.7479074689681654,\"qx\":4.269400325528446e-17,\"qy\":6.0429604415217305e-18,\"qz\":0.6638029962734672,\"x\":0.4682584057080437,\"y\":-1.823973667697381,\"z\":0.9924184143594238}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToCabinet\"}", "initial_scene_json": 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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 33, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the cereal from the counter and place it in the cabinet.", "task_name": "PickPlaceCounterToCabinet", "video_available": true, "video_bytes": 512612, "video_relpath": "videos/compressed/33_PickPlaceCounterToCabinet.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToDrawer/20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py\n# Compression note: exact20 from 20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py delete (0, 1)\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 145, 'stable_release_contact_loss_t': 285, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.013887, -1.007802, -0.01923, -2.272712, 0.080397, 1.477041, 0.683963], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.074379, -0.069422, -0.86721, -1.858968, 0.060301, 1.871151, 0.245325], 'input_type': 'joint', 'steps': 64, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.18757, 0.190052, -0.639093, -1.871173, -0.102529, 2.027592, 0.069676], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.694249, 0.798577, -0.44409, -1.18958, 0.255342, 1.817804, -0.276156], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.74262, 0.755081, -0.427479, -1.254768, 0.374594, 1.872109, -0.366213], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.738769, 0.744559, -0.433343, -1.27327, 0.374213, 1.877484, -0.370353], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -0.3},\n    {'primitive': 'moveJoint', 'target': [-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -0.3},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.742503, 0.719262, -0.458648, -1.312609, 0.370257, 1.866182, -0.398804], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.75528, 0.659477, -0.510627, -1.40797, 0.361971, 1.861953, -0.509364], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [-0.760469, 0.627769, -0.535103, -1.451623, 0.354929, 1.862444, -0.570711], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.770158, 0.499064, -0.632715, -1.619703, 0.305944, 1.888738, -0.830276], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.427764, -0.14022, -0.98491, -2.332829, -0.302633, 2.413541, -1.24521], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.130514, -0.409299, -1.25122, -2.39075, -0.520498, 2.24748, -1.359933], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.407858, -0.60437, -1.557807, -2.404099, -1.193781, 1.705323, -0.555493], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.430596, -0.903736, -1.540714, -2.382444, -1.427446, 1.327942, -0.4753], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.35435, -0.905632, -1.350194, -2.35318, -1.270741, 1.253054, -0.544271], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'primitive': 'moveJoint', 'target': [0.29925, -0.987709, -1.60713, -2.449153, -1.246033, 1.664139, -0.616809], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.078271, -1.033574, -1.071286, -2.328253, -0.714834, 1.302269, -0.537218], 'input_type': 'joint', 'steps': 22, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.196575, -1.320822, -0.668873, -2.503874, -0.349251, 1.26722, 0.00218], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', gripper=-0.3)\ngrasp(hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', close_steps=8, settle_steps=2, gripper=1.0, require_contact_count=4)\nwait(duration=0.1, hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.1, hold_target=[-0.75528, 0.659477, -0.510627, -1.40797, 0.361971, 1.861953, -0.509364], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.1, hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', gripper=1.0)\nrelease(hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_03)\n", "code_char_count": 7108, "code_num_lines": 61, "code_num_nonblank_lines": 56, "compressed_candidate_available": false, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "fallback_current_policy", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"island_island_group_1\",\"drawer\":\"stack_1_island_group_1_2\"},\"fixtures\":{\"bottom_front_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_front_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"floor_3_backing_room\":{\"cls\":\"Floor\"},\"floor_3_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_front_group_1\":{\"cls\":\"Microwave\"},\"microwave_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_front_group_1\":{\"cls\":\"Oven\"},\"oven_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_front_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stack_5_front_group_1_1\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_base\":{\"cls\":\"Box\"},\"stack_5_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_6_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_7_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_7_main_group_1_base\":{\"cls\":\"Box\"},\"stack_8_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_8_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_8_island_group_2.001_base\":{\"cls\":\"Box\"},\"stovetop_island_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_front_group_1\":{\"cls\":\"ToasterOven\"},\"top_front_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_front_3_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3_room\":{\"cls\":\"Wall\"},\"wall_front_4_backing_room\":{\"cls\":\"Wall\"},\"wall_front_4_room\":{\"cls\":\"Wall\"},\"wall_front_5_backing_room\":{\"cls\":\"Wall\"},\"wall_front_5_room\":{\"cls\":\"Wall\"},\"wall_front_6_backing_room\":{\"cls\":\"Wall\"},\"wall_front_6_room\":{\"cls\":\"Wall\"},\"wall_front_7_backing_room\":{\"cls\":\"Wall\"},\"wall_front_7_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wall_right_4_backing_room\":{\"cls\":\"Wall\"},\"wall_right_4_room\":{\"cls\":\"Wall\"},\"wall_right_5_backing_room\":{\"cls\":\"Wall\"},\"wall_right_5_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_5_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_6.001_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.3471838478571017,-3.805287867998903,0.0],\"lang\":\"Pick the ladle from the counter and place it in the 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"is_source_compressed_policy_file": false, "motion_primitive_count": 20, "pretrain_task_id": 34, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": null, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the ladle from the counter and place it in the drawer.", "task_name": "PickPlaceCounterToDrawer", "video_available": true, "video_bytes": 597178, "video_relpath": "videos/compressed/34_PickPlaceCounterToDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 4, 1: 4, 2: 1, 3: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 102, 'stable_release_contact_loss_t': 254, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.006388, -1.04177, -0.042877, -2.252211, -0.000331, 1.55126, 0.671262], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.060958, -0.519061, -0.767587, -2.278472, -0.488544, 1.914734, 0.0891], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.228517, 0.280155, -0.674221, -1.89794, 0.245264, 2.17462, -0.813667], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], 'input_type': 'joint', 'steps': 43, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.426356, 0.372321, -0.478982, -1.826281, 0.249039, 2.097336, -0.817038], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.312085, -0.501418, -0.758162, -1.953896, 0.055424, 1.444848, -0.63112], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.080844, -0.479001, 0.248827, -1.651877, -0.06324, 2.086325, 1.329452], 'input_type': 'joint', 'steps': 52, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.081162, 0.120566, 0.171709, -1.091534, -0.242682, 2.058401, 1.373345], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.085335, 0.09775, 0.16998, -1.101929, -0.242083, 2.039489, 1.374392], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.029175, -0.619308, 0.169957, -1.806401, -0.149608, 2.137574, 1.40108], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.036861, -1.265304, 0.067061, -2.24278, 0.166354, 1.855407, 1.023918], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', gripper=-0.3)\ngrasp(hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', close_steps=2, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4779, 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ox\"},\"stack_6_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_right_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stack_8_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_8_right_group_1_base\":{\"cls\":\"Box\"},\"stack_9_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_9_front_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_front_3_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3_room\":{\"cls\":\"Wall\"},\"wall_front_4_backing_room\":{\"cls\":\"Wall\"},\"wall_front_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_5_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.0001513629834557495],\"init_robot_base_pos\":[4.879854608410911,-3.589287808824343,0.0],\"lang\":\"Pick 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ox\"},\"stack_6_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_right_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stack_8_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_8_right_group_1_base\":{\"cls\":\"Box\"},\"stack_9_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_9_front_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_front_3_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3_room\":{\"cls\":\"Wall\"},\"wall_front_4_backing_room\":{\"cls\":\"Wall\"},\"wall_front_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_5_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.0001513629834557495],\"init_robot_base_pos\":[4.879854608410911,-3.589287808824343,0.0],\"lang\":\"Pick 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microwave.\",\"layout_id\":53,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_4_right_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.24705742527000002,0.24545688741000002,0.02023132842],\"ref\":\"microwave_right_group_1\"},\"size\":[0.3,0.3],\"try_to_place_in\":\"container\"},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.09786,0.650027]},\"type\":\"object\"},{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"hot_dog\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"hot_dog\",\"cooked_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml\",\"split\":\"train\"},\"microwavable\":true,\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"plate\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_right_group_1\",\"size\":[0.05,0.05]},\"reset_region\":{\"height\":0.31999260839485133,\"name\":\"tray\",\"offset\":[-0.053962144789393124,0.04836509561278877,-0.15594497132464974],\"size\":[0.2806220485701288,0.29127646447289557]},\"type\":\"object\"},{\"info\":{\"cat\":\"tomato\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tomato\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_4_right_group_1\",\"pos\":[\"ref\",1.0],\"sample_region_kwargs\":{\"min_size\":[0.06387232930000003,0.06089007860000002,0.05594997655000003],\"ref\":\"microwave_right_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.09786,0.650027]},\"type\":\"object\"}],\"style_id\":56},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.11622590571641922,\"qx\":0.668246865272522,\"qy\":0.724153995513916,\"qz\":0.1246546134352684,\"x\":5.1296057945462215,\"y\":-3.6067655212154,\"z\":1.3137398811476284},\"goal_pose\":{\"qw\":0.7241847408303378,\"qx\":-0.0009135104488069292,\"qy\":0.0020885416155548265,\"qz\":-0.6896022510411901,\"x\":5.29531553333008,\"y\":-4.058953735398835,\"z\":0.9291065465039046},\"object_pose\":{\"qw\":0.9497609187698176,\"qx\":0.004641265334619658,\"qy\":-0.0005842417113350146,\"qz\":-0.3129413914700776,\"x\":5.2960582463629935,\"y\":-4.05762541187317,\"z\":0.9536927396567733}},\"initial_state\":[0.5000000000000003,-13.5900627111026,-5.118088455692545,-1.9482820229450774e-07,3.7131237431688875e-08,-0.00599641100135947,-1.0417769458214015,-0.042989395227214525,-2.251985856773106,-0.0004486136024094802,1.5512610155315565,0.6713076895247744,0.02051965875130246,-0.02054690076960992,0.0,0.0,0.0,6.375449771752322e-09,-1.963015960922714e-09,-0.0003656793497347171,-0.0003591140344435901,0.0,0.0,0.0,0.0,-0.004776108309472965,-0.004776107472179258,0.002900729148075064,0.0,0.0,0.0,-1.1746948252908827e-15,-1.1746948252908827e-15,-1.1564435349331195e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.914514625471115e-05,3.192042141559724e-08,-5.448785648486451e-10,4.2863687438357816e-08,1.2539402664767655e-08,-6.813095044964963e-10,-6.682939890194049e-10,-2.2166996266300303e-10,0.0,-1.517639973305341,0.0,0.0,0.0,0.0,0.0,0.0,-1.2688632907452316e-15,0.0,0.0,-6.375433992429164e-10,4.7014070797603746e-08,0.0,0.0,-0.007052449709920965,-4.049236734300658e-09,-0.0002562469590561035,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,5.916629573447766e-06,7.870568236541263e-06,5.2960582463629935,-4.05762541187317,0.9536927396567733,0.9497609187698176,0.004641265334619658,-0.0005842417113350146,-0.3129413914700776,5.29531553333008,-4.058953735398835,0.9291065465039046,0.7241847408303378,-0.0009135104488069292,0.0020885416155548265,-0.6896022510411901,5.576162380909806,-3.4564356913183354,1.4363500612390234,0.8913849835947796,-0.0008714936026436022,0.0017796213047162118,-0.4532426331101778,5.5580207498095735,-4.069203119116644,0.9480477332467605,0.4428901881882029,0.11198439091109237,0.05270765343360457,-0.8879919372766931,6.327020304896842e-07,4.5999543458790566e-07,2.82731935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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 35, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the hot dog from the counter and place it in the microwave.", "task_name": "PickPlaceCounterToMicrowave", "video_available": true, "video_bytes": 652522, "video_relpath": "videos/compressed/35_PickPlaceCounterToMicrowave.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToOven/20260413_t3_k21_3168e8deaa08_PickPlaceCounterToOven_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/PickPlaceCounterToOven/20260413_t3_k21_3168e8deaa08_PickPlaceCounterToOven_source-compressed.py; retained_waypoints=20; fingerprint=2f84e693b7b5; keep_indices={0: [0, 1, 2], 1: [0, 1], 2: [0, 1], 3: [0, 1, 2, 3, 4, 5, 6, 7, 8], 4: [0, 2, 3, 4]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 54, 'stable_release_contact_loss_t': 285, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.02896, -1.018839, -0.039413, -2.26457, 0.046621, 1.544871, 0.718999], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.054121, -1.042475, -0.043609, -2.875116, -0.047506, 1.940762, 0.998743], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.056128, -0.654558, -0.05962, -2.961498, -0.041132, 2.350255, 0.985146], 'input_type': 'joint', 'steps': 22, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.055562, -0.650161, -0.06196, -2.961324, -0.035758, 2.353316, 0.980219], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.054399, -0.644827, -0.066558, -2.956554, -0.023431, 2.357245, 0.969248], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.054395, -0.644929, -0.066333, -2.955507, -0.023337, 2.355868, 0.969251], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.051522, -0.783768, -0.103355, -2.867688, 0.008094, 2.138472, 0.815072], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [-0.910506, -1.756676, 1.884456, -2.171285, 1.648852, 2.081609, 1.155373], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.466619, -1.488768, 1.691017, -2.503674, 1.27714, 2.103434, 1.365351], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.034789, -1.308171, 1.383444, -2.703293, 0.97215, 2.097234, 1.609416], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.359155, -1.364493, 1.001465, -2.754404, 0.678239, 1.957559, 1.851279], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.054395, -0.644891, -0.066387, -2.955831, -0.02334, 2.356384, 0.969249], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.054395, -0.644891, -0.066387, -2.955831, -0.02334, 2.356384, 0.969249], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.500837, y=-0.036091, z=1.024894, qw=0.024978, qx=-0.745707, qy=-0.662521, qz=-0.066061), pose(x=0.275082, y=-0.017182, z=1.193439, qw=-0.121818, qx=-0.626153, qy=-0.762084, qz=-0.110998), pose(x=0.224325, y=-0.017224, z=1.213468, qw=-0.096162, qx=-0.634345, qy=-0.760187, qz=-0.102351), pose(x=0.224063, y=-0.016872, z=1.213242, qw=-0.096819, qx=-0.636807, qy=-0.758258, qz=-0.100732), pose(x=0.224156, y=-0.019115, z=1.213102, qw=-0.095574, qx=-0.635088, qy=-0.759666, qz=-0.102163), pose(x=0.22579, y=-0.014722, z=1.212384, qw=-0.097569, qx=-0.63505, qy=-0.759764, qz=-0.099754), pose(x=0.340952, y=0.262293, z=1.00297, qw=-0.139857, qx=-0.743334, qy=-0.643882, qz=-0.115367), pose(x=0.503214, y=0.341138, z=0.800459, qw=-0.155379, qx=-0.797951, qy=-0.563107, qz=-0.148467), pose(x=0.61566, y=0.327993, z=0.707128, qw=-0.200389, qx=-0.780671, qy=-0.586909, qz=-0.077035)], base_waypoints=[[1.918796, -0.985239, 1.57117], [1.918801, -0.985243, 1.570626], [1.915243, -1.089763, 1.586851], [2.029511, -1.17114, 1.709582], [1.212524, -1.402097, 1.913642], [0.914946, -1.233829, 1.905042], [0.915147, -1.233867, 1.904972], [0.915199, -1.233878, 1.905348], [0.915303, -1.233884, 1.904806]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.000129, 0.000067, 0.000076, 0.000072, 0.000065, 0.000053, 0.000042, 0.000036, 0.000439], segment_steps=[2, 24, 26, 24, 28, 27, 24, 24, 20], settle_steps=0, gripper=1.0, gripper_cmds=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)\nwait(duration=0.05, hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 6964, "code_num_lines": 48, "code_num_nonblank_lines": 43, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": 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\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_5_island_group_1\":{\"cls\":\"Drawer\"},\"stack_5_island_group_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_3\":{\"cls\":\"Drawer\"},\"stack_5_island_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"Drawer\"},\"stack_5_left_group_2\":{\"cls\":\"Drawer\"},\"stack_5_left_group_3\":{\"cls\":\"Drawer\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_left_group\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[1.9188730929477575,-0.7851737135625383,0.0],\"lang\":\"Place the potato on the rack of the oven.\",\"layout_id\":29,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml\",\"split\":\"train\"},\"init_robot_here\":true,\"name\":\"obj_container\",\"obj_groups\":\"plate\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23310807345,0.23310807345,0.023453234437499998],\"ref\":\"oven_main_group\"},\"size\":[0.45,0.3],\"try_to_place_in\":\"plate\"},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[2.8,0.65]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"potato\",\"groups\":[\"oven_ready\"],\"groups_containing_sampled_obj\":[\"all\",\"potato\",\"vegetable\",\"food\",\"in_container\",\"food_set1\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml\",\"split\":\"train\"},\"init_robot_here\":false,\"name\":\"obj\",\"obj_groups\":\"oven_ready\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"oven_tray\",\"groups\":[\"oven_tray\"],\"groups_containing_sampled_obj\":[\"all\",\"oven_tray\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml\",\"split\":\"train\"},\"name\":\"oven_tray\",\"obj_groups\":\"oven_tray\",\"placement\":{\"fixture\":\"oven_main_group\",\"pos\":[0,-1.0],\"rotation\":[-0.1,0.1],\"sample_region_kwargs\":{\"min_size\":[0.36,0.22999858,0.035591],\"rack_level\":0},\"size\":[1.0,0.45]},\"reset_region\":{\"height\":0.16346020253844512,\"name\":\"rack0\",\"offset\":[0.0024572801385276954,0.02838666567039992,0.0002766218406292746],\"size\":[0.5443022743904073,0.5024523412007833]},\"type\":\"object\"}],\"rack_level\":0,\"style_id\":40},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03079664707183838,\"qx\":0.010170064866542816,\"qy\":-0.9880117774009705,\"qz\":-0.15093311667442322,\"x\":1.930990100525082,\"y\":-0.5296520215426258,\"z\":1.3015530042316692},\"goal_pose\":{\"qw\":0.9980676878122593,\"qx\":-2.4486065500110844e-05,\"qy\":-4.604025294965766e-06,\"qz\":-0.06213605977470473,\"x\":1.9583691302990849,\"y\":-0.46557011398661036,\"z\":0.9317155658143613},\"object_pose\":{\"qw\":0.9736092168057273,\"qx\":-0.023186808561842805,\"qy\":-0.0761980933023619,\"qz\":-0.21387219416450454,\"x\":1.9572038130706657,\"y\":-0.4596770109067693,\"z\":0.9462149467323487}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToOven\"}", 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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 36, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Place the potato on the rack of the oven.", "task_name": "PickPlaceCounterToOven", "video_available": true, "video_bytes": 824266, "video_relpath": "videos/compressed/36_PickPlaceCounterToOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 2, 1: 2, 2: 2, 3: 1, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToSink', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 110, 'stable_release_contact_loss_t': 250, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.036613, -1.06119, -0.066937, -2.263774, -0.004139, 1.527686, 0.724749], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], 'input_type': 'joint', 'steps': 109, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.067688, -0.254044, 0.910051, -2.353328, 0.535493, 2.377395, 1.27219], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.060542, -0.227096, 0.90012, -2.339742, 0.504118, 2.383802, 1.29123], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.0558, -0.217273, 0.892845, -2.332094, 0.489376, 2.382794, 1.300303], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.083612, 0.436141, -0.112539, -2.182293, 0.681852, 2.433524, 0.256323], 'input_type': 'joint', 'steps': 128, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.117678, 0.372833, -0.119285, -2.177932, 0.646894, 2.348515, 0.26392], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.153523, -0.736343, -0.418899, -2.56971, 0.293749, 1.99808, 0.291859], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], input_type='joint', close_steps=6, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4100, "code_num_lines": 39, "code_num_nonblank_lines": 34, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToSink\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToSink\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_left_group_1\",\"sink\":\"sink_left_group_1\"},\"fixtures\":{\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415924507432367],\"init_robot_base_pos\":[0.7780472246028144,-1.7029985856451322,0.0],\"lang\":\"Pick the bowl from the counter and place it in the sink.\",\"layout_id\":36,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"bowl\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"receptacle\",\"stackable\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.2399951135999999,0.23999743919999988,0.12351816959999992],\"ref\":\"sink_left_group_1\"},\"size\":[0.3,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.0262252269615932,-3.469446951953614e-17,0.46],\"size\":[0.8560495460768134,0.65]},\"type\":\"object\",\"washable\":true},{\"info\":{\"cat\":\"pizza_cutter\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pizza_cutter\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,0.3],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.07405411,0.24610438,0.0993482],\"ref\":\"sink_left_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.7353752269615934,-3.469446951953614e-17,0.46],\"size\":[1.4377495460768135,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"egg\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"egg\",\"dairy\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_12/model.xml\",\"split\":\"train\"},\"name\":\"distr_sink\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"sink_left_group_1\",\"pos\":[0.0,1.0],\"size\":[0.25,0.25]},\"reset_region\":{\"height\":0.19075755405985345,\"name\":\"basin\",\"offset\":[0.0005908201020984327,-0.026236142537545346,-0.22237974242709907],\"size\":[0.5416768652538709,0.4087185143212876]},\"type\":\"object\",\"washable\":true}],\"style_id\":30},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12638847529888153,\"qx\":0.6907914876937866,\"qy\":-0.704325795173645,\"qz\":-0.10372291505336761,\"x\":0.5382055486353403,\"y\":-1.6686102238208047,\"z\":1.3088521099366661},\"goal_pose\":{\"qw\":0.5711909128523304,\"qx\":0.00734629511232687,\"qy\":0.011565338446671404,\"qz\":0.820702879225885,\"x\":0.19447532525815722,\"y\":-1.6977085644515075,\"z\":0.7433081285850107},\"object_pose\":{\"qw\":0.7129267738255881,\"qx\":7.693724070843254e-05,\"qy\":-0.0001356134245182648,\"qz\":0.7012384693186037,\"x\":0.44504320355940563,\"y\":-2.1952944613296284,\"z\":0.9817582969000788}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToSink\"}", 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Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415924507432367],\"init_robot_base_pos\":[0.7780472246028144,-1.7029985856451322,0.0],\"lang\":\"Pick 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"is_source_compressed_policy_file": true, "motion_primitive_count": 9, "pretrain_task_id": 37, "retained_waypoint_count": 9, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the bowl from the counter and place it in the sink.", "task_name": "PickPlaceCounterToSink", "video_available": true, "video_bytes": 535148, "video_relpath": "videos/compressed/37_PickPlaceCounterToSink.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCounterToStandMixer/seed_195/episode_000000/refinement/20260403/PickPlaceCounterToStandMixer/iter_001/candidate.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 3, 2: 3, 3: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToStandMixer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 103, 'stable_release_contact_loss_t': 205, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.014476, -1.078757, -0.024756, -2.256547, 0.035256, 1.537006, 0.704026], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.120711, -0.249995, 0.728789, -2.232199, -0.035272, 1.679642, 1.885662], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.053465, -0.281997, 0.669963, -2.592726, -0.226943, 2.264702, 2.153445], 'input_type': 'joint', 'steps': 42, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.052379, -0.276793, 0.670364, -2.58697, -0.232858, 2.257449, 2.160471], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.048791, -0.270066, 0.667941, -2.578228, -0.239113, 2.246131, 2.166813], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.036811, -0.261565, 0.657185, -2.568613, -0.248068, 2.235002, 2.17475], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.026343, -0.269429, 0.655538, -2.568506, -0.245856, 2.222751, 2.180157], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.0553, -0.993329, 0.210691, -2.666409, -0.141514, 1.786533, 1.504015], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.039095, -1.29144, 0.153035, -2.591079, -0.15627, 1.699012, 1.457962], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.035192, -1.45149, 0.138444, -2.540466, -0.150511, 1.65475, 1.456591], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.027525, -1.609224, 0.134169, -2.598869, -0.137082, 1.659221, 1.437377], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.030764, -0.26286, 0.654591, -2.568577, -0.248061, 2.23009, 2.177405], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.030764, -0.26286, 0.654591, -2.568577, -0.248061, 2.23009, 2.177405], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4753, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToStandMixer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToStandMixer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stand_mixer_left_group_1\":{\"cls\":\"StandMixer\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415924507432367],\"init_robot_base_pos\":[0.808529218231217,-2.5561872043966134,0.0],\"lang\":\"Place the cake in the stand mixer bowl.\",\"layout_id\":36,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"cake\",\"groups\":[\"cheese\",\"bread\",\"cake\"],\"groups_containing_sampled_obj\":[\"all\",\"cake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"cheese\",\"bread\",\"cake\"],\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.06629695839999997,0.07979124959999995,0.056484244799999965],\"ref\":\"stand_mixer_left_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.2739202481647647,-3.469446951953614e-17,0.46],\"size\":[0.3606595036704707,0.65]},\"type\":\"object\"}],\"style_id\":29},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.14061516523361206,\"qx\":0.7156847715377808,\"qy\":-0.6744182705879211,\"qz\":-0.11481597274541855,\"x\":0.5709792697291549,\"y\":-2.5510123894522496,\"z\":1.3191818163503335},\"goal_pose\":{\"qw\":0.7645659864654735,\"qx\":-0.04722704398994311,\"qy\":0.5186789057913757,\"qz\":0.379711273658172,\"x\":0.5146709984937797,\"y\":-2.520126547230605,\"z\":0.9761332311137095},\"object_pose\":{\"qw\":0.7802759945265281,\"qx\":-0.015603769395024116,\"qy\":0.038384367251243945,\"qz\":0.6240613231862921,\"x\":0.4505965950487293,\"y\":-2.7248907107858766,\"z\":0.9456932871169401}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToStandMixer\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToStandMixer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToStandMixer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"papertowel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_right_group_1\":{\"cls\":\"Accessory\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stand_mixer_left_group_1\":{\"cls\":\"StandMixer\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_5_backing_room\":{\"cls\":\"Wall\"},\"wall_left_5_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415924507432367],\"init_robot_base_pos\":[0.808529218231217,-2.5561872043966134,0.0],\"lang\":\"Place the cake in the stand mixer bowl.\",\"layout_id\":36,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"cake\",\"groups\":[\"cheese\",\"bread\",\"cake\"],\"groups_containing_sampled_obj\":[\"all\",\"cake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"cheese\",\"bread\",\"cake\"],\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.06629695839999997,0.07979124959999995,0.056484244799999965],\"ref\":\"stand_mixer_left_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.2739202481647647,-3.469446951953614e-17,0.46],\"size\":[0.3606595036704707,0.65]},\"type\":\"object\"}],\"style_id\":29},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.14061516523361206,\"qx\":0.7156847715377808,\"qy\":-0.6744182705879211,\"qz\":-0.11481597274541855,\"x\":0.5709792697291549,\"y\":-2.5510123894522496,\"z\":1.3191818163503335},\"goal_pose\":{\"qw\":0.7645659864654735,\"qx\":-0.04722704398994311,\"qy\":0.5186789057913757,\"qz\":0.379711273658172,\"x\":0.5146709984937797,\"y\":-2.520126547230605,\"z\":0.9761332311137095},\"object_pose\":{\"qw\":0.7802759945265281,\"qx\":-0.015603769395024116,\"qy\":0.038384367251243945,\"qz\":0.6240613231862921,\"x\":0.4505965950487293,\"y\":-2.7248907107858766,\"z\":0.9456932871169401}},\"initial_state\":[0.5000000000000003,12.556189124545567,9.19146826089173,1.7325665865815347e-07,1.8412668698346492e-08,-0.014418791058560785,-1.0790341154417482,-0.02475321985038781,-2.2564221655579217,0.0352632041384409,1.538202504378594,0.7040258771951238,0.020555696613796685,-0.020510862632984277,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.6381262894937e-05,8.42454705779281e-08,1.7334181330986475e-08,-2.9541887014235784e-09,-2.346575255591515e-09,3.167059890670455e-08,4.753880065253412e-08,0.0,-0.00028431419580695136,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.5569247667341664e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.967879121769391e-16,0.0,0.0,-4.967879121769391e-16,-0.007797220980213962,-1.2237199868487007e-09,-0.0003481246170276947,-0.007797220980213962,-4.3239431473966065e-10,-0.0003481240793394654,0.0,-2.691783965274543e-09,-2.513414897224996e-09,0.0,-5.942439505868792e-10,1.0267367074493094e-07,0.0017686134594541286,0.0,0.0,0.0,0.0,-4.860327422747086e-17,0.0,0.0,0.0,-4.868959828261499e-17,-1.2699583822539338e-05,-0.002220891179082617,-0.003968334642932163,0.0,0.0,0.0,0.0002975122974412745,0.0,-9.323464730294612e-05,0.0,1.571270450516438,3.413820739445339e-05,-3.0920418353838954e-19,0.4505965950487293,-2.7248907107858766,0.9456932871169401,0.7802759945265281,-0.015603769395024116,0.038384367251243945,0.6240613231862921,-6.104783483475257e-07,-2.0387418196373994e-07,-2.5846274735106133e-06,3.015899747313663e-07,-9.07250843497185e-06,5.437687295931772e-06,-0.0005976066674029012,0.0011073531798694678,-0.0007693540865149656,-0.00103126610368665,-0.00010089900277215375,-0.00046338939722907513,0.0004726604906368312,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.486525262346912e-07,1.7142436566147822e-07,3.527193861798204e-08,-5.335643386316757e-11,-4.238215557478046e-11,6.4443968299558e-08,9.673290317170406e-08,0.0,-1.0431702447584763e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.8123226596004253e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.759211950947452e-17,0.0,0.0,-2.759211950947452e-17,-5.617994490080448e-07,-2.2101951994307756e-11,-3.186262502533212e-07,-5.617994490080448e-07,-7.80959572846563e-12,-3.186298516322888e-07,-5.743945528502814e-06,-4.8617069598853415e-11,-4.539549583255606e-11,0.0,-1.2091846957541777e-09,2.0892334064611246e-07,0.00020780000266019656,0.0,0.0,0.0,0.0,-2.9093807605346044e-18,0.0,0.0,0.0,-2.966189872453629e-18,-4.889492276457786e-06,6.66475400691716e-08,0.0014179420576784583,0.0,0.0,0.0,0.0006198922278103772,0.0,-1.7997923213904533e-06,0.0,2.737826450794331e-09,6.951509734808008e-05,-8.453934529091012e-21,-0.00016684699193442258,-0.0005626878401012755,0.0002124432340003701,-0.0013219472235315316,-0.018772406400427218,0.0003389818739758956],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToStandMixer\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 38, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": false, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Place the cake in the stand mixer bowl.", "task_name": "PickPlaceCounterToStandMixer", "video_available": true, "video_bytes": 374323, "video_relpath": "videos/compressed/38_PickPlaceCounterToStandMixer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 3, 1: 1, 2: 2, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 108, 'stable_release_contact_loss_t': 204, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.008776, -1.05345, -0.007885, -2.280536, 0.030928, 1.524001, 0.744791], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.251799, -0.073357, -1.30999, -2.045342, -0.085121, 2.40746, 0.8621], 'input_type': 'joint', 'steps': 67, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.671236, 0.763885, -0.487105, -1.226833, 0.349429, 2.08554, 0.658269], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.693918, 0.803603, -0.483324, -1.162822, 0.361107, 2.070217, 0.653704], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.17465, -0.056786, -0.47559, -2.216851, 0.124477, 2.141823, 0.804894], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.167672, -0.041722, -0.476182, -2.21745, 0.133615, 2.160329, 0.802705], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], 'input_type': 'joint', 'steps': 41, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.171551, 0.000371, -0.543277, -2.26679, 0.578583, 2.242458, -0.334314], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.121301, -0.825146, -1.241665, -2.283829, 0.242654, 1.951418, -0.771544], 'input_type': 'joint', 'steps': 44, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', gripper=-0.3)\ngrasp(hold_target=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4429, "code_num_lines": 41, "code_num_nonblank_lines": 36, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToStove\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToStove\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_3_main_group_1\",\"stove\":\"stove_main_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_11_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_5_left_group_1\":{\"cls\":\"Counter\"},\"counter_6_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_main_group_1\":{\"cls\":\"Box\"},\"cube_12_main_group_1\":{\"cls\":\"Box\"},\"cube_13_right_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_left_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_right_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_04_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_05_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_06_right_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_01_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Bo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{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToToasterOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 78, 'stable_release_contact_loss_t': 190, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.007579, -1.023571, -0.021337, -2.264957, 0.04488, 1.570495, 0.71552], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.067743, -0.498765, -0.827139, -2.374204, -0.346525, 1.896714, 0.611366], 'input_type': 'joint', 'steps': 41, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.128134, 0.095918, -0.700481, -2.194257, 0.084417, 1.956895, 0.274751], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.139382, 0.09549, -0.688337, -2.194105, 0.081815, 1.957105, 0.277791], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.194792, 0.084242, -0.630003, -2.196496, 0.062618, 1.954054, 0.293001], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.203588, 0.073129, -0.62099, -2.202061, 0.054486, 1.944704, 0.29431], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.319475, -1.714721, -0.148044, -2.218014, 0.246961, 1.160083, 1.384704], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.04315, -1.224793, 0.619158, -3.060931, 0.692328, 2.604997, 2.086491], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.03196, -1.169736, 0.613571, -3.043726, 0.691723, 2.648758, 2.065093], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.051305, -0.82525, 0.55767, -2.890628, 0.619842, 2.802639, 1.97556], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.057259, -1.626808, 0.110982, -2.43283, 0.252367, 1.906015, 2.373305], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.199577, 0.079049, -0.625256, -2.198286, 0.058738, 1.949239, 0.293688], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.199577, 0.079049, -0.625256, -2.198286, 0.058738, 1.949239, 0.293688], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4669, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceCounterToToasterOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToToasterOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_2_main_group_1\",\"toaster_oven\":\"toaster_oven_main_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_13_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_front_group_1\":{\"cls\":\"Counter\"},\"counter_5_front_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_front_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_dining_area_group\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_4_front_group_1\":{\"cls\":\"Box\"},\"cube_5_front_group_1\":{\"cls\":\"Box\"},\"cube_main_group_1\":{\"cls\":\"Box\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_2\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_2\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_2\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_07_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_08_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_08_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_08_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_09_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_09_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_09_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_10_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_10_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_10_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_11_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_11_front_group_1_base\":{\"cls\":\"Box\"},\"stack_12_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_12_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_front_group_1_base\":{\"cls\":\"Box\"},\"stack_13_front_group_1_1\":{\"cls\":\"Drawer\"},\"stack_13_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_13_front_group_1_3\":{\"cls\":\"Drawer\"},\"stack_13_front_group_1_base\":{\"cls\":\"Box\"},\"stack_14_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_14_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_14_front_group_1_base\":{\"cls\":\"Box\"},\"stack_15_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_15_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_15_front_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_left_4_backing_room\":{\"cls\":\"Wall\"},\"wall_left_4_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_main_4_backing_room\":{\"cls\":\"Wall\"},\"wall_main_4_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_11_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_5_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_6_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_7_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706449309965886],\"init_robot_base_pos\":[3.559888943771398,-1.141459914580959,0.0],\"lang\":\"Place the baguette on the rack of the toaster oven.\",\"layout_id\":49,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"plate\",\"placement\":{\"fixture\":\"counter_2_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.24709981284000002,0.24709756509000005,0.021416774287499996],\"ref\":\"toaster_oven_main_group_1\"},\"size\":[0.45,0.3],\"try_to_place_in\":\"plate\"},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.3447442374350814,0.0,0.46],\"size\":[1.7967075251298372,0.65]},\"type\":\"object\"},{\"graspable\":true,\"info\":{\"cat\":\"baguette\",\"groups\":[\"bread_food\"],\"groups_containing_sampled_obj\":[\"all\",\"baguette\",\"bread_food\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"bread_food\",\"object_scale\":0.8,\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"}],\"rack_level\":1,\"style_id\":33},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.023762984201312065,\"qx\":0.02760900743305683,\"qy\":-0.9854651689529419,\"qz\":-0.16592516005039215,\"x\":3.5605859705926055,\"y\":-0.8812077082553657,\"z\":1.3061487290342984},\"goal_pose\":{\"qw\":0.9997109912445276,\"qx\":-7.123012915356842e-05,\"qy\":-0.0005726525612961912,\"qz\":-0.024033330609743157,\"x\":3.8983744758637773,\"y\":-0.8182685422898024,\"z\":0.9306276605926258},\"object_pose\":{\"qw\":0.9618585068976515,\"qx\":-0.017658303539963723,\"qy\":-0.052517531402293045,\"qz\":-0.2678774083795028,\"x\":3.897509815594437,\"y\":-0.817711022495227,\"z\":0.9388691734561561}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToToasterOven\"}", 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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 40, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Place the baguette on the rack of the toaster oven.", "task_name": "PickPlaceCounterToToasterOven", "video_available": true, "video_bytes": 495720, "video_relpath": "videos/compressed/40_PickPlaceCounterToToasterOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceDrawerToCounter/20260413_t3_k21_9dda7bdff2c6_PickPlaceDrawerToCounter_source-compressed.py\n# Compression note: exact_cap single delete (4, 1)\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceDrawerToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 269, 'stable_release_contact_loss_t': 349, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [0.010396, -1.050886, -0.002893, -2.290899, 0.041218, 1.521216, 0.680353], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [0.156524, 0.915541, 0.069163, -1.37746, -0.616293, 2.099718, 0.135246], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.171896, 1.199094, 0.035199, -0.995293, -0.509725, 2.028543, 0.004991], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.172041, 1.208884, 0.033537, -0.977382, -0.500945, 2.016057, -0.009149], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [0.13809, 1.27495, -0.015255, -0.859998, -0.405544, 1.898761, -0.170524], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [0.066815, 1.230737, -0.031564, -0.91705, -0.289645, 1.895047, -0.312202], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.112995, -0.627673, -0.27225, -2.476955, 0.225662, 2.154172, -1.120138], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.030822, -0.385914, -0.597203, -2.51643, -0.146144, 2.543794, -0.872529], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.10554, 0.271589, -0.549347, -2.155929, 0.802556, 2.793113, -1.638793], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.130164, 0.277573, -0.53001, -2.13315, 0.800994, 2.777313, -1.633976], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'primitive': 'moveJoint', 'target': [-0.28522, 0.289112, -0.402721, -2.044043, 0.838361, 2.723525, -1.660594], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.210686, -0.543638, -0.217516, -2.67789, 1.828859, 3.144119, -2.849727], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.159388, -0.685345, 0.465298, -3.075445, 1.553586, 3.628385, -2.424223], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.095905, -0.535159, 0.827207, -3.071558, 1.793682, 3.752815, -2.519407], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.444022, y=0.010068, z=1.293437, qw=-0.089345, qx=-0.656103, qy=-0.741234, qz=-0.110085), pose(x=0.700783, y=0.004474, z=0.856144, qw=0.050857, qx=-0.664264, qy=-0.745759, qz=-0.003121), pose(x=0.678785, y=0.314579, z=0.880118, qw=-0.047883, qx=-0.631314, qy=-0.759813, qz=-0.147765), pose(x=0.707887, y=0.123921, z=1.107443, qw=0.093249, qx=-0.371498, qy=-0.889948, qz=0.247559), pose(x=0.897219, y=0.079214, z=0.782622, qw=-0.043291, qx=-0.168598, qy=-0.956974, qz=0.232168)], base_waypoints=[[2.936284, -1.173742, 1.570803], [3.509973, -0.953977, 3.052205], [3.512099, -0.953891, 3.051756], [3.511902, -0.953731, 3.048378], [3.511913, -0.953737, 3.048035]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.0, 0.001421, 0.004051, 0.003753, 0.003751], segment_steps=[4, 116, 24, 40, 51], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\ngrasp(hold_target=[0.082974, 1.246445, -0.031985, -0.896393, -0.319541, 1.895349, -0.27686], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[0.082974, 1.246445, -0.031985, -0.896393, -0.319541, 1.895349, -0.27686], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.05, hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_03)\n", "code_char_count": 6858, "code_num_lines": 55, "code_num_nonblank_lines": 50, "compressed_candidate_available": false, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "fallback_current_policy", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceDrawerToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceDrawerToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_main_group_1\",\"drawer\":\"stack_04_main_group_1_2\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_14_main_group_1\":{\"cls\":\"Box\"},\"cube_15_main_group_1\":{\"cls\":\"Box\"},\"cube_16_island_group_1\":{\"cls\":\"Box\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"island_1_island_group_1\":{\"cls\":\"Counter\"},\"island_2_island_group_1\":{\"cls\":\"Counter\"},\"island_3_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_02_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_03_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_06_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_island_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_hood_island_group_1\":{\"cls\":\"Hood\"},\"stove_island_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_7_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.9362833067248633,-0.9737423597737962,0.0],\"lang\":\"Pick the wooden spoon from the drawer and place it on the counter.\",\"layout_id\":58,\"object_cfgs\":[{\"exclude_obj_groups\":[\"reamer\",\"strainer\",\"cheese_grater\"],\"graspable\":true,\"info\":{\"cat\":\"wooden_spoon\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"wooden_spoon\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_04_main_group_1_2\",\"pos\":[0,-0.25],\"size\":[0.3,0.25]},\"reset_region\":{\"height\":0.16,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.065],\"size\":[0.8503069999999999,0.51]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"tool\",\"utensil\"],\"info\":{\"cat\":\"cereal\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cereal\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_0/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.03766427779999999,0.11914475419999997,0.14500000289999992],\"ref\":\"stack_04_main_group_1_2\"},\"size\":[0.5,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.0956465,-3.469446951953614e-17,0.46],\"size\":[1.072307,0.65]},\"type\":\"object\"}],\"style_id\":57},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.014709871262311935,\"qx\":0.06047787889838219,\"qy\":-0.9880536794662476,\"qz\":-0.14098216593265533,\"x\":2.926150590557534,\"y\":-0.7297397080176864,\"z\":1.2934350084314035},\"goal_pose\":{\"qw\":0.9890277098498881,\"qx\":4.728550859601198e-17,\"qy\":-6.9334762494096244e-18,\"qz\":-0.1477301226868969,\"x\":2.697923451340351,\"y\":-0.3828526051385992,\"z\":0.9924184123536732},\"object_pose\":{\"qw\":0.9850190660236232,\"qx\":-0.003023162409053291,\"qy\":0.0005295467948174018,\"qz\":-0.17241815345023556,\"x\":2.582966108167067,\"y\":-0.6373666692623245,\"z\":0.7099883256259689}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceDrawerToCounter\"}", "initial_scene_json": 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s\":\"Box\"},\"stack_08_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_08_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_hood_island_group_1\":{\"cls\":\"Hood\"},\"stove_island_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_7_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.9362833067248633,-0.9737423597737962,0.0],\"lang\":\"Pick the wooden spoon from the drawer and place it on the counter.\",\"layout_id\":58,\"object_cfgs\":[{\"exclude_obj_groups\":[\"reamer\",\"strainer\",\"cheese_grater\"],\"graspable\":true,\"info\":{\"cat\":\"wooden_spoon\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"wooden_spoon\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_04_main_group_1_2\",\"pos\":[0,-0.25],\"size\":[0.3,0.25]},\"reset_region\":{\"height\":0.16,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.065],\"size\":[0.8503069999999999,0.51]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"tool\",\"utensil\"],\"info\":{\"cat\":\"cereal\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cereal\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_0/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.03766427779999999,0.11914475419999997,0.14500000289999992],\"ref\":\"stack_04_main_group_1_2\"},\"size\":[0.5,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-1.0956465,-3.469446951953614e-17,0.46],\"size\":[1.072307,0.65]},\"type\":\"object\"}],\"style_id\":57},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.014709871262311935,\"qx\":0.06047787889838219,\"qy\":-0.9880536794662476,\"qz\":-0.14098216593265533,\"x\":2.926150590557534,\"y\":-0.7297397080176864,\"z\":1.2934350084314035},\"goal_pose\":{\"qw\":0.9890277098498881,\"qx\":4.728550859601198e-17,\"qy\":-6.9334762494096244e-18,\"qz\":-0.1477301226868969,\"x\":2.697923451340351,\"y\":-0.3828526051385992,\"z\":0.9924184123536732},\"object_pose\":{\"qw\":0.9850190660236232,\"qx\":-0.003023162409053291,\"qy\":0.0005295467948174018,\"qz\":-0.17241815345023556,\"x\":2.582966108167067,\"y\":-0.6373666692623245,\"z\":0.7099883256259689}},\"initial_state\":[0.5000000000000003,7.063716754650704,-10.973742401086218,2.0818423925216438e-07,2.5378912882446773e-08,0.011145046183436749,-1.0508935754142386,-0.003116141055521307,-2.2908987193795567,0.04092800107161474,1.5212170623614623,0.6806549174908688,0.020552406559497555,-0.02051415418969632,-2.0177506496654693e-08,3.3344844867887895e-07,-0.0003630073339885029,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.2999999907129576,0.0,-2.544029862570259e-16,0.0,0.0,-3.574360367858986e-05,-0.00293218286570068,-0.0028161172285799323,0.0,0.0,0.0,0.0,0.0,0.0007062955951942724,-4.732498582146875e-05,-8.807914013027206e-05,-1.895886741053643e-09,-0.002472080767676645,-8.807732040046106e-05,-1.6617744109427257e-09,-0.002472080773163017,-8.084057209449238e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.2907268036386614e-05,1.1618967052780166e-08,1.7131980827669825e-08,5.167675797282227e-09,2.421054432947307e-09,1.1187867048755052e-12,-9.5998327147592e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.619399734822272e-16,0.0,0.0,0.0,0.0,2.582966108167067,-0.6373666692623245,0.7099883256259689,0.9850190660236232,-0.003023162409053291,0.0005295467948174018,-0.17241815345023556,2.697923451340351,-0.3828526051385992,0.9924184123536732,0.9890277098498881,4.728550859601198e-17,-6.9334762494096244e-18,-0.1477301226868969,-7.310206303668208e-07,4.832270636291622e-07,-3.0795392572509288e-06,8.56803469302667e-08,-9.001232087187407e-06,0.0006183146862989957,-0.0006823622232803331,-2.2320132454364967e-05,-0.0007393578229507311,0.00010046980455629189,-0.00011434753439342947,-0.0004730244797599425,0.00046302637764273545,-4.105778813238031e-08,6.785107840244871e-07,-6.84553300063026e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.690921852611888e-08,0.0,-8.869463881327836e-18,0.0,0.0,-5.055580946156e-06,1.044649256049645e-06,1.1031217890982137e-06,0.0,0.0,0.0,0.0,0.0,0.0014367983176890667,-1.0242955485661215e-06,-1.7269282126203663e-06,-1.8211326300809825e-15,-1.2020901685696945e-06,-1.7268985471464688e-06,-1.5962518720996453e-15,-1.2020913186996991e-06,-3.230967402417536e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.3462706602238669e-07,2.3642507242147268e-08,3.4860498265485877e-08,1.0515290378839808e-08,4.926410127907074e-09,2.2765296173620707e-12,-1.7338646075957856e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.4604615482087117e-17,0.0,0.0,0.0,0.0,-2.072748678358365e-07,9.61356458171846e-08,1.592659533059817e-06,-3.763850222588552e-07,-1.9791566586367857e-05,-1.2503059590123884e-07,2.1294563517448576e-17,6.964180562419915e-17,0.00017839894694464514,-1.0242381009354804e-15,2.794828016598582e-17,3.580730616304722e-30],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceDrawerToCounter\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 16, "pretrain_task_id": 41, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the wooden spoon from the drawer and place it on the counter.", "task_name": "PickPlaceDrawerToCounter", "video_available": true, "video_bytes": 1243175, "video_relpath": "videos/compressed/41_PickPlaceDrawerToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceFridgeDrawerToShelf', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 91, 'stable_release_contact_loss_t': 198, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.005403, -1.015643, -0.05514, -2.277775, 0.045616, 1.503347, 0.67599], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.041518, -0.232318, -0.362423, -2.668618, -0.119247, 2.368447, 0.730516], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.140003, 0.474545, -0.166573, -2.233373, 0.366136, 2.635707, 0.585311], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.141522, 0.488591, -0.163301, -2.208699, 0.359644, 2.62951, 0.595064], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.152534, 0.525193, -0.160398, -2.125896, 0.327707, 2.567413, 0.623215], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.066615, -0.585488, -0.275269, -2.569267, 0.093061, 2.289861, 0.790509], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.006001, 0.41214, 0.021966, -1.569313, 0.196554, 2.629116, 1.032204], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.006068, 0.431289, 0.021073, -1.539635, 0.193358, 2.616762, 1.036477], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.007637, 0.387666, 0.025551, -1.575148, 0.194494, 2.619394, 1.029099], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.045612, -0.741295, 0.046024, -2.519395, 0.105337, 2.68826, 1.254165], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4646, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceFridgeDrawerToShelf\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceFridgeDrawerToShelf\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_right_group\"},\"fixtures\":{\"bottom_right_group_1\":{\"cls\":\"HingeCabinet\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_2_main_group\":{\"cls\":\"Box\"},\"box_left_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_above_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_above_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_5_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_corner_1_main_group\":{\"cls\":\"Box\"},\"cab_corner_2_main_group\":{\"cls\":\"Box\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"corner_counter_right_group\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_2_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_left_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeFrenchDoor\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"middle_right_group\":{\"cls\":\"HingeCabinet\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_right_group\":{\"cls\":\"Accessory\"},\"sink_1_left_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"PanelCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_4\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_4\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_2_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_2_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_2_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"Drawer\"},\"stack_4_right_group_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_4\":{\"cls\":\"Drawer\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_2\":{\"cls\":\"Drawer\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1\":{\"cls\":\"Drawer\"},\"stack_5_main_group_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_3\":{\"cls\":\"Drawer\"},\"stack_5_main_group_4\":{\"cls\":\"Drawer\"},\"stack_5_main_group_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_main_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_right_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[4.052977235311465,-1.6099009222986382,0.0],\"lang\":\"Pick the eggplant from the fridge drawer and place it on a fridge 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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 42, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the eggplant from the fridge drawer and place it on a fridge shelf.", "task_name": "PickPlaceFridgeDrawerToShelf", "video_available": true, "video_bytes": 341142, "video_relpath": "videos/compressed/42_PickPlaceFridgeDrawerToShelf.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 3, 3: 1, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceFridgeShelfToDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 151, 'stable_release_contact_loss_t': 338, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.003668, -1.093195, -0.026209, -2.304724, 0.010968, 1.525182, 0.694844], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.465969, 0.600454, -0.361502, -0.592588, 0.41558, 1.871958, 0.469715], 'input_type': 'joint', 'steps': 146, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.480146, 0.620987, -0.346199, -0.554498, 0.408205, 1.859621, 0.476306], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.520356, 0.674412, -0.277412, -0.449237, 0.346845, 1.822093, 0.495459], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.129092, 0.154146, -0.609716, -2.487847, 0.065196, 2.429923, -0.127217], 'input_type': 'joint', 'steps': 83, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.48454, 1.712984, -0.111889, -1.086323, 0.376427, 2.589687, -0.217885], 'input_type': 'joint', 'steps': 86, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.49006, 1.733839, -0.128087, -0.992974, 0.321333, 2.470229, -0.150023], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.372013, 0.745567, -0.180022, -2.092085, 0.436193, 2.524284, -0.146343], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', gripper=-0.3)\ngrasp(hold_target=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4478, "code_num_lines": 41, "code_num_nonblank_lines": 36, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceFridgeShelfToDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceFridgeShelfToDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_1_right_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"light_switch_5_room\":{\"cls\":\"WallAccessory\"},\"light_switch_6_room\":{\"cls\":\"WallAccessory\"},\"light_switch_7_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_stack_right_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_main_group\":{\"cls\":\"Accessory\"},\"sink_1_right_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_4\":{\"cls\":\"Drawer\"},\"stack_2_left_group_5\":{\"cls\":\"Drawer\"},\"stack_2_left_group_6\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_4\":{\"cls\":\"Drawer\"},\"stack_4_left_group_5\":{\"cls\":\"Drawer\"},\"stack_4_left_group_6\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_base\":{\"cls\":\"Box\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"toaster_right_group\":{\"cls\":\"Toaster\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_right_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[1.1288334670839415,-1.23373686577589,0.0],\"lang\":\"Pick the kiwi from the fridge shelf and place it in the fridge drawer.\",\"layout_id\":18,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"kiwi\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"kiwi\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_main_group\",\"pos\":[0.0,-1.0],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.061742093059556344,0.06812991806648402,0.04924424765192108],\"rack_index\":-1,\"reg_type\":\"shelf\"},\"size\":[0.4,0.15]},\"reset_region\":{\"name\":\"fridge_shelf2\",\"offset\":[0.17238719531640995,0.07211299141537748,0.48094512157663805],\"size\":[0.4327914379496719,0.5818313057463191]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"vegetable\",\"fruit\"],\"fridgable\":true,\"info\":{\"cat\":\"milk\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"milk\",\"drink\",\"dairy\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_10/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"fridge_main_group\",\"pos\":[0.0,-0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.0504136044,0.049832503199999996,0.1814850216],\"reg_type\":\"shelf\"},\"size\":[0.4,0.15]},\"reset_region\":{\"name\":\"fridge_shelf2\",\"offset\":[0.17238719531640995,0.07211299141537748,0.48094512157663805],\"size\":[0.4327914379496719,0.5818313057463191]},\"type\":\"object\"}],\"refs\":{\"rack_index\":-1},\"style_id\":36},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.008520717732608318,\"qx\":0.03660235181450844,\"qy\":-0.9868854284286499,\"qz\":-0.15698610246181488,\"x\":1.1363458781828233,\"y\":-0.9992445612871244,\"z\":1.2972780639972907},\"goal_pose\":{\"qw\":0.9999829688310843,\"qx\":4.906454960135926e-07,\"qy\":-8.438684356913483e-05,\"qz\":0.00583565989327405,\"x\":1.582006500100723,\"y\":-0.5468023035320674,\"z\":1.4399631674795768},\"object_pose\":{\"qw\":0.9683590804691146,\"qx\":-0.10939682577511636,\"qy\":0.1700865981954172,\"qz\":-0.1462312377628371,\"x\":1.543514043150553,\"y\":-0.6095977944544383,\"z\":1.3719460711665774}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceFridgeShelfToDrawer\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceFridgeShelfToDrawer\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceFridgeShelfToDrawer\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"fridge\":\"fridge_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_1_right_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"light_switch_5_room\":{\"cls\":\"WallAccessory\"},\"light_switch_6_room\":{\"cls\":\"WallAccessory\"},\"light_switch_7_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_stack_right_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_main_group\":{\"cls\":\"Accessory\"},\"sink_1_right_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_4\":{\"cls\":\"Drawer\"},\"stack_2_left_group_5\":{\"cls\":\"Drawer\"},\"stack_2_left_group_6\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_4\":{\"cls\":\"Drawer\"},\"stack_4_left_group_5\":{\"cls\":\"Drawer\"},\"stack_4_left_group_6\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_base\":{\"cls\":\"Box\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"toaster_right_group\":{\"cls\":\"Toaster\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_right_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[1.1288334670839415,-1.23373686577589,0.0],\"lang\":\"Pick the kiwi from the fridge shelf and place it in the fridge drawer.\",\"layout_id\":18,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"kiwi\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"kiwi\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_main_group\",\"pos\":[0.0,-1.0],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.061742093059556344,0.06812991806648402,0.04924424765192108],\"rack_index\":-1,\"reg_type\":\"shelf\"},\"size\":[0.4,0.15]},\"reset_region\":{\"name\":\"fridge_shelf2\",\"offset\":[0.17238719531640995,0.07211299141537748,0.48094512157663805],\"size\":[0.4327914379496719,0.5818313057463191]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"vegetable\",\"fruit\"],\"fridgable\":true,\"info\":{\"cat\":\"milk\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"milk\",\"drink\",\"dairy\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_10/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"fridge_main_group\",\"pos\":[0.0,-0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.0504136044,0.049832503199999996,0.1814850216],\"reg_type\":\"shelf\"},\"size\":[0.4,0.15]},\"reset_region\":{\"name\":\"fridge_shelf2\",\"offset\":[0.17238719531640995,0.07211299141537748,0.48094512157663805],\"size\":[0.4327914379496719,0.5818313057463191]},\"type\":\"object\"}],\"refs\":{\"rack_index\":-1},\"style_id\":36},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.008520717732608318,\"qx\":0.03660235181450844,\"qy\":-0.9868854284286499,\"qz\":-0.15698610246181488,\"x\":1.1363458781828233,\"y\":-0.9992445612871244,\"z\":1.2972780639972907},\"goal_pose\":{\"qw\":0.9999829688310843,\"qx\":4.906454960135926e-07,\"qy\":-8.438684356913483e-05,\"qz\":0.00583565989327405,\"x\":1.582006500100723,\"y\":-0.5468023035320674,\"z\":1.4399631674795768},\"object_pose\":{\"qw\":0.9683590804691146,\"qx\":-0.10939682577511636,\"qy\":0.1700865981954172,\"qz\":-0.1462312377628371,\"x\":1.543514043150553,\"y\":-0.6095977944544383,\"z\":1.3719460711665774}},\"initial_state\":[0.5000000000000003,8.871166593017563,-11.233736905274357,1.8392240595444817e-07,2.82095647544045e-08,-0.0031829610471879443,-1.092723161838027,-0.026304908070777042,-2.304837827653065,0.01083721226501472,1.5261687210367694,0.6949606806664057,0.02054929242613256,-0.020517267969725833,0.0,-4.822338424371744e-05,-1.6110846261685142e-09,8.615341580570096e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.5707827699349257,0.0,0.4106680614206235,0.0,0.0,0.0,0.0,0.0,0.0,5.0676406710231455e-08,2.622836565742e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.721400222982639e-15,-1.721400222982639e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,-5.432035885922006e-16,-5.420249872463519e-16,-1.721400222982639e-15,-1.721400222982639e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,-1.7193980067826744e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,6.756207761614434e-10,1.2478212795575378e-07,0.0,0.0,-1.1778309177771437e-15,-1.175413722195148e-15,-1.175413722195148e-15,0.0,0.0,0.0,0.0,-0.006247571617433764,-0.006247571617433764,-7.985989183570628e-06,0.0,0.0,0.0,0.0,-0.007223140428300674,-2.7147361576262327e-10,-0.0004110541420372685,1.543514043150553,-0.6095977944544383,1.3719460711665774,0.9683590804691146,-0.10939682577511636,0.1700865981954172,-0.1462312377628371,1.582006500100723,-0.5468023035320674,1.4399631674795768,0.9999829688310843,4.906454960135926e-07,-8.438684356913483e-05,0.00583565989327405,-7.016798212427205e-07,4.6228072889939094e-07,-2.7720117680786354e-06,9.427458089621393e-08,-8.939711187280264e-06,0.0006126649134558048,-0.0006617621099177758,-2.399694150590822e-05,-0.0007395079866948795,0.00011519141606417963,-0.0001125833415086335,-0.00047665321067570616,0.000459397479673108,0.0,-6.40715946842719e-07,-2.9098397609632173e-11,1.7530669012871996e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.7585810420867436e-05,0.0,-4.772032116223727e-06,0.0,0.0,0.0,0.0,0.0,-1.6502557095378698e-06,1.0311737109169237e-07,5.337000496620698e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.484287102780361e-17,-5.484287102780361e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,-2.8042454049400734e-17,-2.759683831617191e-17,-5.484287102780361e-17,-5.484287102780361e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,-5.4463722872205575e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.3747724214683213e-09,2.539102322004024e-07,0.0,0.0,-4.3813636275453684e-17,-4.3295284949934105e-17,-4.3295284949934105e-17,0.0,0.0,0.0,0.0,-4.631023399135424e-07,-4.63102339913542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"is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 43, "retained_waypoint_count": 10, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the kiwi from the fridge shelf and place it in the fridge drawer.", "task_name": "PickPlaceFridgeShelfToDrawer", "video_available": true, "video_bytes": 785452, "video_relpath": "videos/compressed/43_PickPlaceFridgeShelfToDrawer.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 2, 3: 3, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceMicrowaveToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 88, 'stable_release_contact_loss_t': 319, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.025372, -1.024076, 0.001044, -2.277706, 0.054431, 1.522722, 0.681805], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.030071, -0.771407, 0.22317, -2.255702, 0.017408, 2.211046, 0.934137], 'input_type': 'joint', 'steps': 44, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.039064, -0.250945, 0.187167, -1.916305, -0.166546, 2.223972, 1.226596], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.037294, -0.250285, 0.186821, -1.914427, -0.167474, 2.221583, 1.228135], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.034202, -0.249182, 0.185624, -1.911425, -0.168959, 2.218205, 1.230222], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.029864, -0.247712, 0.180359, -1.908975, -0.17075, 2.215922, 1.229945], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.004855, -0.412634, 0.160333, -2.001272, -0.039906, 2.139091, 1.033121], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.000545, -0.329988, 0.066116, -2.56359, 0.149658, 2.092166, 0.599254], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.012529, -1.373249, 0.055221, -2.308408, 0.15555, 1.137718, 0.745677], 'input_type': 'joint', 'steps': 38, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.030871, -0.247759, 0.181558, -1.909425, -0.170703, 2.216325, 1.23022], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.030871, -0.247759, 0.181558, -1.909425, -0.170703, 2.216325, 1.23022], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.684514, y=0.084579, z=1.316129, qw=-0.187483, qx=-0.690638, qy=-0.668461, qz=-0.202557), pose(x=0.189871, y=-0.005535, z=1.416837, qw=-0.147304, qx=-0.665165, qy=-0.710622, qz=-0.175712), pose(x=0.586347, y=0.042952, z=0.973627, qw=0.087232, qx=-0.644568, qy=-0.759504, qz=0.008782)], base_waypoints=[[4.069221, -1.128371, 1.57124], [3.611975, -1.729412, 1.963078], [2.954499, -1.004832, 1.46836]], base_modes=[1.0, 1.0, 1.0], torso_targets=[0.000199, 0.000148, 0.000511], segment_steps=[2, 100, 102], settle_steps=0, gripper=1.0, gripper_cmds=[1.0, 1.0, -1.0], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)\nwait(duration=0.05, hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4959, "code_num_lines": 40, "code_num_nonblank_lines": 35, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": 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the potato from the microwave and place it on plate located on the counter.\",\"layout_id\":27,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.4079961979862752,\"name\":\"tray\",\"offset\":[-0.07337464565538579,0.012427838471776323,-0.191713013819385],\"size\":[0.31884461129966335,0.3336744440562758]},\"type\":\"object\"},{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"potato\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"potato\",\"vegetable\",\"food\",\"in_container\",\"food_set1\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml\",\"split\":\"train\"},\"microwavable\":true,\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23316937559999998,0.233169455925,0.019775783475],\"ref\":\"microwave_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.4278349378104285,-3.469446951953614e-17,0.46],\"size\":[1.6643301243791433,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"chicken_drumstick\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"chicken_drumstick\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick009/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"pos\":[\"ref\",1.0],\"sample_region_kwargs\":{\"min_size\":[0.0864876,0.124099272,0.0324864],\"ref\":\"microwave_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.4278349378104285,-3.469446951953614e-17,0.46],\"size\":[1.6643301243791433,0.65]},\"type\":\"object\"}],\"style_id\":40},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01759946718811989,\"qx\":0.044121138751506805,\"qy\":-0.9896353483200073,\"qz\":-0.13551919162273407,\"x\":4.064005360143772,\"y\":-0.6771995505695888,\"z\":1.293403058844793},\"goal_pose\":{\"qw\":0.9442634636024901,\"qx\":0.008849158129460136,\"qy\":-0.002679294134705916,\"qz\":0.32906082278017823,\"x\":4.002011077652824,\"y\":-0.3822145374676581,\"z\":1.2409794904151636},\"object_pose\":{\"qw\":0.9606378572789495,\"qx\":-0.0021990058756919356,\"qy\":-0.0031708093160764087,\"qz\":-0.27777692039467344,\"x\":4.000060693596051,\"y\":-0.37848902046220095,\"z\":1.2706023086679603}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceMicrowaveToCounter\"}", "initial_scene_json": 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the potato from the microwave and place it on plate located on the counter.\",\"layout_id\":27,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.4079961979862752,\"name\":\"tray\",\"offset\":[-0.07337464565538579,0.012427838471776323,-0.191713013819385],\"size\":[0.31884461129966335,0.3336744440562758]},\"type\":\"object\"},{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"potato\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"potato\",\"vegetable\",\"food\",\"in_container\",\"food_set1\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml\",\"split\":\"train\"},\"microwavable\":true,\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23316937559999998,0.233169455925,0.019775783475],\"ref\":\"microwave_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.4278349378104285,-3.469446951953614e-17,0.46],\"size\":[1.6643301243791433,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"chicken_drumstick\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"chicken_drumstick\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick009/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"pos\":[\"ref\",1.0],\"sample_region_kwargs\":{\"min_size\":[0.0864876,0.124099272,0.0324864],\"ref\":\"microwave_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.4278349378104285,-3.469446951953614e-17,0.46],\"size\":[1.6643301243791433,0.65]},\"type\":\"object\"}],\"style_id\":40},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01759946718811989,\"qx\":0.044121138751506805,\"qy\":-0.9896353483200073,\"qz\":-0.13551919162273407,\"x\":4.064005360143772,\"y\":-0.6771995505695888,\"z\":1.293403058844793},\"goal_pose\":{\"qw\":0.9442634636024901,\"qx\":0.008849158129460136,\"qy\":-0.002679294134705916,\"qz\":0.32906082278017823,\"x\":4.002011077652824,\"y\":-0.3822145374676581,\"z\":1.2409794904151636},\"object_pose\":{\"qw\":0.9606378572789495,\"qx\":-0.0021990058756919356,\"qy\":-0.0031708093160764087,\"qz\":-0.27777692039467344,\"x\":4.000060693596051,\"y\":-0.37848902046220095,\"z\":1.2706023086679603}},\"initial_state\":[0.5000000000000003,5.930732202370261,-10.928342955048652,2.2204413372519962e-07,2.312085324133017e-08,-0.025791838975095373,-1.0240330979833652,0.0011955470961542653,-2.277706094290461,0.05456208390081948,1.5227874232971539,0.6817501262721744,0.02055684089188831,-0.020509719985378115,2.27458236364379e-10,4.6472545542525456e-08,0.0,0.0,0.0,0.0,0.0,0.0,-2.3726754322757386e-16,-2.3726754322757386e-16,0.0,0.0,-2.5431870483367646e-16,0.0,0.0,-1.5673982861507385,0.0,0.0,0.0,0.0,0.0,0.0,-0.007131072551762713,-6.300730881427936e-11,-0.0004100425025824814,-0.007131072551762713,-1.2887622941614253e-10,-0.0004101409763217981,0.0,-9.106418438256041e-17,-9.123325495698092e-17,-9.123325495698092e-17,-9.104727461959352e-17,-7.090605836836235e-05,-0.005785228658504863,-0.005752451775106003,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.251956387321956e-05,-0.0005574807452884387,0.0,5.804057777578689e-09,5.86165871345972e-09,-1.7890503933884062e-10,0.0,-0.000343695617291725,1.0533090219119296e-19,-1.0299963258514917e-09,-2.296706283002849e-09,-3.0590684724876364e-09,3.075026832198034e-09,5.1464178872430496e-08,0.0,0.0,0.0,-2.7522321848584446e-15,0.0,-2.684071849359051e-15,0.0,-2.50771930015474e-15,-3.5786507617904104e-05,-3.5786507617904104e-05,-3.5786507617904104e-05,-3.5786507617904104e-05,-3.5786507617904104e-05,4.000060693596051,-0.37848902046220095,1.2706023086679603,0.9606378572789495,-0.0021990058756919356,-0.0031708093160764087,-0.27777692039467344,4.002011077652824,-0.3822145374676581,1.2409794904151636,0.94426346360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"is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 44, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the potato from the microwave and place it on plate located on the counter.", "task_name": "PickPlaceMicrowaveToCounter", "video_available": true, "video_bytes": 1162178, "video_relpath": "videos/compressed/44_PickPlaceMicrowaveToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceSinkToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 85, 'stable_release_contact_loss_t': 202, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.030597, -1.046055, -0.031126, -2.267429, 0.041242, 1.468732, 0.708397], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.034026, -0.291259, 0.02107, -2.828865, 0.150502, 2.613642, 0.451425], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.040293, 0.544379, 0.089028, -2.284115, 0.357682, 2.884601, 0.219345], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.041827, 0.568223, 0.09019, -2.247183, 0.339817, 2.865647, 0.229649], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.041336, 0.588665, 0.090262, -2.210466, 0.316663, 2.840916, 0.246946], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.040464, 0.600235, 0.090626, -2.193439, 0.306992, 2.829503, 0.255235], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.052973, -1.011933, 0.199285, -2.823837, 0.332925, 2.111424, 0.4383], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.445244, 0.489948, 0.703754, -1.703316, -0.607072, 2.192042, 1.41138], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.499043, 0.526721, 0.646196, -1.645235, -0.61717, 2.171063, 1.403238], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.650066, 0.404087, 0.554971, -1.732233, -0.807688, 2.156195, 1.627934], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.322238, -0.924503, 0.889014, -2.208033, 0.074855, 1.899267, 1.399129], 'input_type': 'joint', 'steps': 31, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.041077, 0.555168, 0.089655, -2.268349, 0.351984, 2.879264, 0.222297], input_type='joint', close_steps=9, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.041077, 0.555168, 0.089655, -2.268349, 0.351984, 2.879264, 0.222297], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4576, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceSinkToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceSinkToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_main_group_1\",\"sink\":\"sink_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_main_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_2\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_island_group_2\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_2_base\":{\"cls\":\"Box\"},\"stack_5_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_hood_right_group_1\":{\"cls\":\"Hood\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.6978463907811427,-0.7938941040976644,0.0],\"lang\":\"Pick the squash from the sink and place it on the plate located on the counter.\",\"layout_id\":41,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"squash\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"squash\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"fixture\":\"sink_main_group_1\",\"pos\":[0.0,1.0],\"size\":[0.25,0.25]},\"reset_region\":{\"height\":0.22013193381808002,\"name\":\"basin\",\"offset\":[0.0017258748743120556,-0.026202676890061102,-0.20963700655324127],\"size\":[0.6316569528405427,0.34406333379046383]},\"type\":\"object\",\"washable\":true},{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.23316937559999998,0.233169455925,0.019775783475],\"ref\":\"sink_main_group_1\"},\"size\":[0.35,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.8108413729859179,-3.469446951953614e-17,0.46],\"size\":[0.9971452540281645,0.650008]},\"type\":\"object\"},{\"info\":{\"cat\":\"kiwi\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"kiwi\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"offset\":[0.0,0.3],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.05761994327999999,0.07254297791999997,0.05125164552],\"ref\":\"sink_main_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.8894062129859182,-3.469446951953614e-17,0.46],\"size\":[0.8400155740281643,0.650008]},\"type\":\"object\"}],\"style_id\":47},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.02574607916176319,\"qx\":0.01835123635828495,\"qy\":-0.9916322827339172,\"qz\":-0.12516412138938904,\"x\":2.707123218225032,\"y\":-0.5584635078332797,\"z\":1.2961911811502673},\"goal_pose\":{\"qw\":0.9990849129341978,\"qx\":-0.0034353277407941684,\"qy\":-0.005869987272828403,\"qz\":0.04222651441923327,\"x\":2.0645325967926835,\"y\":-0.36936994042341487,\"z\":0.9291762218355688},\"object_pose\":{\"qw\":0.9146144098320163,\"qx\":-0.12926705834370494,\"qy\":-0.15251845622742832,\"qz\":-0.3514379453969071,\"x\":2.680138082570861,\"y\":-0.25926831160888325,\"z\":0.7236847940965486}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceSinkToCounter\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceSinkToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceSinkToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_main_group_1\",\"sink\":\"sink_main_group_1\"},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_main_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_2\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_island_group_2\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_2_base\":{\"cls\":\"Box\"},\"stack_5_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_hood_right_group_1\":{\"cls\":\"Hood\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[2.6978463907811427,-0.7938941040976644,0.0],\"lang\":\"Pick the squash from the sink and place it on the plate located on the counter.\",\"layout_id\":41,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"squash\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"squash\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"fixture\":\"sink_main_group_1\",\"pos\":[0.0,1.0],\"size\":[0.25,0.25]},\"reset_region\":{\"height\":0.22013193381808002,\"name\":\"basin\",\"offset\":[0.0017258748743120556,-0.026202676890061102,-0.20963700655324127],\"size\":[0.6316569528405427,0.34406333379046383]},\"type\":\"object\",\"washable\":true},{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.23316937559999998,0.233169455925,0.019775783475],\"ref\":\"sink_main_group_1\"},\"size\":[0.35,0.4]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.8108413729859179,-3.469446951953614e-17,0.46],\"size\":[0.9971452540281645,0.650008]},\"type\":\"object\"},{\"info\":{\"cat\":\"kiwi\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"kiwi\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"offset\":[0.0,0.3],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.05761994327999999,0.07254297791999997,0.05125164552],\"ref\":\"sink_main_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.8894062129859182,-3.469446951953614e-17,0.46],\"size\":[0.8400155740281643,0.650008]},\"type\":\"object\"}],\"style_id\":47},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.02574607916176319,\"qx\":0.01835123635828495,\"qy\":-0.9916322827339172,\"qz\":-0.12516412138938904,\"x\":2.707123218225032,\"y\":-0.5584635078332797,\"z\":1.2961911811502673},\"goal_pose\":{\"qw\":0.9990849129341978,\"qx\":-0.0034353277407941684,\"qy\":-0.005869987272828403,\"qz\":0.04222651441923327,\"x\":2.0645325967926835,\"y\":-0.36936994042341487,\"z\":0.9291762218355688},\"object_pose\":{\"qw\":0.9146144098320163,\"qx\":-0.12926705834370494,\"qy\":-0.15251845622742832,\"qz\":-0.3514379453969071,\"x\":2.680138082570861,\"y\":-0.25926831160888325,\"z\":0.7236847940965486}},\"initial_state\":[0.5000000000000003,7.302153672795589,-10.793894145235951,2.0347779408847461e-07,2.1209470754481673e-08,-0.030976039617120095,-1.0459345257452344,-0.03099880247274188,-2.267430108997584,0.04134884798486837,1.468939274908831,0.708355055357973,0.020565633326048712,-0.020500927378056685,-4.8761913105717734e-09,3.8795481242910823e-07,0.0,0.0,0.0,0.0,0.0,-2.5931615682058816e-16,0.0,0.0,-0.004776108308721789,-0.004776107471428081,0.002900655599899886,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.985375799921509e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-8.448827805779828e-05,-8.433054929936556e-05,-8.404596732755828e-05,-8.398704183187753e-05,0.0,0.0,-0.0005848132946060773,-3.0140799271924124e-05,-6.405031872460358e-09,8.561235427361439e-08,3.145170668425945e-08,-2.255850812986349e-09,5.36657028328597e-08,-1.1371991646001143e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.47252399130357e-15,0.0,0.0,-1.677878018293844e-15,0.0,-5.770210824646333e-11,-0.0019885148947755174,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2.680138082570861,-0.25926831160888325,0.7236847940965486,0.9146144098320163,-0.12926705834370494,-0.15251845622742832,-0.3514379453969071,2.0645325967926835,-0.36936994042341487,0.9291762218355688,0.9990849129341978,-0.0034353277407941684,-0.005869987272828403,0.04222651441923327,3.249845043508906,-0.07024125731470919,0.9453744153633054,0.9983634944707368,0.05413034836222113,0.014028893781298133,-0.011976161055866416,-7.621383188903845e-07,4.7112082900802076e-07,-3.048527946677104e-06,8.438387757153212e-08,-9.431470239108596e-06,0.0006362551099580869,-0.0006642666745344337,-2.315143827738837e-05,-0.0007202816241584137,9.387589020762026e-05,-0.00011468110527523145,-0.00045201222468724397,0.00048403852192732715,-9.922213751059743e-09,7.894215638102176e-07,0.0,0.0,0.0,0.0,0.0,-9.915193725681918e-18,0.0,0.0,-3.380275645530151e-07,-3.380274875681433e-07,6.674667590553072e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.198933987861433e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.6646276292007806e-06,-1.6620083837305769e-06,-1.6568563852673194e-06,-1.6559821592727324e-06,0.0,0.0,1.6343890134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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 45, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the squash from the sink and place it on the plate located on the counter.", "task_name": "PickPlaceSinkToCounter", "video_available": true, "video_bytes": 391223, "video_relpath": "videos/compressed/45_PickPlaceSinkToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=15; actual_retained_waypoints=15; keep_counts={0: 4, 1: 1, 2: 4, 3: 3, 4: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceStoveToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 60, 'stable_release_contact_loss_t': 156, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.040794, -1.004375, -0.05553, -2.28712, 0.022329, 1.525143, 0.699618], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.021658, -0.181988, -0.102717, -2.234436, 0.14025, 2.235725, 0.193152], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.009332, 0.385762, -0.020705, -1.658338, -0.02638, 1.965923, 0.475212], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.017516, 0.561659, -0.016537, -1.465627, -0.026195, 1.93696, 0.472614], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.018119, 0.574764, -0.016527, -1.452687, -0.026193, 1.93695, 0.47236], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.019989, 0.603658, -0.015987, -1.408166, -0.023976, 1.924503, 0.467663], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.093051, 0.473402, -0.06123, -1.458074, 0.195609, 1.930814, 0.267598], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.104874, -0.28745, -0.159356, -2.573776, 1.309772, 3.517896, -0.770002], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.29064, 0.26936, -0.430735, -1.821185, 2.784957, 3.739489, -2.778658], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.383316, 0.342687, -0.380509, -1.735785, 2.905423, 3.754468, -2.906722], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.554267, 0.418485, -0.160037, -1.632064, 2.878801, 3.752857, -2.867395], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [-0.652659, 0.444012, -0.039554, -1.597369, 2.808693, 3.752857, -2.839735], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.671608, -0.223867, 0.014628, -2.127035, 2.897257, 3.752603, -2.842655], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.067458, -1.720419, -0.329187, -3.011691, 2.04101, 3.752746, -1.975961], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.018807, 0.585331, -0.016543, -1.438804, -0.02592, 1.93402, 0.471141], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.018807, 0.585331, -0.016543, -1.438804, -0.02592, 1.93402, 0.471141], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 5790, "code_num_lines": 51, "code_num_nonblank_lines": 46, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": 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the mushroom from the pan and place it in the bowl.\",\"layout_id\":53,\"object_cfgs\":[{\"info\":{\"cat\":\"pan\",\"groups\":[\"pan\"],\"groups_containing_sampled_obj\":[\"all\",\"pan\",\"receptacle\",\"cookware\",\"pots_and_pans\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"pan\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_right_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"size\":[0.02,0.02],\"try_to_place_in\":\"pan\"},\"reset_region\":{\"name\":\"rear_right\",\"offset\":[0.1697292733598175,0.16156454641941922,0.4619347540804282],\"size\":[0.1,0.1]},\"type\":\"object\"},{\"cookable\":true,\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"mushroom\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"mushroom\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml\",\"split\":\"train\"},\"max_size\":[0.15,0.15,null],\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"bowl\",\"groups\":[\"plate\",\"bowl\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"receptacle\",\"stackable\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":[\"plate\",\"bowl\"],\"placement\":{\"fixture\":\"counter_4_right_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.2499992399999999,0.2499999999999999,0.05432975749999998],\"ref\":\"stove_right_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.09786,0.650027]},\"type\":\"object\"}],\"style_id\":43},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06939653307199478,\"qx\":0.6967527270317078,\"qy\":0.706272542476654,\"qz\":0.10439793765544891,\"x\":5.107115191606445,\"y\":-3.681324432631916,\"z\":1.2837765586074674},\"goal_pose\":{\"qw\":0.9518407066841161,\"qx\":1.3539396131054166e-05,\"qy\":-2.732204214950032e-06,\"qz\":-0.3065930020537038,\"x\":5.547784527940053,\"y\":-3.6911322660137365,\"z\":0.9571860350253809},\"object_pose\":{\"qw\":0.9711693906224765,\"qx\":0.017796051455341938,\"qy\":-0.04812901291509303,\"qz\":-0.2328023053717172,\"x\":5.541262471626758,\"y\":-3.689007954742626,\"z\":0.9583577978654035}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceStoveToCounter\"}", "initial_scene_json": 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the mushroom from the pan and place it in the bowl.\",\"layout_id\":53,\"object_cfgs\":[{\"info\":{\"cat\":\"pan\",\"groups\":[\"pan\"],\"groups_containing_sampled_obj\":[\"all\",\"pan\",\"receptacle\",\"cookware\",\"pots_and_pans\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"pan\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_right_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"size\":[0.02,0.02],\"try_to_place_in\":\"pan\"},\"reset_region\":{\"name\":\"rear_right\",\"offset\":[0.1697292733598175,0.16156454641941922,0.4619347540804282],\"size\":[0.1,0.1]},\"type\":\"object\"},{\"cookable\":true,\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"mushroom\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"mushroom\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml\",\"split\":\"train\"},\"max_size\":[0.15,0.15,null],\"name\":\"obj\",\"obj_groups\":\"food\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"},{\"info\":{\"cat\":\"bowl\",\"groups\":[\"plate\",\"bowl\"],\"groups_containing_sampled_obj\":[\"all\",\"bowl\",\"receptacle\",\"stackable\",\"group1\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":[\"plate\",\"bowl\"],\"placement\":{\"fixture\":\"counter_4_right_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.2499992399999999,0.2499999999999999,0.05432975749999998],\"ref\":\"stove_right_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.09786,0.650027]},\"type\":\"object\"}],\"style_id\":43},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06939653307199478,\"qx\":0.6967527270317078,\"qy\":0.706272542476654,\"qz\":0.10439793765544891,\"x\":5.107115191606445,\"y\":-3.681324432631916,\"z\":1.2837765586074674},\"goal_pose\":{\"qw\":0.9518407066841161,\"qx\":1.3539396131054166e-05,\"qy\":-2.732204214950032e-06,\"qz\":-0.3065930020537038,\"x\":5.547784527940053,\"y\":-3.6911322660137365,\"z\":0.9571860350253809},\"object_pose\":{\"qw\":0.9711693906224765,\"qx\":0.017796051455341938,\"qy\":-0.04812901291509303,\"qz\":-0.2328023053717172,\"x\":5.541262471626758,\"y\":-3.689007954742626,\"z\":0.9583577978654035}},\"initial_state\":[0.5000000000000003,-13.657058780667631,-5.146475550343649,-2.276810761066161e-07,2.803194078878608e-08,-0.04135883377693394,-1.0043810120683887,-0.05489684692998768,-2.2871221902337244,0.02301436771436797,1.5251367633001478,0.6995470140304334,0.020539027012183405,-0.02052753245354432,0.0,0.0,0.0,-8.596066009055691e-09,2.3463643365132227e-07,0.0,0.0,0.0,0.0,-0.0065238827060210966,-5.6149387048302e-06,0.0,0.0,0.0,-7.052970122971055e-16,-7.052970122971055e-16,-6.952087929638596e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.0140800510640586e-05,-6.405032206440874e-09,8.561235427400078e-08,3.145170668438702e-08,-2.2558509306134756e-09,5.366570283310371e-08,-1.1371992238972375e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.652248419933832e-16,0.0,0.0,-2.2627201233030715e-09,-2.2627183914015147e-09,-2.2627218473278038e-09,0.0,-0.007823083859464819,6.617529523186578e-10,-0.0004019142843231882,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.7051185845479053e-07,-9.399482831126509e-05,5.541262471626758,-3.689007954742626,0.9583577978654035,0.9711693906224765,0.017796051455341938,-0.04812901291509303,-0.2328023053717172,5.547784527940053,-3.6911322660137365,0.9571860350253809,0.9518407066841161,1.3539396131054166e-05,-2.732204214950032e-06,-0.3065930020537038,5.269084741848233,-4.0871758073257105,0.9471581918270489,0.7018293876862728,4.6685671956487215e-06,-2.995171735455741e-05,-0.7123450776561955,6.402767449583973e-07,5.02760404550761e-07,3.0570748506898143e-06,7.632473336521713e-08,8.186111878634733e-06,0.0005957640918373,0.0006588617688330758,-2.31931124005705e-05,0.0007880789135601298,0.00012625865006043058,0.00011181376214499082,-0.0004284769023287116,0.0005075732758011618,0.0,0.0,0.0,-1.749153339007758e-08,4.77445264832121e-07,0.0,0.0,0.0,0.0,-4.834120390198619e-07,-1.0170568112421876e-07,0.0,0.0,0.0,-4.684038830127009e-17,-4.684038830127009e-17,-4.2076973561931e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.2708327699030604e-07,-1.1567889506493108e-10,1.7420574053031272e-07,6.399856539816926e-08,-4.07420813518987e-11,1.092000455169801e-07,-2.0538529370887452e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.586108786297265e-17,0.0,-1.6860163184553426e-06,-4.08661422126921e-11,-4.0866110370230145e-11,-4.086617343849915e-11,0.0,-5.628904985095638e-07,1.34654818463609e-0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"is_source_compressed_policy_file": true, "motion_primitive_count": 15, "pretrain_task_id": 46, "retained_waypoint_count": 15, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the mushroom from the pan and place it in the bowl.", "task_name": "PickPlaceStoveToCounter", "video_available": true, "video_bytes": 407437, "video_relpath": "videos/compressed/46_PickPlaceStoveToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceToasterOvenToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 85, 'stable_release_contact_loss_t': 145, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.010712, -1.040482, -0.026759, -2.272686, 0.01527, 1.514669, 0.707433], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.076522, -1.523396, 0.32817, -2.954443, 0.446159, 2.009571, 1.2785], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.061363, -1.017226, 0.402925, -2.882269, 0.5127, 2.42876, 1.239298], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.058439, -1.000291, 0.402106, -2.874999, 0.509338, 2.437537, 1.236088], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.04655, -0.903129, 0.410967, -2.809069, 0.485625, 2.426506, 1.240088], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.159677, -1.358078, 0.443658, -2.752698, 0.5752, 1.968598, 1.257137], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.089252, -0.974292, 1.00857, -2.581992, 0.807475, 2.206694, 1.131757], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.084049, -0.954354, 1.028641, -2.58778, 0.812733, 2.231517, 1.1263], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [0.089446, -0.89013, 1.074001, -2.65058, 0.775862, 2.493761, 1.022985], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.309275, -1.552371, 0.50521, -2.447757, 0.671497, 2.107198, 1.174783], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', gripper=-1.0)\nrelease(hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 4649, "code_num_lines": 42, "code_num_nonblank_lines": 37, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": 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counter.\",\"layout_id\":26,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"hotdog_bun\",\"groups\":[\"bread_food\"],\"groups_containing_sampled_obj\":[\"all\",\"hotdog_bun\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"bread_food\",\"object_scale\":0.8,\"placement\":{\"fixture\":\"toaster_oven_main_group\",\"pos\":[0,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.05537629959999999,0.11268193119999999,0.051440291199999995],\"rack_level\":0},\"size\":[0.5,0.4]},\"reset_region\":{\"height\":0.13330441176338378,\"name\":\"rack0\",\"offset\":[-0.030626482696716924,0.022193173711252512,-0.01261089363975167],\"size\":[0.2901939843164002,0.2858249633115275]},\"type\":\"object\"},{\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"plate\",\"placement\":{\"fixture\":\"counter_2_main_group\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.23125013257500002,0.23125020817500003,0.018714614625],\"ref\":\"toaster_oven_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.5769201757028081,0.0,0.46],\"size\":[0.6261596485943839,0.65]},\"type\":\"object\"}],\"rack_level\":0,\"style_id\":42},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.01153372973203659,\"qx\":0.026470651850104332,\"qy\":-0.9895211458206177,\"qz\":-0.14147283136844635,\"x\":0.9160379056650361,\"y\":-0.5267787775971281,\"z\":1.2984377465685615},\"goal_pose\":{\"qw\":0.9943996855109207,\"qx\":0.006690356565547597,\"qy\":-0.006579150527884119,\"qz\":-0.10526737083796701,\"x\":0.4757539848445321,\"y\":-0.5009613455093814,\"z\":0.9292686127044262},\"object_pose\":{\"qw\":0.948371920662321,\"qx\":0.014379230001224756,\"qy\":-0.010157453864782978,\"qz\":-0.31667138167952114,\"x\":0.7739279845051591,\"y\":-0.45779564399346995,\"z\":1.0888409251220075}},\"initial_state\":[0.5000000000000003,9.09334429949158,-10.771817397744924,1.939988427257671e-07,2.4100410273917937e-08,-0.01062240727065136,-1.0404883527701294,-0.027640217398272583,-2.2726837695781614,0.014311898046276047,1.5146707866860247,0.7072414331963798,0.020553284672696744,-0.020513275738444674,-8.098048218666327e-05,2.5367516516933393e-09,1.0073565691875702e-08,9.257922803001734e-09,3.870482445474779e-09,-5.298773415017381e-10,-3.0140585879472874e-10,0.0,0.0,0.0,-8.076781381143788e-16,-8.066222876724413e-16,-8.066222876724413e-16,0.0,0.0,-8.043389025692145e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.5210539120020523,-2.6917839549415877e-09,-2.5134148875767094e-09,0.21002295807908009,2.2341475289971073e-08,5.022243816640777e-07,0.0,0.0,0.0,0.0018751158170924825,-0.007318553465949003,0.0,0.0,0.0,-7.817006790216425e-15,-7.51065010678276e-16,0.0,0.0,-3.553916933542444e-15,0.0,-3.553916933542444e-15,-3.5764764549655086e-15,-3.5652138999559945e-15,-3.542585711627138e-15,-6.9745777904285095e-15,5.954939577326044e-14,-2.753346081036179e-14,7.97597064636046e-15,0.0,0.0,-0.00042542796395210366,0.0005297118257873497,-0.006948379482343393,3.4216029557865353e-10,-0.0003959965677814118,-0.006948378682552446,-2.6969579257645236e-10,-0.0003959963810952681,0.0,-5.556142580885851e-15,0.0,0.7739279845051591,-0.45779564399346995,1.0888409251220075,0.948371920662321,0.014379230001224756,-0.010157453864782978,-0.31667138167952114,0.4757539848445321,-0.5009613455093814,0.9292686127044262,0.9943996855109207,0.006690356565547597,-0.006579150527884119,-0.10526737083796701,-6.902122350164687e-07,4.473880097971378e-07,-2.8581377524163103e-06,6.787660136027637e-08,-9.249211273906518e-06,0.0005642739296936742,-0.0006396377379326935,-2.723526661493918e-05,-0.0007322417759982899,0.00011036746285072763,-0.00011291888950956565,-0.00047068101670381235,0.0004653696695687772,-8.577407968867657e-07,5.161833107005944e-09,2.0497893382353238e-08,1.8838206883483828e-08,7.875735259231742e-09,-9.570291671306917e-12,-5.4437918783539945e-12,0.0,0.0,0.0,-3.7918114391059916e-17,-3.748715975003314e-17,-3.748715975003314e-17,0.0,0.0,-3.656600176259855e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.3258403853374566e-06,-4.861720906077082e-11,-4.539562604943651e-11,-3.419716577609479e-05,4.546107536595585e-08,1.0219405904022115e-06,0.0,0.0,0.0,1.951511805743143e-06,-5.219670379855301e-07,0.0,0.0,0.0,-3.7458086259961243e-16,1.6618986728747486e-19,0.0,0.0,-1.6699371209677454e-16,0.0,-1.6699371209677454e-16,-1.8165656447408044e-16,-1.7423739781299668e-16,-1.5992571047015928e-16,1.5284766877637286e-17,-1.284781800957863e-12,5.778592794383316e-13,-1.9552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"is_source_compressed_policy_file": true, "motion_primitive_count": 12, "pretrain_task_id": 47, "retained_waypoint_count": 12, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Pick the hotdog bun from the rack and place it on the plate on the counter.", "task_name": "PickPlaceToasterOvenToCounter", "video_available": true, "video_bytes": 298987, "video_relpath": "videos/compressed/47_PickPlaceToasterOvenToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_counts={0: 3, 1: 3, 2: 4, 3: 3, 4: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceToasterToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 109, 'stable_release_contact_loss_t': 271, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.047683, -1.052556, 0.009189, -2.296085, 0.029837, 1.549504, 0.700324], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.036271, -0.763785, 0.005556, -2.593785, -0.01358, 2.565767, 0.712631], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.027116, -0.235697, 0.007814, -2.394475, -0.032881, 2.875029, 0.746231], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.026072, -0.234055, 0.007521, -2.392194, -0.028672, 2.874076, 0.745698], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.023994, -0.230924, 0.006016, -2.387992, -0.018863, 2.872965, 0.742499], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.019486, -0.220535, -0.001966, -2.37496, 0.008865, 2.871688, 0.723119], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'primitive': 'moveJoint', 'target': [-0.017827, -0.216541, -0.004322, -2.369945, 0.018617, 2.870774, 0.714679], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.030241, -0.721003, -0.000349, -2.535534, -0.009781, 2.809297, 0.707592], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.033673, -0.726726, 0.840844, -2.343779, -0.116874, 1.897529, 0.535913], 'input_type': 'joint', 'steps': 51, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.141443, -0.615928, 1.020971, -2.560804, -0.375297, 2.457585, 1.100443], 'input_type': 'joint', 'steps': 52, 'settle_steps': 0, 'gripper': 1.0},\n    {'primitive': 'moveJoint', 'target': [-0.139838, -0.617516, 1.018872, -2.563011, -0.374691, 2.460623, 1.099283], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.135076, -0.619572, 1.013382, -2.565982, -0.37352, 2.464154, 1.096658], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'primitive': 'moveJoint', 'target': [-0.078551, -0.683783, 0.923789, -2.486175, -0.296853, 2.333493, 0.954883], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.038518, -0.750061, 0.830977, -2.375418, -0.242393, 2.174796, 0.813619], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.15686, -1.256423, 0.422883, -2.540775, -0.050289, 1.9698, 0.448508], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\ngrasp(hold_target=[-0.018687, -0.218321, -0.003587, -2.372224, 0.014217, 2.871353, 0.718576], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\nwait(duration=0.05, hold_target=[-0.018687, -0.218321, -0.003587, -2.372224, 0.014217, 2.871353, 0.718576], input_type='joint', gripper=1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.05, hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', gripper=-1.0)\nrelease(hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\nwait(duration=0.05, hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', gripper=-1.0)\nrun_single_waypoint_sequence(MOTION_SEQUENCE_02)\n", "code_char_count": 6011, "code_num_lines": 52, "code_num_nonblank_lines": 47, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceToasterToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceToasterToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_main_group_1\"},\"fixtures\":{\"bottom_front_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_front_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"floor_3_backing_room\":{\"cls\":\"Floor\"},\"floor_3_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_front_group_1\":{\"cls\":\"Microwave\"},\"microwave_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_front_group_1\":{\"cls\":\"Oven\"},\"oven_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_front_group_1_base\":{\"cls\":\"Box\"},\"stack_4_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_island_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stack_5_front_group_1_1\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_3\":{\"cls\":\"Drawer\"},\"stack_5_front_group_1_base\":{\"cls\":\"Box\"},\"stack_5_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_5_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_6_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_7_island_group_2.001_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_7_main_group_1_base\":{\"cls\":\"Box\"},\"stack_8_island_group_2.001_1\":{\"cls\":\"SingleCabinet\"},\"stack_8_island_group_2.001_2\":{\"cls\":\"Drawer\"},\"stack_8_island_group_2.001_base\":{\"cls\":\"Box\"},\"stovetop_island_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_front_group_1\":{\"cls\":\"ToasterOven\"},\"top_front_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_front_2_backing_room\":{\"cls\":\"Wall\"},\"wall_front_2_room\":{\"cls\":\"Wall\"},\"wall_front_3_backing_room\":{\"cls\":\"Wall\"},\"wall_front_3_room\":{\"cls\":\"Wall\"},\"wall_front_4_backing_room\":{\"cls\":\"Wall\"},\"wall_front_4_room\":{\"cls\":\"Wall\"},\"wall_front_5_backing_room\":{\"cls\":\"Wall\"},\"wall_front_5_room\":{\"cls\":\"Wall\"},\"wall_front_6_backing_room\":{\"cls\":\"Wall\"},\"wall_front_6_room\":{\"cls\":\"Wall\"},\"wall_front_7_backing_room\":{\"cls\":\"Wall\"},\"wall_front_7_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wall_right_4_backing_room\":{\"cls\":\"Wall\"},\"wall_right_4_room\":{\"cls\":\"Wall\"},\"wall_right_5_backing_room\":{\"cls\":\"Wall\"},\"wall_right_5_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_5_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_6.001_room\":{\"cls\":\"WallAccessory\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[0.45755090440228274,-0.8230640742273246,0.0],\"lang\":\"Place the toasted item on a plate.\",\"layout_id\":39,\"object_cfgs\":[{\"info\":{\"cat\":\"sandwich_bread\",\"groups\":[\"sandwich_bread\"],\"groups_containing_sampled_obj\":[\"all\",\"sandwich_bread\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model_upright.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"sandwich_bread\"],\"placement\":{\"fixture\":\"toaster_main_group_1\",\"rotation\":[0,0]},\"reset_region\":{\"height\":0.16051036870713517,\"name\":\"slotR\",\"offset\":[0.0276690681168925,0.03203989918077432,0.0003093627380145263],\"size\":[0.03415711625890644,0.1568693796338495]},\"rotate_upright\":true,\"type\":\"object\"},{\"graspable\":false,\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml\",\"split\":\"train\"},\"name\":\"plate\",\"obj_groups\":\"plate\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23310807345,0.23310807345,0.023453234437499998],\"ref\":\"toaster_main_group_1\"},\"size\":[0.8,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-2.4216013267284664,-3.469446951953614e-17,0.46],\"size\":[0.8567973465430674,0.65]},\"type\":\"object\"}],\"style_id\":47},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0008807200938463211,\"qx\":0.02402901090681553,\"qy\":-0.9878835082054138,\"qz\":-0.1533222198486328,\"x\":0.460083598869314,\"y\":-0.5734115456614439,\"z\":1.2951509650284851},\"goal_pose\":{\"qw\":0.9998390991679627,\"qx\":5.082905237508362e-06,\"qy\":-7.87051455676354e-06,\"qz\":0.017938107124696477,\"x\":0.16705716520077232,\"y\":-0.45080305855936026,\"z\":0.9317330978482489},\"object_pose\":{\"qw\":0.9999999999871332,\"qx\":2.6743191675815277e-08,\"qy\":5.072828598814795e-06,\"qz\":1.2911884420947003e-13,\"x\":0.46515305525942685,\"y\":-0.24203424799605155,\"z\":1.080904937360137}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceToasterToCounter\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PickPlaceToasterToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceToasterToCounter\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"counter\":\"counter_1_main_group_1\"},\"fixtures\":{\"bottom_front_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_front_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"floor_3_backing_room\":{\"cls\":\"Floor\"},\"floor_3_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"lightswitch_room\":{\"cls\":\"WallAccessory\"},\"microwave_front_group_1\":{\"cls\":\"Microwave\"},\"microwave_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_front_group_1\":{\"cls\":\"Oven\"},\"oven_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_5_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_g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the toasted item on a plate.\",\"layout_id\":39,\"object_cfgs\":[{\"info\":{\"cat\":\"sandwich_bread\",\"groups\":[\"sandwich_bread\"],\"groups_containing_sampled_obj\":[\"all\",\"sandwich_bread\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model_upright.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"sandwich_bread\"],\"placement\":{\"fixture\":\"toaster_main_group_1\",\"rotation\":[0,0]},\"reset_region\":{\"height\":0.16051036870713517,\"name\":\"slotR\",\"offset\":[0.0276690681168925,0.03203989918077432,0.0003093627380145263],\"size\":[0.03415711625890644,0.1568693796338495]},\"rotate_upright\":true,\"type\":\"object\"},{\"graspable\":false,\"info\":{\"cat\":\"plate\",\"groups\":[\"plate\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml\",\"split\":\"train\"},\"name\":\"plate\",\"obj_groups\":\"plate\",\"placement\":{\"fixture\":\"counter_1_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23310807345,0.23310807345,0.023453234437499998],\"ref\":\"toaster_main_group_1\"},\"size\":[0.8,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-2.4216013267284664,-3.469446951953614e-17,0.46],\"size\":[0.8567973465430674,0.65]},\"type\":\"object\"}],\"style_id\":47},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.0008807200938463211,\"qx\":0.02402901090681553,\"qy\":-0.9878835082054138,\"qz\":-0.1533222198486328,\"x\":0.460083598869314,\"y\":-0.5734115456614439,\"z\":1.2951509650284851},\"goal_pose\":{\"qw\":0.9998390991679627,\"qx\":5.082905237508362e-06,\"qy\":-7.87051455676354e-06,\"qz\":0.017938107124696477,\"x\":0.16705716520077232,\"y\":-0.45080305855936026,\"z\":0.9317330978482489},\"object_pose\":{\"qw\":0.9999999999871332,\"qx\":2.6743191675815277e-08,\"qy\":5.072828598814795e-06,\"qz\":1.2911884420947003e-13,\"x\":0.46515305525942685,\"y\":-0.24203424799605155,\"z\":1.080904937360137}},\"initial_state\":[0.5000000000000003,9.542449160463658,-10.823064111769327,2.142721850796267e-07,2.8343966062960596e-08,-0.04884611574740149,-1.051142389866752,0.00970830669862997,-2.2964327299160816,0.030469367333934235,1.5524580648369388,0.6998068169180481,0.020545379606966244,-0.020521180969403384,-4.8761913105933744e-09,3.8795481243082194e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.558571043512586e-16,0.0,-2.558571043512586e-16,-2.581229716448235e-16,-2.581229716448235e-16,-2.558571043512586e-16,0.0,-2.558571043512586e-16,0.0,-2.5483186572862235e-16,0.0,-2.5483186572862235e-16,0.0,0.0,-0.004792010115033691,-0.004792009279179226,0.002900699720573359,0.0,0.0,0.0,-5.770210824627692e-11,-0.0008627644093247049,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.9097185585087086e-15,0.0,-1.9097185585087086e-15,0.0,-2.753198425598649e-15,0.0,-1.9097185585087086e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.156760381787956e-15,-2.8470809670584414e-06,-2.2487117215903135e-09,-2.6206990070791465e-08,0.0,0.0,0.0,0.0,0.0,0.0,-3.985375800761474e-09,0.0,0.0,-8.448827808024304e-05,-8.433054932176971e-05,-8.404596734988128e-05,-8.398704185418736e-05,0.0,0.0,-0.0005848132946060713,0.0,-4.062920501818633e-10,-2.2745532741065188e-09,-1.099859825919177e-09,0.0,0.46515305525942685,-0.24203424799605155,1.080904937360137,0.9999999999871332,2.6743191675815277e-08,5.072828598814795e-06,1.2911884420947003e-13,0.16705716520077232,-0.45080305855936026,0.9317330978482489,0.9998390991679627,5.082905237508362e-06,-7.87051455676354e-06,0.017938107124696477,-7.593015545449484e-07,4.467944253792319e-07,-3.1203182446554787e-06,8.063565290417827e-08,-8.67037308791617e-06,0.0005866048166843944,-0.0006747368871953636,-2.3553024294574998e-05,-0.0007514766048186109,0.00010896004530505462,-0.00011363236041415857,-0.0004835781371968306,0.0004524726676976195,-9.922213751059462e-09,7.894215638102173e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-9.17082124192857e-18,0.0,-9.17082124192857e-18,-9.654016808429428e-18,-9.654016808429428e-18,-9.17082124192857e-18,0.0,-9.17082124192857e-18,0.0,-8.957641902909626e-18,0.0,-8.957641902909626e-18,0.0,0.0,-3.3948869861372145e-07,-3.394886217760391e-07,7.673146116425891e-05,0.0,0.0,0.0,-5.542716922636377e-17,-8.421579329896322e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.545842404269838e-17,0.0,-6.545842404269838e-17,0.0,-9.43699422166472e-17,0.0,-6.545842404269838e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.985964158498058e-16,-5.160753875034905e-08,-4.061473884447158e-11,-5.332650987837223e-08,0.0,0.0,0.0,0.0,0.0,0.0,-7.198932829180554e-11,0.0,0.0,-1.6646273245951297e-06,-1.6620080796974043e-06,-1.656856082362903e-06,-1.6559818565587382e-06,0.0,0.0,1.6341012874379853e-12,-6.283197956196894e-08,-7.3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"is_source_compressed_policy_file": true, "motion_primitive_count": 16, "pretrain_task_id": 48, "retained_waypoint_count": 16, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Place the toasted item on a plate.", "task_name": "PickPlaceToasterToCounter", "video_available": true, "video_bytes": 444517, "video_relpath": "videos/compressed/48_PickPlaceToasterToCounter.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 3, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PreheatOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 158, 'stable_release_contact_loss_t': 158, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.023089, -1.014794, -0.052474, -2.271407, 0.071344, 1.510767, 0.69621], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.065913, -1.3469, -1.442013, -2.68886, 0.027158, 2.068319, -1.356611], 'input_type': 'joint', 'steps': 57, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.310135, -1.532231, -1.764842, -2.659219, 0.070733, 2.448395, -1.936388], 'input_type': 'joint', 'steps': 56, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.310164, -1.532757, -1.765036, -2.65922, 0.070063, 2.448538, -1.936134], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.190611, -1.736937, -1.879697, -2.826023, 1.009864, 2.771045, -1.489677], 'input_type': 'joint', 'steps': 58, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2420, "code_num_lines": 24, "code_num_nonblank_lines": 19, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PreheatOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PreheatOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"oven\":\"oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_2_main_group_1\":{\"cls\":\"Box\"},\"box_left_group_1\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_2_main_group_1\":{\"cls\":\"Box\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_left_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_main_group_1\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_main_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_main_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.13836333603994,-1.9514045539286975,0.0],\"lang\":\"Preheat the oven by turning the temperature knob.\",\"layout_id\":17,\"object_cfgs\":[],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1262797862291336,\"qx\":0.7162760496139526,\"qy\":-0.6838153004646301,\"qz\":-0.058299992233514786,\"x\":0.8868177791616373,\"y\":-1.9419048073648224,\"z\":1.2928504311363356},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PreheatOven\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"PreheatOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PreheatOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"oven\":\"oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_2_main_group_1\":{\"cls\":\"Box\"},\"box_left_group_1\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_2_main_group_1\":{\"cls\":\"Box\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_left_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_main_group_1\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_main_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_main_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.13836333603994,-1.9514045539286975,0.0],\"lang\":\"Preheat 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"is_source_compressed_policy_file": true, "motion_primitive_count": 5, "pretrain_task_id": 49, "retained_waypoint_count": 5, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Preheat the oven by turning the temperature knob.", "task_name": "PreheatOven", "video_available": true, "video_bytes": 235925, "video_relpath": "videos/compressed/49_PreheatOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideDishwasherRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 175, 'stable_release_contact_loss_t': 175, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.018353, -1.010615, -0.042065, -2.31815, 0.098307, 1.531062, 0.65862], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.613461, -1.281466, 1.901495, -2.416594, 1.364629, 1.692684, 1.022484], 'input_type': 'joint', 'steps': 124, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-1.256194, -1.763035, 2.02082, -1.584586, 1.790417, 2.095184, 2.714018], 'input_type': 'joint', 'steps': 65, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2182, "code_num_lines": 22, "code_num_nonblank_lines": 17, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideDishwasherRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideDishwasherRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"dishwasher\":\"dishwasher_1_main_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_08_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_right_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_02_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_05_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.57064844767067],\"init_robot_base_pos\":[5.31041840249522,-1.005020205485751,0.0],\"lang\":\"Fully slide the top dishwasher rack in.\",\"layout_id\":51,\"object_cfgs\":[],\"should_pull\":false,\"style_id\":44},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.056661345064640045,\"qx\":0.04810774326324463,\"qy\":-0.9904292225837708,\"qz\":-0.11629799753427505,\"x\":5.309203480995069,\"y\":-0.7486000681478621,\"z\":1.2728131493204247},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideDishwasherRack\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideDishwasherRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideDishwasherRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"dishwasher\":\"dishwasher_1_main_group_1\"},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_6_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_08_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_right_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_01_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_02_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_05_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_07_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.57064844767067],\"init_robot_base_pos\":[5.31041840249522,-1.005020205485751,0.0],\"lang\":\"Fully slide the top dishwasher rack in.\",\"layout_id\":51,\"object_cfgs\":[],\"should_pull\":false,\"style_id\":44},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.056661345064640045,\"qx\":0.04810774326324463,\"qy\":-0.9904292225837708,\"qz\":-0.11629799753427505,\"x\":5.309203480995069,\"y\":-0.7486000681478621,\"z\":1.2728131493204247},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,4.687954204039385,-11.00571361753268,2.441672903759877e-07,1.3012904329688438e-08,-0.018648085325530486,-1.010551028905583,-0.04206660821241821,-2.3181823832856208,0.09829798494064129,1.5307688810836455,0.6586165092297345,0.020587619695191628,-0.02047894163590145,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.7205635271084558e-07,9.026417797980527e-07,-0.0003649063254203759,0.0,-0.00013595287977620716,-9.171083300659076e-09,7.402695280428505e-09,1.5975837608933267e-08,5.889877520500024e-08,-3.4614842268617987e-09,-2.84117324047332e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.55068795265212e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.2431658563007916e-16,0.0,0.0,-4.2431658563007916e-16,0.0,0.0,0.0,0.523870076632151,-0.004702811667985417,-0.00470281166798542,0.0,0.282100857084746,-8.028294776828607e-05,-7.956541813847426e-05,-0.000389296929679572,-0.0074448818702289215,-1.9262975983799355e-10,-0.000817797560679959,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.1291866500446975e-14,0.0,-3.411380089489713e-12,3.8838629218055145e-09,-4.624371016909105e-11,1.333374670093936e-05,0.0,0.0,-2.5859667668180825e-15,-2.5859667668180825e-15,-2.559164668364052e-15,0.0,-1.3125171510119821e-15,0.0,0.0,-1.981069200084728e-15,-8.645043699185801e-07,4.6634554057159457e-07,-3.4414863809361384e-06,5.4892851818192345e-08,-9.554011962640643e-06,0.0006503374266513944,-0.0007594423340421229,-2.2288748000003378e-05,-0.0007167714835612104,8.918946160145282e-05,-0.00013547965539963624,-0.00041955908815457637,0.0005164917011151169,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,3.501052147834705e-07,1.8367214490509964e-06,-3.520593134383842e-08,0.0,-6.526725874471361e-07,-1.6564201188335296e-10,1.5063152645544604e-08,3.2507954391216e-08,1.1984840763104277e-07,-6.251902783309601e-11,-5.1315387060402134e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.002641375778681e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.1254109995658917e-17,0.0,0.0,-2.1254109995658917e-17,0.0,0.0,0.0,-4.753985501873403e-06,-3.454349835815902e-07,-3.454349836319835e-07,0.0,-2.181698205706718e-06,-1.588963590295557e-06,-1.5765668472961324e-06,-1.6175074668811737e-07,-5.430146858709747e-07,-3.479150772681738e-12,-1.2282338401635029e-12,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.501630896081536e-16,-1.5499937366148433e-06,-6.161408516623515e-14,7.902962187815452e-09,-8.352231760090083e-13,2.481309026034076e-05,0.0,0.0,-9.78050250267568e-17,-9.78050250267568e-17,-9.207283181465284e-17,0.0,-5.008638113809169e-17,0.0,0.0,-8.006009758651532e-17],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideDishwasherRack\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 3, "pretrain_task_id": 50, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Fully slide the top dishwasher rack in.", "task_name": "SlideDishwasherRack", "video_available": true, "video_bytes": 539204, "video_relpath": "videos/compressed/50_SlideDishwasherRack.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideOvenRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 232, 'stable_release_contact_loss_t': 232, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.015714, -1.034627, -0.021152, -2.276251, 0.036749, 1.494713, 0.676051], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.802533, -1.763055, 2.049884, -1.72258, 1.486764, 2.209914, 2.259863], 'input_type': 'joint', 'steps': 157, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-1.112305, -1.763197, 2.007871, -0.814548, 1.60705, 1.57278, 2.613757], 'input_type': 'joint', 'steps': 89, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2115, "code_num_lines": 22, "code_num_nonblank_lines": 17, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideOvenRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideOvenRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"oven\":\"oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"cab_micro_left_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_island_group_1\":{\"cls\":\"Box\"},\"cube_5_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"papertowel_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_left_group_1\":{\"cls\":\"Toaster\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1412906566438026],\"init_robot_base_pos\":[0.8920786894775534,-3.6265786617348246,0.0],\"lang\":\"Fully slide the bottom oven rack out.\",\"layout_id\":37,\"object_cfgs\":[],\"rack_level\":0,\"should_pull\":true,\"style_id\":51},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10468535870313644,\"qx\":0.7418960332870483,\"qy\":-0.657927930355072,\"qz\":-0.07590783387422562,\"x\":0.6483289983489431,\"y\":-3.630729167172398,\"z\":1.2927336725731904},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideOvenRack\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideOvenRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideOvenRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"oven\":\"oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"cab_micro_left_group_1\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_3_island_group_1\":{\"cls\":\"Box\"},\"cube_4_island_group_1\":{\"cls\":\"Box\"},\"cube_5_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"papertowel_left_group_1\":{\"cls\":\"Accessory\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_1_3\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_left_group_1\":{\"cls\":\"Toaster\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1412906566438026],\"init_robot_base_pos\":[0.8920786894775534,-3.6265786617348246,0.0],\"lang\":\"Fully slide the bottom oven rack out.\",\"layout_id\":37,\"object_cfgs\":[],\"rack_level\":0,\"should_pull\":true,\"style_id\":51},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10468535870313644,\"qx\":0.7418960332870483,\"qy\":-0.657927930355072,\"qz\":-0.07590783387422562,\"x\":0.6483289983489431,\"y\":-3.630729167172398,\"z\":1.2927336725731904},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,13.629328664764161,9.10380573237474,2.087937846003837e-07,2.4541842341010966e-08,0.016741333791618258,-1.0339499859181989,-0.021474218455821897,-2.2764008853810758,0.03634579517397099,1.49615529872555,0.6765007379471647,0.02055526271951842,-0.02051129642020905,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.4396307662802333e-20,0.0,0.0,4.711461816048873e-05,0.0,0.0,0.0,0.0,1.1502837327416342,-2.2487117215831567e-09,-2.6206990070785112e-08,0.15029800570503893,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.2196017461074448e-15,-1.257470002369235e-15,-1.257470002369235e-15,0.0,0.0,-1.2196017461074448e-15,-0.0005918406466859768,-0.00048572100865835224,-4.4261181679184614e-07,-0.00013959547166844685,-0.007685871146030013,3.32423696120998e-08,-0.0008502746028093716,4.8466936658245045e-08,2.8910179463949713e-07,0.0,0.0,0.0,0.0,0.0,-0.0060475495229391505,-1.713723852899528e-05,0.0,0.0,-6.572089486400429e-07,-1.7335567312844774e-07,-2.839752484783804e-06,3.0296747898995544e-07,-8.658178262877057e-06,2.3831376724023415e-06,-0.0006308119576376849,0.0010601715959827841,-0.0007739669522874998,-0.0009619941035117243,-0.00010809671723984963,-0.00046319680039418987,0.0004728529842100396,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2.9293925336711444e-20,0.0,0.0,1.0299883835593349e-08,0.0,0.0,0.0,0.0,2.0788851316749158e-07,-4.061473896549955e-11,-5.332650987836239e-08,-3.4339333609333496e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.545364893998622e-17,-5.4118954538143703e-17,-5.4118954538143703e-17,0.0,0.0,-4.545364893998622e-17,-7.90757569266496e-13,1.958471830972356e-10,-9.962326466037003e-09,-2.21251674812252e-06,-5.561209995019528e-07,6.764223865592873e-08,-1.920900251006298e-11,9.862190597088991e-08,5.882725825203304e-07,0.0,0.0,0.0,0.0,0.0,-4.4758577478782717e-07,-3.092932152786633e-07,0.0,0.0],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideOvenRack\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 3, "pretrain_task_id": 51, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Fully slide the bottom oven rack out.", "task_name": "SlideOvenRack", "video_available": true, "video_bytes": 470396, "video_relpath": "videos/compressed/51_SlideOvenRack.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideToasterOvenRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 92, 'stable_release_contact_loss_t': 92, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.018436, -1.062742, -0.038319, -2.258365, 0.009854, 1.517683, 0.70629], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.033301, -1.076919, 0.112318, -3.071864, 0.198975, 2.612533, 0.788614], 'input_type': 'joint', 'steps': 57, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.032334, -1.227559, 0.036522, -2.837022, 0.191153, 1.313266, 0.82102], 'input_type': 'joint', 'steps': 49, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2194, "code_num_lines": 22, "code_num_nonblank_lines": 17, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideToasterOvenRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideToasterOvenRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1.001_backing_room\":{\"cls\":\"Floor\"},\"floor_1.001_room\":{\"cls\":\"Floor\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"knife_block_left_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.004_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.005_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.006_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[5.234547411780623,-1.0205071749826065,0.0],\"lang\":\"Fully slide the toaster oven rack out.\",\"layout_id\":43,\"object_cfgs\":[],\"rack_level\":1,\"should_pull\":true,\"style_id\":50},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1062098890542984,\"qx\":0.6838391423225403,\"qy\":0.7114372849464417,\"qz\":0.1222313642501831,\"x\":5.4732941792364125,\"y\":-1.0367482101824093,\"z\":1.3112362775719424},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideToasterOvenRack\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"SlideToasterOvenRack\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"SlideToasterOvenRack\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_right_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1.001_backing_room\":{\"cls\":\"Floor\"},\"floor_1.001_room\":{\"cls\":\"Floor\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"knife_block_left_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.004_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.005_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.006_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,0.00030199704781619374],\"init_robot_base_pos\":[5.234547411780623,-1.0205071749826065,0.0],\"lang\":\"Fully slide the toaster oven rack out.\",\"layout_id\":43,\"object_cfgs\":[],\"rack_level\":1,\"should_pull\":true,\"style_id\":50},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1062098890542984,\"qx\":0.6838391423225403,\"qy\":0.7114372849464417,\"qz\":0.1222313642501831,\"x\":5.4732941792364125,\"y\":-1.0367482101824093,\"z\":1.3112362775719424},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-11.019067573410366,-4.768780572598115,-2.004818036918913e-07,3.787120286328429e-08,-0.018423397340185294,-1.0625399956754686,-0.03817371008423325,-2.257776231851413,0.008718326885186074,1.518157560941927,0.7060792457139341,0.020526547624796762,-0.020540007435598254,-2.1750121920168938e-05,8.206363792116321e-08,-4.337525700758897e-09,-1.1922491360654445e-09,-2.8884471520437117e-10,1.568053281402019e-08,-2.5213965082215492e-09,0.0,0.0,0.0,0.0,0.0,0.0,-4.9740408662450557e-08,2.40830841496903e-08,-3.4532001316896347e-09,3.156226305016061e-08,-8.409624943043182e-05,-8.409624943043182e-05,-0.00043527999662431915,0.0,0.0,-0.00017158697818424313,-3.239369031774885e-10,-0.0019900285410403536,-0.00017158697818424313,-6.935155770745391e-10,-0.001990045930034332,-3.7928895666987185e-08,2.343616854181177e-08,-6.827729326899372e-10,-6.827729326899372e-10,1.5221546950324946e-07,-8.419071578865938e-09,8.499910794247413e-08,-6.669359019858821e-10,-1.912334524067255e-09,-1.7795287036902627e-07,-2.0359040702995387e-07,8.257786831669041e-10,2.232451282166384e-08,-6.624989995891925e-10,-6.624989995891925e-10,-6.583282546898629e-10,0.0,0.0,0.0,0.0,0.0,0.0,-6.727886427704917e-10,0.0,0.0,6.700339873006448e-07,-6.847591863790131e-08,-2.873067728108308e-07,1.1438826521870272e-07,-7.148103365758127e-08,1.820993079947125e-08,-1.2981788667175753e-08,-9.03577203688811e-08,7.957824201194857e-09,1.4314528864889358,2.4258216318578323e-21,1.5165749101279401e-21,0.13406444587656943,6.19740427725781e-10,1.5931004787876034e-07,0.0,1.959065929764412e-08,-7.630738409700258e-09,1.1943858871914948e-07,-2.8361221572208693e-08,2.0759831923346322e-08,-0.005245750654752589,-0.0052457504981605185,-9.983025902996528e-06,0.0,0.0,1.209595025423537e-06,-6.580740414644393e-10,-6.580740414644393e-10,-6.545391203656376e-10,6.339249374086033e-07,4.852356126843599e-07,2.777910944698494e-06,9.09478696492462e-08,8.608412546410227e-06,0.0005806831401204613,0.0006243607618984488,-2.389639127513407e-05,0.0007676819513699197,0.00012178834589500873,0.0001110851360368993,-0.00044727431559529876,0.0004888010223148146,-3.208572450985649e-07,1.6698473665634916e-07,-7.745107607182203e-11,-2.1288860272391713e-11,-5.157625512250965e-12,3.1907062724888085e-08,-4.502218231021722e-11,0.0,0.0,0.0,0.0,0.0,0.0,-6.379067973579002e-06,-7.928511577212797e-07,5.431650179654836e-07,-1.1688056396159195e-06,-1.639932264811277e-06,-1.639932264811277e-06,-2.1473623588124714e-08,0.0,0.0,-2.2084544502291527e-06,-1.551892935165374e-16,-1.257560105682798e-06,-2.2084544502291527e-06,-3.322439540151571e-16,-1.2575698481805014e-06,2.5202056351140454e-07,-2.191463931413319e-07,-3.218787593749734e-11,-3.218787593749734e-11,-1.625005406254301e-06,-2.6751866206257236e-07,-2.8209325088781963e-06,-2.7736585091557897e-11,3.434453214406244e-07,8.476269889810307e-06,-1.3949054809687615e-06,-3.541162310432455e-07,1.721648757333555e-06,-2.5732885464955165e-11,-2.5732885464955165e-11,-2.451851790563748e-11,0.0,0.0,0.0,0.0,0.0,0.0,-2.889353207874393e-11,0.0,0.0,-1.0740947741767578e-05,-5.983647598734452e-06,-2.487358024604691e-06,-4.954523646096158e-06,-5.045072874399054e-06,1.6040709788791716e-07,-6.047203166236091e-07,4.71334926094975e-06,-1.2809159933682732e-06,-1.5807303083854787e-11,5.5941256031388994e-21,4.068439484449773e-21,-1.0084181236100289e-05,1.2610659876086397e-09,3.241687549222589e-07,0.0,-9.788824352613603e-07,-1.7511953002428572e-06,-6.2902903649955084e-06,1.3755989341750336e-07,9.85633579063904e-08,-5.462216242446723e-07,-5.462216101460591e-07,-1.7871703167202025e-07,0.0,0.0,-1.4238527075117734e-05,-2.4445935360570872e-11,-2.4445935360570872e-11,-2.3448288808009204e-11],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"SlideToasterOvenRack\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 3, "pretrain_task_id": 52, "retained_waypoint_count": 3, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Fully slide the toaster oven rack out.", "task_name": "SlideToasterOvenRack", "video_available": true, "video_bytes": 192512, "video_relpath": "videos/compressed/52_SlideToasterOvenRack.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'StartCoffeeMachine', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 67, 'stable_release_contact_loss_t': 67, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.025554, -1.030225, -0.050075, -2.298869, 0.074377, 1.55287, 0.73987], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.026126, -1.321716, -0.054217, -2.627063, 0.095563, 1.953592, 0.687558], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.011951, -1.181841, -0.030944, -2.711784, 0.132209, 2.268015, 0.665131], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.020571, -0.999995, -0.034956, -2.86544, 0.219134, 2.84046, 0.637911], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.019621, -1.546044, -0.079511, -2.82479, 0.237374, 2.422404, 0.568771], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.023677, -1.681392, -0.18255, -2.581362, 0.168661, 1.846307, 0.582217], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2657, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"StartCoffeeMachine\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"StartCoffeeMachine\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_right_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_3_right_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_01_island_group_1\":{\"cls\":\"Box\"},\"cube_02_right_group_1\":{\"cls\":\"Box\"},\"cube_07_island_group_1\":{\"cls\":\"Box\"},\"cube_08_island_group_1\":{\"cls\":\"Box\"},\"cube_09_main_group_1\":{\"cls\":\"Box\"},\"cube_11_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_left_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_left_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_right_group_1_base\":{\"cls\":\"Box\"},\"stack_05_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_05_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_05_right_group_1_base\":{\"cls\":\"Box\"},\"stack_06_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_right_group_1_base\":{\"cls\":\"Box\"},\"stack_07_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_07_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_right_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_12_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_12_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_left_group_1_base\":{\"cls\":\"Box\"},\"stack_13_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_13_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_13_left_group_1_base\":{\"cls\":\"Box\"},\"stove_hood_right_group_1\":{\"cls\":\"Hood\"},\"stove_right_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3.001_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3.001_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-0.0001619848215634878],\"init_robot_base_pos\":[5.470070035898541,-3.6694971502944878,0.0],\"lang\":\"Press the button on the coffee machine to serve 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"is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 53, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Press the button on the coffee machine to serve coffee.", "task_name": "StartCoffeeMachine", "video_available": true, "video_bytes": 155602, "video_relpath": "videos/compressed/53_StartCoffeeMachine.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 4, 1: 5}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 123, 'stable_release_contact_loss_t': 123, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.007781, -1.047156, -0.014442, -2.246671, 0.084042, 1.524396, 0.704567], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.00421, -1.081716, -0.015545, -2.245052, 0.083663, 1.488907, 0.702924], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.005709, -1.225626, -0.025669, -2.279986, 0.07223, 1.517033, 0.691197], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.014712, -1.296859, -0.09453, -2.278393, 0.031594, 1.610405, 0.627494], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.016195, -1.307267, -0.109184, -2.275993, 0.02485, 1.62688, 0.613731], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.261643, -1.083404, -0.742523, -2.004651, 0.673526, 2.406039, -0.321992], 'input_type': 'joint', 'steps': 51, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.552399, -0.772424, -1.022154, -1.756643, 1.165011, 2.242676, -0.745798], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.512301, -0.772118, -1.100546, -1.616864, 1.120025, 1.986753, -0.637317], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.068201, -1.503839, -0.764001, -2.361636, 1.414101, 1.862768, -1.237513], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 3127, "code_num_lines": 28, "code_num_nonblank_lines": 23, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOffMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOffMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_13_main_group_1\":{\"cls\":\"Box\"},\"cube_14_main_group_1\":{\"cls\":\"Box\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_7_island_group_1\":{\"cls\":\"Box\"},\"cube_8_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_main_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_02_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_06_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_island_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_07_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706379572530664],\"init_robot_base_pos\":[3.2345005112059373,-0.963294392954242,0.0],\"lang\":\"Press the stop button on the microwave.\",\"layout_id\":55,\"object_cfgs\":[{\"info\":{\"cat\":\"boxed_food\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"boxed_food\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group_1\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.36177871194946704,\"name\":\"tray\",\"offset\":[-0.08013756619204802,0.015137530714568262,-0.19105268603706035],\"size\":[0.31364428201977346,0.3081049751555467]},\"type\":\"object\"}],\"style_id\":58},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.040694475173950195,\"qx\":0.04806331545114517,\"qy\":-0.9845049381256104,\"qz\":-0.16365759074687958,\"x\":3.220466726012769,\"y\":-0.7192712119105206,\"z\":1.3147194820402202},\"goal_pose\":{\"qw\":0.9583037374586493,\"qx\":-0.003767494753136551,\"qy\":0.012689430759352974,\"qz\":0.285444795193521,\"x\":3.2817294897983724,\"y\":-0.35986784551078843,\"z\":1.4749190763414117},\"object_pose\":{\"qw\":0.958303711909291,\"qx\":-0.003767460925406901,\"qy\":0.012689241012254158,\"qz\":0.2854448898501801,\"x\":3.281729472613252,\"y\":-0.3598678521817368,\"z\":1.4749190129358507}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOffMicrowave\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOffMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOffMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_13_main_group_1\":{\"cls\":\"Box\"},\"cube_14_main_group_1\":{\"cls\":\"Box\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_7_island_group_1\":{\"cls\":\"Box\"},\"cube_8_island_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgebottomfreezer_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgebottomfreezer_main_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_02_room\":{\"cls\":\"WallAccessory\"},\"micro_cab_main_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_island_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_main_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_02_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_05_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_05_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_05_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_06_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_06_island_group_1_base\":{\"cls\":\"Box\"},\"stack_07_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_07_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_island_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"},\"window_group_1_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706379572530664],\"init_robot_base_pos\":[3.2345005112059373,-0.963294392954242,0.0],\"lang\":\"Press the stop button on the microwave.\",\"layout_id\":55,\"object_cfgs\":[{\"info\":{\"cat\":\"boxed_food\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"boxed_food\",\"packaged_food\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group_1\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.36177871194946704,\"name\":\"tray\",\"offset\":[-0.08013756619204802,0.015137530714568262,-0.19105268603706035],\"size\":[0.31364428201977346,0.3081049751555467]},\"type\":\"object\"}],\"style_id\":58},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.040694475173950195,\"qx\":0.04806331545114517,\"qy\":-0.9845049381256104,\"qz\":-0.16365759074687958,\"x\":3.220466726012769,\"y\":-0.7192712119105206,\"z\":1.3147194820402202},\"goal_pose\":{\"qw\":0.9583037374586493,\"qx\":-0.003767494753136551,\"qy\":0.012689430759352974,\"qz\":0.285444795193521,\"x\":3.2817294897983724,\"y\":-0.35986784551078843,\"z\":1.4749190763414117},\"object_pose\":{\"qw\":0.958303711909291,\"qx\":-0.003767460925406901,\"qy\":0.012689241012254158,\"qz\":0.2854448898501801,\"x\":3.281729472613252,\"y\":-0.3598678521817368,\"z\":1.4749190129358507}},\"initial_state\":[0.5000000000000003,6.763763212272048,-10.964365743370871,1.9106531315407134e-07,2.655082820703101e-08,0.008411095850506834,-1.0464683985085264,-0.014575824907424784,-2.2468301178753443,0.08383113252213188,1.5258131695364856,0.7047438311091019,0.020573369396529782,-0.02049319165117545,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,5.636098540737268e-09,2.4377359188355724e-07,-0.0003655908189822555,0.0,6.040008891259598e-08,1.0165746854798905e-07,-3.3275263493997763e-09,7.664902683935438e-08,-5.491276413660942e-05,-8.775287479849235e-06,3.9617124317954736e-11,0.0,0.0,0.0,0.0,0.0,0.0,-1.7715480975427547e-16,0.0,0.0,-0.006912026881839695,-2.578359502675047e-05,0.0,0.0,0.0,-1.7715480975427547e-16,0.0,-1.7769014750920875e-16,0.0,-7.067238644618029e-05,-7.419729004004898e-05,-8.27770751036914e-05,-0.007448785561731457,-5.683309940538416e-11,-0.0004069056189711699,0.0,0.0,-4.271824107010221e-15,0.0,0.0,-2.998215492399944e-15,3.281729472613252,-0.3598678521817368,1.4749190129358507,0.958303711909291,-0.003767460925406901,0.012689241012254158,0.2854448898501801,-7.253701442323608e-07,4.61965715863619e-07,-3.009170076874904e-06,7.102570793511363e-08,-9.615804783966257e-06,0.0005673777955515425,-0.0006564849668957592,-2.493795817114292e-05,-0.0007126680124231527,8.999447499748987e-05,-0.00011580751022070339,-0.00044180885762668887,0.0004942420396955483,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.1468494380010867e-08,4.960374711853779e-07,-2.3321012995566757e-08,0.0,1.2290330697781454e-07,2.068546517971362e-07,-6.009931120099825e-11,1.5596696905673615e-07,-5.941740998131638e-07,-8.238995683870247e-12,8.069137748410804e-11,0.0,0.0,0.0,0.0,0.0,0.0,-6.969219160213782e-18,0.0,0.0,-5.103190519524355e-07,-4.624103004064162e-07,0.0,0.0,0.0,-6.969219160213782e-18,0.0,-7.126101008307693e-18,0.0,-1.4173595953569169e-06,-1.4830044184162747e-06,-1.6277384060940478e-06,-5.431808815378502e-07,-1.0264773180068945e-12,-7.279815191295389e-08,0.0,0.0,-1.6930009403065526e-16,0.0,0.0,-1.2469850875387494e-16,2.1609405905061195e-06,-2.463530926171696e-06,5.822684623745695e-07,8.1432610347134e-05,1.1634650476355394e-05,2.115585112620423e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOffMicrowave\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 9, "pretrain_task_id": 54, "retained_waypoint_count": 9, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Press the stop button on the microwave.", "task_name": "TurnOffMicrowave", "video_available": true, "video_bytes": 218698, "video_relpath": "videos/compressed/54_TurnOffMicrowave.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffSinkFaucet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 117, 'stable_release_contact_loss_t': 117, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.000303, -1.03096, -0.016641, -2.324678, 0.053727, 1.519172, 0.668566], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.003455, -1.244567, -0.614279, -2.415849, 0.007237, 1.678674, 0.134234], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.494575, -0.438462, -1.151916, -2.21163, 0.878722, 1.949897, -1.110495], 'input_type': 'joint', 'steps': 31, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.41947, 0.688958, -0.25339, -1.332347, 1.483916, 1.603458, -1.216156], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.471918, 0.839218, -0.111209, -1.13585, 1.422777, 1.611886, -1.16335], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.445159, 0.797149, -0.114303, -1.191897, 1.427113, 1.611639, -1.167398], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2655, "code_num_lines": 25, "code_num_nonblank_lines": 20, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOffSinkFaucet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOffSinkFaucet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_2_main_group_1\":{\"cls\":\"Box\"},\"box_left_group_1\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_3_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_corner_2_main_group_1\":{\"cls\":\"Box\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_left_group_1\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_cabinet_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_main_group_1\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"knife_block_main_group_1\":{\"cls\":\"Accessory\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_5_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_main_group_1_base\":{\"cls\":\"Box\"},\"stack_6_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_6_main_group_1_base\":{\"cls\":\"Box\"},\"stack_7_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_7_main_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stovetop_main_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.422854288892552e-08],\"init_robot_base_pos\":[4.861340083770041,-2.1198473248830245,0.0],\"lang\":\"Turn off the sink faucet.\",\"layout_id\":17,\"object_cfgs\":[{\"info\":{\"cat\":\"donut\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"donut\",\"sweets\",\"pastry\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_0\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group_1\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.12187555904999997,0.12177405539249994,0.04103762890499998],\"ref\":\"sink_1_right_group_1\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.9941151483334416,-3.469446951953614e-17,0.46],\"size\":[1.3617697033331166,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"jug\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"jug\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_sink\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"sink_1_right_group_1\",\"pos\":[null,-1.0],\"size\":[0.3,0.4]},\"reset_region\":{\"height\":0.18462743369276513,\"name\":\"basin\",\"offset\":[0.1138694192140215,-0.023496964265551784,-0.25052084143931236],\"size\":[0.4087696250877586,0.3033832247943492]},\"type\":\"object\",\"washable\":true}],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06265738606452942,\"qx\":0.6603447198867798,\"qy\":0.7416301369667053,\"qz\":0.10001734644174576,\"x\":5.111638908804832,\"y\":-2.1142775017815523,\"z\":1.272215687733859},\"goal_pose\":{\"qw\":0.6539415267570693,\"qx\":-0.0005327244269739385,\"qy\":-0.00048592010668830395,\"qz\":-0.7565447506056521,\"x\":5.233928179946678,\"y\":-2.8097724707804583,\"z\":0.9405245478303522},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOffSinkFaucet\"}", 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"is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 55, "retained_waypoint_count": 6, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn off the sink faucet.", "task_name": "TurnOffSinkFaucet", "video_available": true, "video_bytes": 229659, "video_relpath": "videos/compressed/55_TurnOffSinkFaucet.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOffStove/seed_195/episode_000000/refinement/20260403/TurnOffStove/iter_005/candidate.py\n# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 2, 1: 2, 2: 2, 3: 1, 4: 2, 5: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 284, 'stable_release_contact_loss_t': 284, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.028088, -1.038286, -0.016562, -2.246353, 0.012992, 1.483404, 0.726344], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.132568, -0.841914, -0.209527, -3.066547, -0.193559, 2.226578, 1.016327], 'input_type': 'joint', 'steps': 124, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.132636, -0.838801, -0.209098, -3.063917, -0.192454, 2.225623, 1.020053], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.130055, -0.837761, -0.200968, -3.065048, -0.184482, 2.22818, 1.040017], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.130446, -0.837193, -0.200483, -3.065016, -0.184067, 2.228709, 1.047797], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.159883, -0.818772, -0.150068, -3.066533, -0.155196, 2.256458, 1.557023], 'input_type': 'joint', 'steps': 29, 'settle_steps': 2, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_02 = [\n    {'target': [-0.16288, -0.807796, -0.153636, -3.063446, -0.157987, 2.264406, 1.588074], 'input_type': 'joint', 'steps': 2, 'settle_steps': 2, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_03 = [\n    {'target': [-0.164893, -0.83944, -0.141173, -3.072212, -0.150833, 2.238034, 1.649152], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.719778, -0.854189, 0.382117, -3.072299, 0.598639, 2.264979, 2.897621], 'input_type': 'joint', 'steps': 112, 'settle_steps': 1, 'gripper': 1.0},\n]\nMOTION_SEQUENCE_04 = [\n    {'target': [-0.725665, -0.856573, 0.387647, -3.072288, 0.605007, 2.262095, 2.897622], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.773921, -0.883716, 0.441851, -3.072287, 0.65359, 2.231986, 2.89765], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.15, hold_target=[-0.130055, -0.837761, -0.200968, -3.065048, -0.184482, 2.22818, 1.040017], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\nwait(duration=0.12, hold_target=[-0.159883, -0.818772, -0.150068, -3.066533, -0.155196, 2.256458, 1.557023], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_02)\nwait(duration=0.1, hold_target=[-0.16288, -0.807796, -0.153636, -3.063446, -0.157987, 2.264406, 1.588074], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_03)\nwait(duration=0.1, hold_target=[-0.719778, -0.854189, 0.382117, -3.072299, 0.598639, 2.264979, 2.897621], input_type='joint', gripper=1.0)\nrun_joint_sequence(MOTION_SEQUENCE_04)\nwait(duration=0.2, hold_target=[-0.773921, -0.883716, 0.441851, -3.072287, 0.65359, 2.231986, 2.89765], input_type='joint', gripper=1.0)\n", "code_char_count": 4484, "code_num_lines": 47, "code_num_nonblank_lines": 42, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOffStove\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOffStove\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_1_right_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"light_switch_5_room\":{\"cls\":\"WallAccessory\"},\"light_switch_6_room\":{\"cls\":\"WallAccessory\"},\"light_switch_7_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_stack_right_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_main_group\":{\"cls\":\"Accessory\"},\"sink_1_right_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_4\":{\"cls\":\"Drawer\"},\"stack_2_left_group_5\":{\"cls\":\"Drawer\"},\"stack_2_left_group_6\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_4\":{\"cls\":\"Drawer\"},\"stack_4_left_group_5\":{\"cls\":\"Drawer\"},\"stack_4_left_group_6\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_base\":{\"cls\":\"Box\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"toaster_right_group\":{\"cls\":\"Toaster\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_right_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.141592787948654],\"init_robot_base_pos\":[0.7925845397255575,-4.391979872909099,0.0],\"lang\":\"Turn off the center burner of the stove.\",\"layout_id\":18,\"object_cfgs\":[{\"info\":{\"cat\":\"saucepan\",\"groups\":[\"cookware\"],\"groups_containing_sampled_obj\":[\"all\",\"saucepan\",\"receptacle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan008/model.xml\",\"split\":\"train\"},\"name\":\"cookware\",\"obj_groups\":\"cookware\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stovetop_left_group\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"sample_region_kwargs\":{\"locs\":[\"front_right\"]},\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"front_right\",\"offset\":[0.24583842850391419,-0.08420744150178752,0.003662449837073436],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"style_id\":15,\"task_refs\":{\"cookware_burner\":\"front_right\",\"knob\":\"center\"}},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1022430881857872,\"qx\":0.7086377143859863,\"qy\":-0.6919475793838501,\"qz\":-0.09266793727874756,\"x\":0.5531780884394422,\"y\":-4.38205389179658,\"z\":1.3059811478535694},\"goal_pose\":{\"qw\":0.9907517351480255,\"qx\":3.0348778835472658e-05,\"qy\":-9.07778436702893e-05,\"qz\":0.13568710380692114,\"x\":0.3621763750113923,\"y\":-4.075616542139453,\"z\":0.9957553544158068},\"object_pose\":{\"qw\":0.9734597115705281,\"qx\":5.192545324660286e-06,\"qy\":-8.905793659346045e-06,\"qz\":0.22885844935843683,\"x\":0.3699697294024303,\"y\":-4.074560697036506,\"z\":0.9958143750712213}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOffStove\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOffStove\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOffStove\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_main_group\":{\"cls\":\"Box\"},\"box_1_right_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_1_right_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"light_switch_5_room\":{\"cls\":\"WallAccessory\"},\"light_switch_6_room\":{\"cls\":\"WallAccessory\"},\"light_switch_7_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"oven_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"oven_main_group\":{\"cls\":\"Oven\"},\"panel_stack_right_group_1\":{\"cls\":\"PanelCabinet\"},\"panel_stack_right_group_base\":{\"cls\":\"Box\"},\"paper_towel_left_group\":{\"cls\":\"Accessory\"},\"plant_main_group\":{\"cls\":\"Accessory\"},\"sink_1_right_group\":{\"cls\":\"Sink\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"Drawer\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_3\":{\"cls\":\"Drawer\"},\"stack_2_left_group_4\":{\"cls\":\"Drawer\"},\"stack_2_left_group_5\":{\"cls\":\"Drawer\"},\"stack_2_left_group_6\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"Drawer\"},\"stack_3_left_group_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_3\":{\"cls\":\"PanelCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"Drawer\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_4\":{\"cls\":\"Drawer\"},\"stack_4_left_group_5\":{\"cls\":\"Drawer\"},\"stack_4_left_group_6\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stack_5_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_5_left_group_base\":{\"cls\":\"Box\"},\"stack_5_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_right_group_base\":{\"cls\":\"Box\"},\"stovetop_left_group\":{\"cls\":\"Stovetop\"},\"toaster_oven_main_group\":{\"cls\":\"ToasterOven\"},\"toaster_right_group\":{\"cls\":\"Toaster\"},\"top_main_group\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_backing_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_left_3_backing_room\":{\"cls\":\"Wall\"},\"wall_left_3_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_stack_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_stack_right_group_base\":{\"cls\":\"Box\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.141592787948654],\"init_robot_base_pos\":[0.7925845397255575,-4.391979872909099,0.0],\"lang\":\"Turn off the center burner of the stove.\",\"layout_id\":18,\"object_cfgs\":[{\"info\":{\"cat\":\"saucepan\",\"groups\":[\"cookware\"],\"groups_containing_sampled_obj\":[\"all\",\"saucepan\",\"receptacle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan008/model.xml\",\"split\":\"train\"},\"name\":\"cookware\",\"obj_groups\":\"cookware\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stovetop_left_group\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"sample_region_kwargs\":{\"locs\":[\"front_right\"]},\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"front_right\",\"offset\":[0.24583842850391419,-0.08420744150178752,0.003662449837073436],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"style_id\":15,\"task_refs\":{\"cookware_burner\":\"front_right\",\"knob\":\"center\"}},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1022430881857872,\"qx\":0.7086377143859863,\"qy\":-0.6919475793838501,\"qz\":-0.09266793727874756,\"x\":0.5531780884394422,\"y\":-4.38205389179658,\"z\":1.3059811478535694},\"goal_pose\":{\"qw\":0.9907517351480255,\"qx\":3.0348778835472658e-05,\"qy\":-9.07778436702893e-05,\"qz\":0.13568710380692114,\"x\":0.3621763750113923,\"y\":-4.075616542139453,\"z\":0.9957553544158068},\"object_pose\":{\"qw\":0.9734597115705281,\"qx\":5.192545324660286e-06,\"qy\":-8.905793659346045e-06,\"qz\":0.22885844935843683,\"x\":0.3699697294024303,\"y\":-4.074560697036506,\"z\":0.9958143750712213}},\"initial_state\":[0.5000000000000003,14.391978691919904,9.207417418465589,1.9284495640903221e-07,2.3300280100592683e-08,-0.028293785512038632,-1.03794910780618,-0.016505410393687556,-2.2464141915900613,0.01302898390793889,1.484063177043847,0.7263375002547215,0.020550221062907197,-0.02051633853201959,0.0,-7.491039516925305e-06,-7.2799965497845205e-09,-2.440094265246801e-24,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,4.473705776726184e-10,5.363002442150774e-10,0.0,0.0,2.951060908776469,0.0,0.0,0.0,0.0,0.0,-2.230025507863941e-16,-2.230025507863941e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,-2.989140675594064e-16,-2.9851482598344953e-16,-2.230025507863941e-16,-2.230025507863941e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,-2.2267594925129216e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0005957617200912723,-0.000598048275275234,-2.5031568573074583e-05,5.701920715891379e-08,1.5458091598261694e-06,-0.00036370637664349427,0.0,0.0,-1.28776565485151e-15,-1.2839328448593793e-15,-1.2839328448593793e-15,0.0,0.0,0.0,0.0,-4.073598838474901e-05,-0.00186179346593286,-0.001861793465932865,0.0,0.0,0.0,0.0,-0.0074847158264919585,2.3255380716184547e-09,-0.0004150545677491719,0.3699697294024303,-4.074560697036506,0.9958143750712213,0.9734597115705281,5.192545324660286e-06,-8.905793659346045e-06,0.22885844935843683,-6.298400996798809e-07,-1.953302886381855e-07,-2.7511920772862217e-06,2.9712829921375653e-07,-8.866164522976026e-06,2.659825940229481e-06,-0.0006095195045869447,0.0010585148594926042,-0.0007527640284631237,-0.0009542177945431428,-0.00011080452087624244,-0.0004729323231153518,0.0004631178441145377,0.0,-1.356041554970208e-07,-1.314865486860861e-10,3.3342639239804725e-23,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.4664638276593713e-08,9.103186280874575e-10,1.09127449763756e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-8.346541262433366e-18,-8.346541262433366e-18,-8.267753667187224e-18,-8.267753667187224e-18,-8.267753667187224e-18,-8.267753667187224e-18,-2.32740585292324e-17,-2.283374863513737e-17,-8.346541262433366e-18,-8.346541262433366e-18,-8.267753667187224e-18,-8.267753667187224e-18,-8.267753667187224e-18,-8.267753667187224e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.847313246764884e-13,-1.1187688760211828e-12,-5.571627664320637e-07,1.1602434235321903e-07,3.14545745496654e-06,-5.613517809943419e-08,0.0,0.0,-5.896993424109773e-17,-5.799700506247668e-17,-5.799700506247668e-17,0.0,0.0,0.0,0.0,-6.331117620413606e-06,7.115365808866669e-07,7.11536581068228e-07,0.0,0.0,0.0,0.0,-5.452581518584819e-07,4.732051531649746e-09,-5.592636516460393e-08,-1.129835547974186e-05,-0.0003555989916177389,0.0001192142568666883,0.004278260914871566,-0.0022669827780915867,-6.3858159999455895e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOffStove\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 11, "pretrain_task_id": 56, "retained_waypoint_count": 11, "sim_aggregate_success": false, "sim_saved_summary_success": false, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn off the center burner of the stove.", "task_name": "TurnOffStove", "video_available": true, "video_bytes": 644435, "video_relpath": "videos/compressed/56_TurnOffStove.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnBlender/seed_195/episode_000000/refinement/20260403/TurnOnBlender/iter_005/candidate.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnBlender', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 55, 'stable_release_contact_loss_t': 55, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.005308, -1.05912, -0.012926, -2.267104, 0.061406, 1.498196, 0.667923], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.055115, -1.270689, 0.162343, -3.034922, 0.200028, 2.06691, 0.712906], 'input_type': 'joint', 'steps': 54, 'settle_steps': 1, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [0.055093, -1.268033, 0.165321, -3.034465, 0.19976, 2.070953, 0.726565], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.105585, -1.71547, 0.199513, -3.065108, 0.180032, 2.003681, 0.838002], 'input_type': 'joint', 'steps': 39, 'settle_steps': 7, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nwait(duration=0.05, hold_target=[0.055115, -1.270689, 0.162343, -3.034922, 0.200028, 2.06691, 0.712906], input_type='joint', gripper=-1.0)\nrun_joint_sequence(MOTION_SEQUENCE_01)\n", "code_char_count": 2569, "code_num_lines": 27, "code_num_nonblank_lines": 22, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnBlender\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnBlender\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"blender_left_group_1\":{\"cls\":\"Blender\"},\"blender_left_group_1_auxiliary_left_group_1\":{\"cls\":\"BlenderLid\"},\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1.001_backing_room\":{\"cls\":\"Floor\"},\"floor_1.001_room\":{\"cls\":\"Floor\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"knife_block_left_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_left_2_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory.001_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.004_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.005_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.006_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1412906566438026],\"init_robot_base_pos\":[2.575057845889974,-1.8378648560020894,0.0],\"lang\":\"Turn on the blender by pressing the power button.\",\"layout_id\":43,\"object_cfgs\":[{\"info\":{\"cat\":\"apple\",\"groups\":[\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"apple\",\"fruit\",\"food\",\"in_container\",\"food_set1\",\"group1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"fruit\",\"object_scale\":0.8,\"placement\":{\"fixture\":\"blender_left_group_1\",\"pos\":[0,0],\"size\":[0.4,0.4]},\"reset_region\":{\"height\":0.17275176665103317,\"name\":\"int\",\"offset\":[0.00017120800852771928,0.026360794648901995,0.013421154433977478],\"size\":[0.09101906042657373,0.09101906042657373]},\"type\":\"object\"}],\"style_id\":41},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12225648015737534,\"qx\":0.7391844391822815,\"qy\":-0.6567890644073486,\"qz\":-0.08536835759878159,\"x\":2.337904373600798,\"y\":-1.8448599112645578,\"z\":1.3038496435716527},\"goal_pose\":{\"qw\":0.7690487254876944,\"qx\":0.038233816730544795,\"qy\":-0.025274456875036693,\"qz\":0.6375448493350405,\"x\":2.2323775195648867,\"y\":-1.879197180932959,\"z\":1.1547874589513791},\"object_pose\":{\"qw\":0.7556734050114817,\"qx\":0.019371779505201962,\"qy\":-0.04893853456881426,\"qz\":0.652830344692564,\"x\":2.231570876321079,\"y\":-1.879329704101831,\"z\":1.1543892712399595}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnBlender\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnBlender\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnBlender\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"blender_left_group_1\":{\"cls\":\"Blender\"},\"blender_left_group_1_auxiliary_left_group_1\":{\"cls\":\"BlenderLid\"},\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffeemachine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group_1\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_1_left_group_1\":{\"cls\":\"Box\"},\"cube_1_main_group_1\":{\"cls\":\"Box\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_front_group_1\":{\"cls\":\"Box\"},\"cube_2_left_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_left_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_left_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1.001_backing_room\":{\"cls\":\"Floor\"},\"floor_1.001_room\":{\"cls\":\"Floor\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgesidebyside_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgesidebyside_right_group_1\":{\"cls\":\"FridgeSideBySide\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"knife_block_left_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_1_right_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_3_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_left_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_1_2\":{\"cl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"is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 57, "retained_waypoint_count": 4, "sim_aggregate_success": false, "sim_saved_summary_success": false, "sim_success": false, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": false, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn on the blender by pressing the power button.", "task_name": "TurnOnBlender", "video_available": true, "video_bytes": 196980, "video_relpath": "videos/compressed/57_TurnOnBlender.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnElectricKettle/seed_195/episode_000000/refinement/20260403/TurnOnElectricKettle/iter_001/candidate.py\n# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 4, 1: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnElectricKettle', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 89, 'stable_release_contact_loss_t': 89, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.019734, -1.036441, -0.037933, -2.289733, 0.053327, 1.501895, 0.715914], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.019777, -1.039842, -0.038106, -2.288964, 0.053154, 1.494928, 0.715918], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.021486, -1.075029, -0.046278, -2.290116, 0.044039, 1.4352, 0.715234], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.024396, -1.105983, -0.066566, -2.296961, 0.024496, 1.406716, 0.704327], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.026114, -1.118966, -0.081356, -2.301712, 0.011373, 1.399652, 0.693924], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.004254, -1.134578, -0.837078, -2.318411, -0.009464, 1.507202, -0.392603], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.199687, -0.92709, -1.143062, -2.473101, 0.145602, 1.592197, -0.829275], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.487547, -0.738016, -1.373994, -2.54745, 0.243818, 2.046744, -0.97308], 'input_type': 'joint', 'steps': 29, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.622116, -0.847977, -1.559565, -2.469134, 0.161994, 2.046406, -1.050117], 'input_type': 'joint', 'steps': 17, 'settle_steps': 4, 'gripper': 1.0},\n    {'target': [0.352494, -1.082126, -1.418028, -2.541073, 0.050681, 1.975858, -0.9921], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 3428, "code_num_lines": 29, "code_num_nonblank_lines": 24, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnElectricKettle\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnElectricKettle\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_island_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_8_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_right_group_1\":{\"cls\":\"Box\"},\"cube_12_right_group_1\":{\"cls\":\"Box\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"cube_8_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_island_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_9_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_02_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_03_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_2_main_group_1\":{\"cls\":\"OpenCabinet\"},\"opencabinet_3_main_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_island_group_2_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_base\":{\"cls\":\"Box\"},\"stack_08_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_main_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_main_group_1_base\":{\"cls\":\"Box\"},\"stack_12_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_island_group_2_base\":{\"cls\":\"Box\"},\"stack_13_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_13_island_group_2_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_6_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_right_group_1_2\":{\"cls\":\"HingeCabinet\"},\"stack_6_right_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,4.7122340957374185],\"init_robot_base_pos\":[4.184074157257707,-2.2373730014609428,0.0],\"lang\":\"Press down the lever to turn on the electric kettle.\",\"layout_id\":56,\"object_cfgs\":[],\"style_id\":28},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1261141449213028,\"qx\":0.9912102818489075,\"qy\":0.018318846821784973,\"qz\":0.035519931465387344,\"x\":4.177296123793097,\"y\":-2.481973393913833,\"z\":1.2880177904898928},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnElectricKettle\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnElectricKettle\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnElectricKettle\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"electric_kettle\":\"electric_kettle_island_group_1\"},\"fixtures\":{\"bottom_right_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_main_group_1\":{\"cls\":\"Counter\"},\"counter_8_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_11_right_group_1\":{\"cls\":\"Box\"},\"cube_12_right_group_1\":{\"cls\":\"Box\"},\"cube_1_island_group_1\":{\"cls\":\"Box\"},\"cube_2_island_group_1\":{\"cls\":\"Box\"},\"cube_4_main_group_1\":{\"cls\":\"Box\"},\"cube_8_main_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_island_group_1\":{\"cls\":\"Dishwasher\"},\"electric_kettle_island_group_1\":{\"cls\":\"ElectricKettle\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_5_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_9_right_group_1\":{\"cls\":\"HingeCabinet\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"lightswitch_02_room\":{\"cls\":\"WallAccessory\"},\"lightswitch_03_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"opencabinet_2_main_group_1\":{\"cls\":\"OpenCabinet\"},\"opencabinet_3_main_group_1\":{\"cls\":\"OpenCabinet\"},\"oven_cabinet_right_group_1\":{\"cls\":\"HingeCabinet\"},\"papertowel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_island_group_1\":{\"cls\":\"Sink\"},\"stack_02_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_island_group_2_base\":{\"cls\":\"Box\"},\"stack_04_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_04_main_group_1_base\":{\"cls\":\"Box\"},\"stack_06_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_main_group_1_base\":{\"cls\":\"Box\"},\"stack_07_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_07_main_group_1_base\":{\"cls\":\"Box\"},\"stack_08_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_main_group_1_base\":{\"cls\":\"Box\"},\"stack_09_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_09_island_group_1_base\":{\"cls\":\"Box\"},\"stack_10_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_10_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_10_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_11_island_group_1_base\":{\"cls\":\"Box\"},\"stack_11_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_11_main_group_1_base\":{\"cls\":\"Box\"},\"stack_12_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_island_group_2_base\":{\"cls\":\"Box\"},\"stack_13_island_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_13_island_group_2_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_1_base\":{\"cls\":\"Box\"},\"stack_6_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_6_right_group_1_2\":{\"cls\":\"HingeCabinet\"},\"stack_6_right_group_1_base\":{\"cls\":\"Box\"},\"stack_7_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_7_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_7_right_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"toaster_right_group_1\":{\"cls\":\"Toaster\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wallaccessory_1_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_2_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_3_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_4_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,4.7122340957374185],\"init_robot_base_pos\":[4.184074157257707,-2.2373730014609428,0.0],\"lang\":\"Press down the lever to turn on the electric kettle.\",\"layout_id\":56,\"object_cfgs\":[],\"style_id\":28},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.1261141449213028,\"qx\":0.9912102818489075,\"qy\":0.018318846821784973,\"qz\":0.035519931465387344,\"x\":4.177296123793097,\"y\":-2.481973393913833,\"z\":1.2880177904898928},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,-5.814030454007159,12.238273672044555,-2.0846800003371288e-07,3.506718360123433e-08,-0.019735593672795017,-1.0361018680693574,-0.037936860652446266,-2.28978781467559,0.053323046767460996,1.5025709104364209,0.7159114125344476,0.020544084753261346,-0.020522476174846493,-2.1674385551239723e-07,7.278592161592987e-10,-2.265930313138441e-08,2.27935210383728e-08,8.85698613631803e-10,2.136142389002385e-08,4.0539061138693184e-09,-2.3663754226762824e-08,5.270983067840546e-10,-4.372383820585422e-10,1.4277600820322654e-08,-7.239801272103723e-07,3.270987711338807e-08,2.695866596572858e-07,1.9228665743488846e-08,6.00588390466334e-08,3.158044334139561e-08,1.9965250302015915e-10,-8.61643765651825e-09,-5.221613556429161e-09,0.0,0.0,0.0,0.0,0.0,0.0,1.1846041562808968e-08,-1.7936960925618478e-08,8.011304208351942e-09,-2.835330910692844e-10,1.873017643185457e-08,-2.8613554362288217e-10,-2.889206408566651e-10,-2.889206408566651e-10,-3.629070349166063e-09,3.0436368680740187e-09,-2.861354567680139e-10,1.096117970345188e-08,-2.8353301180312787e-10,-2.8588495888741314e-10,-2.8588495888741314e-10,-8.010021207690662e-05,-8.474102605914868e-05,-0.00015423835411876825,0.0,5.067640670964138e-08,2.6228365657255874e-10,0.0,0.0,-4.397967097042146e-09,-6.488551718131377e-08,5.332062980906579e-10,-3.921527850610886e-09,1.7827854977683712e-08,-2.8721886694283563e-10,-2.210446677952005e-08,1.3119312996272296e-08,-3.8773317819561125e-09,-1.7333871123527182e-08,8.673948943584994e-09,-2.8869925895427693e-10,0.0,0.0,0.0,0.0,0.0,-2.8622109812451014e-10,-1.5479014046591398e-08,2.8033953565433866e-08,0.0,0.0,2.2560015039391893e-09,1.130129757153755e-08,-5.294817441011122e-08,2.9916379256977525e-09,-0.00784833691669661,2.04354579658432e-09,-0.00031673755995513883,1.473365460457419e-08,6.075439808866655e-07,0.0,-2.184311158846222e-08,5.9479482257882404e-09,-2.78077026638421e-10,-2.78077026638421e-10,-2.768435653439788e-10,1.10889696544723e-08,-2.7656951833899883e-10,-1.2320483609445415e-05,-0.007396924850410461,0.0,0.0,-0.00048519112360203176,-0.0007119207629636067,-0.0006438413576210839,7.774883751690636e-07,-1.564025196562393e-07,3.2157260428385755e-06,3.1490363118110675e-07,9.904781168614626e-06,1.3978345792359247e-06,0.0006874037460028916,0.0010326259950282194,0.0007236505923484274,-0.0008861937041908168,0.00011669048044809447,-0.0004156159025882586,0.0005204362782687105,-1.490837165528791e-06,-6.296795937409921e-07,3.891655533955246e-09,-5.589889171594483e-07,-5.787336216600067e-07,-7.286230548768619e-07,-5.7794253217624535e-08,8.018259475524788e-07,-2.397312239822648e-09,2.0938461395447797e-09,-4.213068958550236e-09,-1.3211768559367945e-08,6.655871876661542e-08,5.485603748876183e-07,3.9126868673938947e-08,1.2220894425207464e-07,6.42605198085988e-08,4.062569198145456e-10,-1.5582762663817494e-10,-9.443248422006056e-11,0.0,0.0,0.0,0.0,0.0,0.0,-4.1524318996374226e-07,-1.9328976859729443e-07,5.487904053756844e-08,-1.1628924223246689e-11,1.9760649318053387e-07,-1.2445763893469781e-11,-1.3360211220945336e-11,-1.3360211220945336e-11,-3.719942826131896e-08,-2.6604716344504255e-07,-1.2445759607959164e-11,-1.3453664546156751e-07,-1.1628920485333172e-11,-1.2365564535189474e-11,-1.2365564535189474e-11,-1.5950713162628372e-06,-1.6742177356355297e-06,-2.2518182959926093e-06,-1.6526929490373334e-06,1.0311737109168849e-07,5.337000496661054e-10,0.0,0.0,6.644802996762843e-09,-1.2004854085658023e-06,-1.1316104611743849e-09,8.21260916091351e-09,-7.2048632052077795e-09,-1.2796381007197644e-11,6.3554240325246135e-09,-7.450667655086696e-08,3.417984503720344e-08,4.297894631582795e-09,1.5485861206817357e-08,-1.3285684881217197e-11,0.0,0.0,0.0,0.0,0.0,-1.2473059396223906e-11,1.1984117584970134e-06,-1.271029721621333e-06,0.0,0.0,3.8280041495577925e-07,3.937567646496145e-08,1.540797977766438e-08,-6.30428557627404e-08,-5.713053344223149e-07,4.158247977619526e-09,-5.677635673102212e-07,2.998046133981766e-08,1.2362478472602781e-06,0.0,6.551866072536155e-09,2.8111076001017504e-06,-1.003179326592592e-11,-1.003179326592592e-11,-9.692024899243325e-12,-1.0915096948714335e-07,-9.617606473008098e-12,-2.2152318437702082e-07,-5.469701634349538e-07,0.0,0.0,-1.2566362929654807e-09,1.2667359059933753e-12,-5.226168303562633e-12],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnElectricKettle\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 10, "pretrain_task_id": 58, "retained_waypoint_count": 10, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Press down the lever to turn on the electric kettle.", "task_name": "TurnOnElectricKettle", "video_available": true, "video_bytes": 270062, "video_relpath": "videos/compressed/58_TurnOnElectricKettle.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 3, 1: 6}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 81, 'stable_release_contact_loss_t': 81, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.006224, -1.023313, -0.069334, -2.283308, 0.036919, 1.558925, 0.675367], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.009519, -1.023917, -0.086871, -2.307856, 0.024945, 1.567439, 0.664972], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.012069, -1.032502, -0.101126, -2.323002, 0.016364, 1.583045, 0.652695], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.014916, -1.048491, -0.110689, -2.334956, 0.000916, 1.606525, 0.636731], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.100226, -1.658183, -0.378874, -2.732048, -0.542113, 2.090216, 0.382181], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.029613, -1.48181, -0.996314, -2.667085, -0.056975, 2.411171, -0.764425], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.202474, -1.189719, -1.053224, -2.603898, 0.179133, 2.596628, -1.210961], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.01657, -1.373537, -1.099864, -2.62454, 0.107519, 2.407635, -1.254307], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.404859, -1.754748, -1.041852, -2.458439, 0.26262, 1.880193, -1.194893], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 3122, "code_num_lines": 28, "code_num_nonblank_lines": 23, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnMicrowave\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_main_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_1_base\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_front_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group\":{\"cls\":\"Box\"},\"cube_1_front_group_2\":{\"cls\":\"Box\"},\"cube_2_dining_area_group\":{\"cls\":\"Box\"},\"cube_2_front_group_2\":{\"cls\":\"Box\"},\"dining_dining_area_group\":{\"cls\":\"Counter\"},\"dishwasher_1_front_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_01_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_02_main_group_1\":{\"cls\":\"HingeCabinet\"},\"lightswitch_01_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group_1\":{\"cls\":\"Microwave\"},\"oven_cabinet_main_group_1\":{\"cls\":\"HingeCabinet\"},\"paper_towel_front_group_1\":{\"cls\":\"Accessory\"},\"plant_front_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_group_1\":{\"cls\":\"SingleCabinet\"},\"singlecabinet_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_front_group_1\":{\"cls\":\"Sink\"},\"stack_01_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_01_main_group_1_base\":{\"cls\":\"Box\"},\"stack_02_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_02_main_group_1_base\":{\"cls\":\"Box\"},\"stack_03_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_03_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_03_main_group_1_base\":{\"cls\":\"Box\"},\"stack_04_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_04_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_04_front_group_1_base\":{\"cls\":\"Box\"},\"stack_05_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_05_front_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_05_front_group_1_base\":{\"cls\":\"Box\"},\"stack_06_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_06_front_group_1_base\":{\"cls\":\"Box\"},\"stack_08_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_08_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_08_front_group_1_base\":{\"cls\":\"Box\"},\"stack_09_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_09_front_group_2_base\":{\"cls\":\"Box\"},\"stack_10_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_front_group_2_base\":{\"cls\":\"Box\"},\"stack_11_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_front_group_2_base\":{\"cls\":\"Box\"},\"stack_12_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_front_group_1_base\":{\"cls\":\"Box\"},\"stack_13_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_13_front_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706378976484208],\"init_robot_base_pos\":[1.3559260254380103,-1.2608383632578979,0.0],\"lang\":\"Press the start button on the microwave.\",\"layout_id\":46,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group_1\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.30122056501164307,\"name\":\"tray\",\"offset\":[-0.07763522066297633,-0.0030152846172931402,-0.16000867060571686],\"size\":[0.4123646134194525,0.3359397698770551]},\"type\":\"object\"},{\"info\":{\"cat\":\"hotdog_bun\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"hotdog_bun\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":12},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03597087785601616,\"qx\":0.03228646144270897,\"qy\":-0.9871420860290527,\"qz\":-0.15236201882362366,\"x\":1.3748048121971819,\"y\":-1.0041442183324407,\"z\":1.2963282733889425},\"goal_pose\":{\"qw\":0.9545627007634903,\"qx\":-8.129645780714516e-05,\"qy\":-1.112383214182436e-05,\"qz\":0.2980101400594551,\"x\":1.330134435429074,\"y\":-0.7269224536139903,\"z\":1.1755090027075885},\"object_pose\":{\"qw\":0.9736730439989253,\"qx\":-3.517586944770252e-05,\"qy\":0.0038079654382354405,\"qz\":0.22791731297061885,\"x\":1.330251624912407,\"y\":-0.7260023254256052,\"z\":1.1947216818314494}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnMicrowave\"}", 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k_08_front_group_1_base\":{\"cls\":\"Box\"},\"stack_09_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_09_front_group_2_base\":{\"cls\":\"Box\"},\"stack_10_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_10_front_group_2_base\":{\"cls\":\"Box\"},\"stack_11_front_group_2_1\":{\"cls\":\"HingeCabinet\"},\"stack_11_front_group_2_base\":{\"cls\":\"Box\"},\"stack_12_front_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_12_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_12_front_group_1_base\":{\"cls\":\"Box\"},\"stack_13_front_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_13_front_group_2_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_4_room\":{\"cls\":\"Stool\"},\"stool_5_room\":{\"cls\":\"Stool\"},\"stool_6_room\":{\"cls\":\"Stool\"},\"stove_hood_main_group_1\":{\"cls\":\"Hood\"},\"stove_main_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_main_group_1\":{\"cls\":\"ToasterOven\"},\"top_main_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wall_right_3_backing_room\":{\"cls\":\"Wall\"},\"wall_right_3_room\":{\"cls\":\"Wall\"},\"wallaccessory_03_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_04_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_06_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5706378976484208],\"init_robot_base_pos\":[1.3559260254380103,-1.2608383632578979,0.0],\"lang\":\"Press the start button on the microwave.\",\"layout_id\":46,\"object_cfgs\":[{\"info\":{\"cat\":\"plate\",\"groups\":[\"container\"],\"groups_containing_sampled_obj\":[\"all\",\"plate\",\"receptacle\",\"container\",\"container_set2\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"microwave_main_group_1\",\"size\":[0.05,0.05],\"try_to_place_in\":\"container\"},\"reset_region\":{\"height\":0.30122056501164307,\"name\":\"tray\",\"offset\":[-0.07763522066297633,-0.0030152846172931402,-0.16000867060571686],\"size\":[0.4123646134194525,0.3359397698770551]},\"type\":\"object\"},{\"info\":{\"cat\":\"hotdog_bun\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"hotdog_bun\",\"bread_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"sample_args\":{\"on_top\":true,\"reference\":\"obj_container\"},\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":12},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03597087785601616,\"qx\":0.03228646144270897,\"qy\":-0.9871420860290527,\"qz\":-0.15236201882362366,\"x\":1.3748048121971819,\"y\":-1.0041442183324407,\"z\":1.2963282733889425},\"goal_pose\":{\"qw\":0.9545627007634903,\"qx\":-8.129645780714516e-05,\"qy\":-1.112383214182436e-05,\"qz\":0.2980101400594551,\"x\":1.330134435429074,\"y\":-0.7269224536139903,\"z\":1.1755090027075885},\"object_pose\":{\"qw\":0.9736730439989253,\"qx\":-3.517586944770252e-05,\"qy\":0.0038079654382354405,\"qz\":0.22791731297061885,\"x\":1.330251624912407,\"y\":-0.7260023254256052,\"z\":1.1947216818314494}},\"initial_state\":[0.5000000000000003,8.642289879902867,-11.262207727911475,1.8815504428051583e-07,2.323933873187341e-08,-0.00585838397198546,-1.0240342006968453,-0.0693615174023318,-2.280911489218482,0.03690021897466725,1.5574269274478525,0.675497897883524,0.020571483589995526,-0.020495076981151588,0.0,0.0,0.0,0.0,0.0,-2.1734283012683033e-07,0.0,0.0,0.0,0.0,-1.6640876925393823e-07,9.720068578513045e-07,-6.212377487033743e-07,1.762558982984327e-06,-1.8845099915271394e-06,4.397410145972936e-07,-1.4730327059386096e-06,4.0137492274747197e-07,-5.84211283629935e-08,3.0443419540483204e-07,-7.438448543647425e-05,-6.630705155063967e-09,1.0909306314455852e-12,-3.511546689481928e-09,4.8412504745894936e-08,-1.3571159415820295e-09,-2.032857168858045e-09,1.704682247941242e-08,7.191447259172746e-08,0.0,0.0,0.0,0.0,0.0,0.0,-2.175581314836074e-07,-2.1834148504690333e-07,-2.1834148504690333e-07,-2.1710289034607244e-07,-2.1781227164529272e-07,-2.1781227164529272e-07,-6.766590919024379e-07,5.104270965327364e-07,-2.1659680628979454e-07,0.0,0.0,0.0,-5.755045706975366e-07,-0.007685871215795097,3.3242368502070665e-08,-0.0008502746028187281,0.0,1.7970283965689153e-08,1.797028396570245e-08,0.0,9.039772411234478e-09,1.7336170810259225e-07,0.0,-4.0223127653744234e-07,3.5152193151902535e-07,-4.851828188234044e-07,4.3392010343391424e-07,-2.1659720592379437e-07,1.2589909643839398e-07,-9.242488462805673e-08,7.277805257232516e-07,-2.1620556669584398e-07,-1.3448536917242958e-05,-0.0022209056262714588,-0.0022203287119731147,0.0,0.0,-3.5430141542293116e-07,7.674113569037966e-07,-2.1613264465602471e-07,-4.1489834931494716e-07,7.054665414757624e-07,-3.406708705736923e-07,1.037267474042992e-06,-7.15737290401389e-07,7.867826926733562e-07,1.075437274325783e-06,1.330251624912407,-0.7260023254256052,1.1947216818314494,0.9736730439989253,-3.517586944770252e-05,0.0038079654382354405,0.22791731297061885,1.330134435429074,-0.7269224536139903,1.1755090027075885,0.9545627007634903,-8.129645780714516e-05,-1.112383214182436e-05,0.2980101400594551,-6.876620382000655e-07,4.054458464478509e-07,-2.8365801071960547e-06,2.9711917551463452e-08,-9.633467570928223e-06,0.000501438474949855,-0.0006399784355473559,-3.2024561425595084e-05,-0.0007140730549697835,0.0001019394634671819,-0.00011351853700228053,-0.0004432306615187227,0.0004928208951016921,0.0,0.0,0.0,0.0,0.0,-1.0554201721718702e-08,0.0,0.0,0.0,0.0,2.864848295140129e-07,-6.862960046759866e-07,4.7247797909766955e-07,-5.784990231117644e-07,6.495717887464653e-07,-1.4598329067657877e-07,2.338667816073446e-06,-1.2482098408140322e-06,-3.23982265938414e-08,-2.9132618812445274e-07,-7.186298586120469e-07,-1.197987369820628e-10,2.2198475386969868e-12,-6.344406040762045e-11,9.85107391284547e-08,-2.45193794722557e-11,-3.672817835228452e-11,3.468721750824632e-08,1.4633301636076602e-07,0.0,0.0,0.0,0.0,0.0,0.0,-1.0749583597524975e-08,-1.1479736675401412e-08,-1.1479736675401412e-08,-1.033914210601368e-08,-1.0983131224710522e-08,-1.0983131224710522e-08,3.97118537575416e-07,-3.787606708949484e-07,-9.894730421010618e-09,0.0,0.0,0.0,-2.2080409002082385e-08,-5.564602879732137e-07,6.764223865593465e-08,-1.9233288134833812e-11,-4.464696637342027e-07,3.6566295433592066e-08,3.656629543363966e-08,0.0,1.8394389980394166e-08,3.5276141042281584e-07,0.0,9.687112226035677e-08,-2.1704357601871513e-07,4.05611999096319e-07,-3.317400977062825e-07,-9.895084291453516e-09,-4.305258873232149e-05,5.3335797416792074e-09,-4.360894109656659e-07,-9.559662805762523e-09,-3.0475809468554545e-06,1.087445860877497e-07,1.0875020795791096e-07,0.0,0.0,2.7758122857095895e-07,-5.123398636294648e-07,-9.498022879472693e-09,4.740166113727278e-07,-3.529299292198752e-07,3.2674102792261586e-07,-5.262846434340201e-07,4.779129773291887e-07,-4.092332944195229e-07,-5.169801750057785e-07,-0.0002121676006789779,0.00025437711405953706,1.4146894457769273e-05,0.0003497316377783199,-0.00021918180682303326,0.002020125247415632,-0.00020786726240921874,0.00026073117438553763,1.4456883031279579e-05,0.0004293834295476305,-0.0001898519918932872,0.0020180039275607582],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnMicrowave\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 9, "pretrain_task_id": 59, "retained_waypoint_count": 9, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Press the start button on the microwave.", "task_name": "TurnOnMicrowave", "video_available": true, "video_bytes": 177492, "video_relpath": "videos/compressed/59_TurnOnMicrowave.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260413/TurnOnSinkFaucet/20260413_t3_k21_c0c0d68bbf4d_TurnOnSinkFaucet_source-compressed.py\n# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/TurnOnSinkFaucet/20260413_t3_k21_c0c0d68bbf4d_TurnOnSinkFaucet_source-compressed.py; retained_waypoints=20; fingerprint=262b54f79155; keep_indices={0: [0, 1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20]}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnSinkFaucet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 124, 'stable_release_contact_loss_t': 124, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'primitive': 'moveJoint', 'target': [-0.010394, -1.037892, -0.03673, -2.285708, 0.053729, 1.548874, 0.707248], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.010536, -1.177327, -0.059084, -2.386805, 0.097252, 1.74994, 0.647908], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.024539, -1.432291, -0.179618, -2.860563, 0.149619, 2.311489, 0.400093], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [-0.000037, -1.375764, -0.173404, -2.997758, 0.21976, 2.621173, 0.332677], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.016836, -1.325251, -0.190016, -3.012921, 0.252469, 2.702231, 0.298482], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.198938, -1.00583, -0.298362, -2.942434, 0.445502, 2.993787, 0.0983], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.510897, -0.788587, -0.517607, -2.846142, 0.547271, 3.241694, -0.060227], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.821001, -0.705936, -0.849385, -2.795312, 0.2631, 3.445487, 0.070661], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [0.934163, -0.677363, -1.031639, -2.815191, 0.030701, 3.561157, 0.201606], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.140358, -0.593713, -1.351638, -2.775895, -0.317463, 3.723571, 0.415466], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.380875, -0.61921, -1.580102, -2.665122, -0.365053, 3.752548, 0.414801], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.553746, -0.792047, -1.657046, -2.593992, -0.16577, 3.752688, 0.116213], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.96015, -1.114507, -1.667375, -2.208601, 0.327295, 3.749435, -0.512787], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.941567, -1.146964, -1.665117, -2.194677, 0.331015, 3.75014, -0.517457], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.914705, -1.165278, -1.658984, -2.198459, 0.313177, 3.712613, -0.499173], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.819294, -1.20508, -1.653917, -2.20865, 0.230087, 3.488072, -0.428691], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.71189, -1.278399, -1.662097, -2.163893, 0.109579, 3.113291, -0.377677], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.693929, -1.300949, -1.663211, -2.146824, 0.085, 3.031405, -0.37549], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.65921, -1.416182, -1.657936, -2.033636, -0.01788, 2.63586, -0.380034], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},\n    {'primitive': 'moveJoint', 'target': [1.681096, -1.541396, -1.631142, -1.877309, -0.173151, 2.418099, -0.313787], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_single_waypoint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        primitive = payload.pop('primitive')\n        target = payload.pop('target')\n        if primitive == 'moveJoint':\n            moveJoint(target, **payload)\n        elif primitive == 'moveLinear':\n            moveLinear(target, **payload)\n        else:\n            raise ValueError(f'Unsupported sequence primitive: {primitive}')\n\nrun_single_waypoint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 5921, "code_num_lines": 45, "code_num_nonblank_lines": 40, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnSinkFaucet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnSinkFaucet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"counter_3_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[1.1762487250703468,-0.8102945478533408,0.0],\"lang\":\"Turn on the sink faucet.\",\"layout_id\":21,\"object_cfgs\":[{\"info\":{\"cat\":\"donut\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"donut\",\"sweets\",\"pastry\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_4/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_0\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.11961480026999996,0.12189832283999998,0.05081281112249998],\"ref\":\"sink_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.5415000000000001,-3.469446951953614e-17,0.46],\"size\":[1.217,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"waffle\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"waffle\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.11516254499999999,0.12279844999999999,0.0003388674999999999],\"ref\":\"sink_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.5415000000000001,-3.469446951953614e-17,0.46],\"size\":[1.217,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"tomato\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tomato\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_sink\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"sink_main_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.4]},\"reset_region\":{\"height\":0.07197232028597139,\"name\":\"basin_right\",\"offset\":[0.047256816820756484,-0.0004671400310335347,-0.1421234857516468],\"size\":[0.4434392364971912,0.17437074656821322]},\"type\":\"object\",\"washable\":true}],\"style_id\":49},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03396633267402649,\"qx\":0.026769232004880905,\"qy\":-0.9874199032783508,\"qz\":-0.15209193527698517,\"x\":1.180859965232967,\"y\":-0.5579215594921122,\"z\":1.2968567358269585},\"goal_pose\":{\"qw\":0.9866885640406509,\"qx\":-0.004479617917329467,\"qy\":0.0076532793121547186,\"qz\":0.16237930265426356,\"x\":1.903311044291528,\"y\":-0.4509403725798599,\"z\":0.9448287192236513},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnSinkFaucet\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnSinkFaucet\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnSinkFaucet\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_4_left_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_left_group\":{\"cls\":\"Counter\"},\"counter_3_left_group\":{\"cls\":\"Counter\"},\"counter_corner_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeSideBySide\"},\"hood_left_group\":{\"cls\":\"Hood\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_main_group\":{\"cls\":\"Sink\"},\"stack_1_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_island_group_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_2\":{\"cls\":\"Drawer\"},\"stack_2_left_group_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_2\":{\"cls\":\"Drawer\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_left_group_base\":{\"cls\":\"Box\"},\"stack_4_left_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_left_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_7_room\":{\"cls\":\"WallAccessory\"},\"wall_front_1_backing_room\":{\"cls\":\"Wall\"},\"wall_front_1_room\":{\"cls\":\"Wall\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"window_group_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[1.1762487250703468,-0.8102945478533408,0.0],\"lang\":\"Turn on the sink faucet.\",\"layout_id\":21,\"object_cfgs\":[{\"info\":{\"cat\":\"donut\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"donut\",\"sweets\",\"pastry\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_4/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_0\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.11961480026999996,0.12189832283999998,0.05081281112249998],\"ref\":\"sink_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.5415000000000001,-3.469446951953614e-17,0.46],\"size\":[1.217,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"waffle\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"waffle\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_1\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_main_group\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.11516254499999999,0.12279844999999999,0.0003388674999999999],\"ref\":\"sink_main_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.5415000000000001,-3.469446951953614e-17,0.46],\"size\":[1.217,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"tomato\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"tomato\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml\",\"split\":\"train\"},\"name\":\"distr_sink\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"sink_main_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.4]},\"reset_region\":{\"height\":0.07197232028597139,\"name\":\"basin_right\",\"offset\":[0.047256816820756484,-0.0004671400310335347,-0.1421234857516468],\"size\":[0.4434392364971912,0.17437074656821322]},\"type\":\"object\",\"washable\":true}],\"style_id\":49},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.03396633267402649,\"qx\":0.026769232004880905,\"qy\":-0.9874199032783508,\"qz\":-0.15209193527698517,\"x\":1.180859965232967,\"y\":-0.5579215594921122,\"z\":1.2968567358269585},\"goal_pose\":{\"qw\":0.9866885640406509,\"qx\":-0.004479617917329467,\"qy\":0.0076532793121547186,\"qz\":0.16237930265426356,\"x\":1.903311044291528,\"y\":-0.4509403725798599,\"z\":0.9448287192236513},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,8.823751336595969,-10.810294584142627,2.0018574271654245e-07,2.208042681061342e-08,-0.010220548386428628,-1.037335758989467,-0.03672726012519445,-2.2858122137527075,0.053731077912960314,1.5500035966509351,0.7072549599541694,0.02057074815942799,-0.02049581251078904,2.2341475054729152e-08,5.02224376376092e-07,0.0,0.0,0.0,-0.006047549662205169,-1.713725562683705e-05,0.0,0.0,0.0,-2.557466144010601e-16,0.0,-0.007051022085574689,-1.3829007200393818e-09,-0.00038628322799888416,-3.6381298861936944e-05,8.424547047733093e-08,1.7334181310287667e-08,-2.9541916343328173e-09,-2.346577585262735e-09,3.167059886890812e-08,4.753880059578288e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0462314925063955e-16,1.6150635814855852e-16,-1.0056670912584114e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2.055425969915983e-14,-1.0221815541298683e-16,0.0,1.6194234762031573e-16,7.215363004599523e-15,0.0,0.0,0.0,1.2327986938292849e-14,0.0,0.0,0.0,0.00022427191529230132,-9.322436035560945e-05,0.0,9.359251538398768e-10,1.0971776606219706e-09,3.9276358194049103e-10,0.0,0.0,-7.908608229565305e-16,3.48205913038602e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0100501357097666e-15,0.0,0.0,-5.371310158926476e-16,1.903311044291528,-0.4509403725798599,0.9448287192236513,0.9866885640406509,-0.004479617917329467,0.0076532793121547186,0.16237930265426356,1.8364162006830547,-0.33283174065594756,0.9201571372010706,0.9892618786915386,-2.8598477760787285e-06,1.647711050991695e-05,0.14615380627275548,1.271716720613863,-0.3423487517346089,0.8545693086262074,0.9378803888701064,-0.02128725396365395,0.1404794974113371,0.3165323676949997,-7.329245907389819e-07,4.361245118779596e-07,-3.020021520990797e-06,5.8312574796533575e-08,-9.389270534536192e-06,0.0005526345719861003,-0.0006672955324041183,-2.7104985786938705e-05,-0.000721437543047796,9.496840662999646e-05,-0.00011453371344493914,-0.00044469258446366074,0.0004913580620215583,4.546107536594079e-08,1.0219405904022227e-06,0.0,0.0,0.0,-4.445837072024074e-07,-3.0905951705932607e-07,0.0,0.0,0.0,-9.147684857169654e-18,0.0,-5.157073396462878e-07,-2.495817462154457e-11,-1.3197888794700066e-07,-6.481595406423296e-07,1.7142436566141326e-07,3.527193861794156e-08,-5.331635648379675e-11,-4.23503212457903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"is_source_compressed_policy_file": true, "motion_primitive_count": 20, "pretrain_task_id": 60, "retained_waypoint_count": 20, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn on the sink faucet.", "task_name": "TurnOnSinkFaucet", "video_available": true, "video_bytes": 289555, "video_relpath": "videos/compressed/60_TurnOnSinkFaucet.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 1, 1: 2, 2: 2, 3: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 225, 'stable_release_contact_loss_t': 225, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.016587, -1.03245, -0.033487, -2.302095, 0.069495, 1.565082, 0.702389], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n]\nMOTION_SEQUENCE_01 = [\n    {'target': [-0.383287, -1.762868, 2.001922, -2.251688, 0.12811, 2.661778, 2.74278], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.350822, -1.758242, 1.974394, -2.268553, 0.245644, 2.604012, 2.613543], 'input_type': 'joint', 'steps': 29, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.347013, -1.755158, 1.965812, -2.273512, 0.247874, 2.600035, 2.603183], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.524408, -1.595945, 1.914664, -2.066544, 0.296295, 2.238834, 1.452037], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\nmoveWholeBodyPath(body_waypoints=[pose(x=0.456683, y=-0.00189, z=1.290182, qw=-0.077625, qx=-0.678675, qy=-0.717932, qz=-0.133967), pose(x=0.457337, y=0.470413, z=0.789684, qw=-0.495663, qx=-0.525722, qy=-0.490791, qz=-0.486887)], base_waypoints=[[1.083884, -1.413561, -3.141593], [1.161814, -1.210844, -3.145773]], base_modes=[1.0, 1.0], torso_targets=[0.0, 0.000009], segment_steps=[4, 155], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=0.012624, base_position_gain=5.5, base_yaw_gain=3.417674, base_position_ff_gain=24.0, base_yaw_ff_gain=6.227239, base_ee_anchor_mix=0.35)\nrun_joint_sequence(MOTION_SEQUENCE_01)\n", "code_char_count": 3142, "code_num_lines": 28, "code_num_nonblank_lines": 23, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnStove\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnStove\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"box_1_main_group_1\":{\"cls\":\"Box\"},\"box_2_main_group_1\":{\"cls\":\"Box\"},\"box_left_group_1\":{\"cls\":\"Box\"},\"box_right_group_1\":{\"cls\":\"Box\"},\"cab_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"cab_3_left_group_1\":{\"cls\":\"OpenCabinet\"},\"cab_corner_main_group_1\":{\"cls\":\"Box\"},\"coffee_machine_main_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_left_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_corner_front_group_1\":{\"cls\":\"Counter\"},\"cube_front_group_1\":{\"cls\":\"Box\"},\"dining_front_group_1\":{\"cls\":\"Counter\"},\"dishwasher_1_main_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_1_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"fridge_1_right_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridge_top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hood_left_group_1\":{\"cls\":\"Hood\"},\"light_switch_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_right_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_main_group_1\":{\"cls\":\"Accessory\"},\"sink_1_main_group_1\":{\"cls\":\"Sink\"},\"stack_1_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_front_group_1_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"PanelCabinet\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_1_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_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on the rear left burner of the stove.\",\"layout_id\":13,\"object_cfgs\":[{\"info\":{\"cat\":\"kettle_non_electric\",\"groups\":[\"cookware\"],\"groups_containing_sampled_obj\":[\"all\",\"kettle_non_electric\",\"receptacle\",\"kettle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_2/model.xml\",\"split\":\"train\"},\"name\":\"cookware\",\"obj_groups\":\"cookware\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_left_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"sample_region_kwargs\":{\"locs\":[\"rear_left\"]},\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"rear_left\",\"offset\":[-0.2561933150178933,0.16063501550752776,0.47018691497155635],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"style_id\":56,\"task_refs\":{\"cookware_burner\":\"rear_left\",\"knob\":\"rear_left\"}},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.133970707654953,\"qx\":0.7179327607154846,\"qy\":-0.6786738634109497,\"qz\":-0.07762740552425385,\"x\":0.6271359064585477,\"y\":-1.411674713544352,\"z\":1.2901812395155738},\"goal_pose\":{\"qw\":0.9747868928411588,\"qx\":-5.050503829183771e-06,\"qy\":1.4976725479176118e-05,\"qz\":0.2231378795616538,\"x\":0.21247790105337194,\"y\":-1.6987528339152738,\"z\":1.046005874585604},\"object_pose\":{\"qw\":0.9745782489925534,\"qx\":-9.504224076655829e-05,\"qy\":-5.0440162874760565e-05,\"qz\":0.22404737225277088,\"x\":0.2124356402238381,\"y\":-1.6987798994375352,\"z\":1.045979141833473}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnStove\"}", 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1_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_front_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_1_base\":{\"cls\":\"Box\"},\"stack_4_front_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_front_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_front_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_front_group_1_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_1_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group_1\":{\"cls\":\"Stove\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_right_group_1\":{\"cls\":\"ToasterOven\"},\"top_right_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_6_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_backing_room\":{\"cls\":\"Wall\"},\"wall_main_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_1_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[0.8838175535099742,-1.413561137759072,0.0],\"lang\":\"Turn on the rear left burner of the stove.\",\"layout_id\":13,\"object_cfgs\":[{\"info\":{\"cat\":\"kettle_non_electric\",\"groups\":[\"cookware\"],\"groups_containing_sampled_obj\":[\"all\",\"kettle_non_electric\",\"receptacle\",\"kettle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_2/model.xml\",\"split\":\"train\"},\"name\":\"cookware\",\"obj_groups\":\"cookware\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_left_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"sample_region_kwargs\":{\"locs\":[\"rear_left\"]},\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"rear_left\",\"offset\":[-0.2561933150178933,0.16063501550752776,0.47018691497155635],\"size\":[0.1,0.1]},\"type\":\"object\"}],\"style_id\":56,\"task_refs\":{\"cookware_burner\":\"rear_left\",\"knob\":\"rear_left\"}},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.133970707654953,\"qx\":0.7179327607154846,\"qy\":-0.6786738634109497,\"qz\":-0.07762740552425385,\"x\":0.6271359064585477,\"y\":-1.411674713544352,\"z\":1.2901812395155738},\"goal_pose\":{\"qw\":0.9747868928411588,\"qx\":-5.050503829183771e-06,\"qy\":1.4976725479176118e-05,\"qz\":0.2231378795616538,\"x\":0.21247790105337194,\"y\":-1.6987528339152738,\"z\":1.046005874585604},\"object_pose\":{\"qw\":0.9745782489925534,\"qx\":-9.504224076655829e-05,\"qy\":-5.0440162874760565e-05,\"qz\":0.22404737225277088,\"x\":0.2124356402238381,\"y\":-1.6987798994375352,\"z\":1.045979141833473}},\"initial_state\":[0.5000000000000003,11.413561508917995,9.116182079572301,2.0871716205016662e-07,2.1624562285543548e-08,-0.01658841926688938,-1.03245028548365,-0.03348109679260536,-2.302106127698733,0.06950194677405533,1.565090339993217,0.7023893878474163,0.02057237911292952,-0.020494179773390696,6.3754497717667676e-09,-1.963015947078705e-09,-0.000365679349702904,-0.0003591140342649609,0.0,0.0,0.0,0.0,-0.004776108308744115,-0.004776107471450409,0.0029006556059081837,0.0,0.0,-2.296654134917891e-15,-2.2919052720146875e-15,-2.2919052720146875e-15,0.0,-2.265503504669407e-15,0.0,0.0,5.916629573529491e-06,7.8705682366494e-06,-0.007052449708673017,-4.0492367057644246e-09,-0.0002562469582773299,-2.4189490582706398e-05,5.918704202302607e-09,1.5514352369204935e-08,7.759625549995186e-09,-8.163520118992258e-09,-1.2269514526725832e-09,-3.950504243719333e-09,-3.4550987059512886e-10,-1.687483761656241e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.8043604173293074e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.375433947499848e-10,4.7014070797725064e-08,0.0,0.0,0.0,0.0,0.0,-1.278531599163199e-15,-1.278531599163199e-15,-1.2748763651427907e-15,-1.278531599163199e-15,-1.278531599163199e-15,-1.2748763651427907e-15,0.2124356402238381,-1.6987798994375352,1.045979141833473,0.9745782489925534,-9.504224076655829e-05,-5.0440162874760565e-05,0.22404737225277088,-6.34191978806871e-07,-1.8614373670666857e-07,-2.795803834435168e-06,3.210909598214865e-07,-8.676649722034281e-06,5.136103925941297e-06,-0.0006357356575577176,0.0011284799792031387,-0.0008056615279551291,-0.001068382618053825,-9.666275409008194e-05,-0.00043536033276011133,0.000500689120702898,1.297295523471347e-08,-3.547070994790073e-11,-2.1766456215630684e-08,-1.384378321323015e-07,0.0,0.0,0.0,0.0,-3.380270846897035e-07,-3.3802700770051876e-07,6.674659883542245e-05,0.0,0.0,-9.27947479096289e-17,-9.162553399811814e-17,-9.162553399811814e-17,0.0,-8.530338162446529e-17,0.0,0.0,1.2047241582308057e-05,1.6025741606859994e-05,-5.194400281721717e-07,-7.313462659474467e-11,-1.1557788478962304e-06,-4.3704979761087504e-07,1.2043498092411302e-08,3.156891546746022e-08,1.578944170288955e-08,-1.4744408538381983e-10,-2.2160383255500742e-11,-7.135138798928826e-11,-6.240370059006703e-12,-3.0478212324552392e-12,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.731441001338727e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.934599494172769e-06,-1.1514885974911627e-11,9.566517331125485e-08,0.0,0.0,0.0,0.0,0.0,-4.565836233263676e-17,-4.565836233263676e-17,-4.4852634332213785e-17,-4.565836233263676e-17,-4.565836233263676e-17,-4.4852634332213785e-17,0.001209232696649131,0.004930618352518252,-0.0003357456983404863,-0.04251154830165412,0.03533230556608489,0.00039650499597335083],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnStove\"}", "is_source_compressed_policy_file": true, "motion_primitive_count": 6, "pretrain_task_id": 61, "retained_waypoint_count": 7, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn on the rear left burner of the stove.", "task_name": "TurnOnStove", "video_available": true, "video_bytes": 702167, "video_relpath": "videos/compressed/61_TurnOnStove.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnToaster', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 67, 'stable_release_contact_loss_t': 67, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.016331, -1.025097, -0.021432, -2.290728, 0.043016, 1.505365, 0.691966], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.03281, -1.050083, -0.180173, -2.402744, -0.0574, 1.580714, 0.556161], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [-0.034353, -1.050145, -0.193185, -2.414374, -0.065619, 1.593589, 0.547264], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [-0.020094, -0.60318, -0.421768, -2.644608, 0.106026, 2.261053, 0.308079], 'input_type': 'joint', 'steps': 66, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2283, "code_num_lines": 23, "code_num_nonblank_lines": 18, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnToaster\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnToaster\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{},\"fixtures\":{\"bottom_right_group_1\":{\"cls\":\"Drawer\"},\"bottom_right_group_base\":{\"cls\":\"Box\"},\"box_island_group_1\":{\"cls\":\"Box\"},\"cab_1_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_4_main_group\":{\"cls\":\"SingleCabinet\"},\"cab_5_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_6_main_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_main_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"dishwasher_main_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"fridge_right_group\":{\"cls\":\"FridgeSideBySide\"},\"fridge_top_cabinet_right_group\":{\"cls\":\"HingeCabinet\"},\"hood_main_group\":{\"cls\":\"Hood\"},\"island_island_group_1\":{\"cls\":\"Counter\"},\"microwave_housing_right_group\":{\"cls\":\"HousingCabinet\"},\"microwave_right_group\":{\"cls\":\"Microwave\"},\"panel_box_1_island_group_1_1\":{\"cls\":\"PanelCabinet\"},\"panel_box_1_island_group_1_base\":{\"cls\":\"Box\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"plant_island_group_1\":{\"cls\":\"Accessory\"},\"sink_1_island_group_1\":{\"cls\":\"Sink\"},\"stack_1_island_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_island_group_1_base\":{\"cls\":\"Box\"},\"stack_1_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_2_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_1_base\":{\"cls\":\"Box\"},\"stack_2_island_group_2_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_island_group_2_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_island_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_3_island_group_1_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"Drawer\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"sta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{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnToasterOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 255, 'stable_release_contact_loss_t': 255, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [-0.013751, -1.037136, -0.048939, -2.290316, 0.037213, 1.527349, 0.69309], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.764294, -1.357733, -1.558137, -2.554502, 0.055178, 3.097487, -0.61929], 'input_type': 'joint', 'steps': 212, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.767454, -1.359725, -1.561284, -2.550908, 0.045636, 3.10129, -0.613447], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},\n    {'target': [0.725315, -1.400681, -1.522395, -2.519662, 0.251931, 2.930772, -0.007091], 'input_type': 'joint', 'steps': 56, 'settle_steps': 0, 'gripper': 1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 2334, "code_num_lines": 23, "code_num_nonblank_lines": 18, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnToasterOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnToasterOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"coffeemachine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"Drawer\"},\"stack_2_island_group_2\":{\"cls\":\"Drawer\"},\"stack_2_island_group_base\":{\"cls\":\"Box\"},\"stack_2_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_left_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_left_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_right_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_right_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_2_right_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_3_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_3_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_island_group_base\":{\"cls\":\"Box\"},\"stack_3_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_left_group_1_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_3\":{\"cls\":\"Drawer\"},\"stack_3_right_group_1_base\":{\"cls\":\"Box\"},\"stack_4_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_dining_area_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_1_stool_group_1\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_2_stool_group_1\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stool_3_stool_group_1\":{\"cls\":\"Stool\"},\"stovetop_left_group_1\":{\"cls\":\"Stovetop\"},\"toaster_main_group_1\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group_1\":{\"cls\":\"ToasterOven\"},\"top_left_group_1\":{\"cls\":\"HingeCabinet\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_main_2_backing_room\":{\"cls\":\"Wall\"},\"wall_main_2_room\":{\"cls\":\"Wall\"},\"wall_main_3_backing_room\":{\"cls\":\"Wall\"},\"wall_main_3_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"wall_right_2_backing_room\":{\"cls\":\"Wall\"},\"wall_right_2_room\":{\"cls\":\"Wall\"},\"wallaccessory.002_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory.003_room\":{\"cls\":\"WallAccessory\"},\"wallaccessory_room\":{\"cls\":\"WallAccessory\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,3.1415924507432367],\"init_robot_base_pos\":[0.796549634613392,-0.4683017706490519,0.0],\"lang\":\"Turn on the toaster oven by setting the timer.\",\"layout_id\":35,\"object_cfgs\":[],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.11938902735710144,\"qx\":0.7190533876419067,\"qy\":-0.6803078651428223,\"qz\":-0.07674296945333481,\"x\":0.5480154713928521,\"y\":-0.45568687653431916,\"z\":1.2911005994291682},\"goal_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnToasterOven\"}", "initial_scene_json": "{\"env_kwargs\":{\"clutter_mode\":0,\"controller_configs\":{\"body_parts\":{\"base\":{\"interpolation\":\"null\",\"type\":\"JOINT_VELOCITY\"},\"right\":{\"damping_ratio\":1,\"damping_ratio_limits\":[0,10],\"gripper\":{\"type\":\"GRIP\"},\"impedance_mode\":\"fixed\",\"input_max\":1,\"input_min\":-1,\"input_ref_frame\":\"base\",\"input_type\":\"delta\",\"interpolation\":null,\"kp\":150,\"kp_limits\":[0,300],\"orientation_limits\":null,\"output_max\":[0.05,0.05,0.05,0.5,0.5,0.5],\"output_min\":[-0.05,-0.05,-0.05,-0.5,-0.5,-0.5],\"position_limits\":null,\"ramp_ratio\":0.2,\"type\":\"OSC_POSE\",\"uncouple_pos_ori\":true},\"torso\":{\"interpolation\":\"null\",\"kp\":2000,\"type\":\"JOINT_POSITION\"}},\"composite_controller_specific_configs\":{\"body_part_ordering\":[\"right\",\"right_gripper\",\"base\",\"torso\"],\"left2arm_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"left_offset\":[0.0,0.0,0.0],\"right2arm_transform\":[[0,0.7071068,0.7071068,0],[1,0,0,0],[0,0.7071068,-0.7071068,0],[0,0,0,1]],\"right2finger_transform\":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],\"right_offset\":[-0.15,0.0,0.35]},\"type\":\"HYBRID_MOBILE_BASE\"},\"env_name\":\"TurnOnToasterOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnOnToasterOven\",\"ep_meta\":{\"cam_configs\":{\"robot0_agentview_center\":{\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.6,0.0,1.15],\"quat\":[0.636945903301239,0.3325185477733612,-0.3199238181114197,-0.6175596117973328]},\"robot0_agentview_left\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0.35,1.05],\"quat\":[0.55623853,0.29935253,-0.37678665,-0.6775092]},\"robot0_agentview_right\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,-0.35,1.05],\"quat\":[0.6775091886520386,0.3767866790294647,-0.2993525564670563,-0.55623859167099]},\"robot0_eye_in_hand\":{\"parent_body\":\"robot0_right_hand\",\"pos\":[0.05,0,0],\"quat\":[0,0.707107,0.707107,0]},\"robot0_frontview\":{\"camera_attribs\":{\"fovy\":\"60\"},\"parent_body\":\"mobilebase0_support\",\"pos\":[-0.5,0,0.95],\"quat\":[0.6088936924934387,0.3814677894115448,-0.3673907518386841,-0.5905545353889465]}},\"fixture_refs\":{\"toaster_oven\":\"toaster_oven_left_group_1\"},\"fixtures\":{\"bottom_left_group_1_1\":{\"cls\":\"Drawer\"},\"bottom_left_group_1_base\":{\"cls\":\"Box\"},\"box_1_main_group_1\":{\"cls\":\"Box\"},\"coffeemachine_left_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_island_group\":{\"cls\":\"Counter\"},\"counter_1_left_group_1\":{\"cls\":\"Counter\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_1_right_group_1\":{\"cls\":\"Counter\"},\"counter_2_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_main_group_1\":{\"cls\":\"Counter\"},\"cube_1_right_group_1\":{\"cls\":\"Box\"},\"cube_2_right_group_1\":{\"cls\":\"Box\"},\"cube_3_right_group_1\":{\"cls\":\"Box\"},\"dishwasher_1_right_group_1\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridgefrenchdoor_housing_main_group_1\":{\"cls\":\"HousingCabinet\"},\"fridgefrenchdoor_main_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"hingecabinet_1_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_left_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_left_group_1\":{\"cls\":\"HingeCabinet\"},\"knifeblock_main_group_1\":{\"cls\":\"Accessory\"},\"microwave_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"microwave_left_group_1\":{\"cls\":\"Microwave\"},\"oven_housing_left_group_1\":{\"cls\":\"HousingCabinet\"},\"oven_left_group_1\":{\"cls\":\"Oven\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"plant_island_group\":{\"cls\":\"Accessory\"},\"singlecabinet_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"sink_right_group_1\":{\"cls\":\"Sink\"},\"stack_1_dining_area_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_left_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_left_group_1_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1_1\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_2\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_3\":{\"cls\":\"Drawer\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_1_base\":{\"cls\":\"Box\"},\"stack_2_dining_area_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_dining_area_group_2\":{\"cls\":\"Drawer\"},\"stack_2_dining_area_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\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"is_source_compressed_policy_file": true, "motion_primitive_count": 4, "pretrain_task_id": 63, "retained_waypoint_count": 4, "sim_aggregate_success": true, "sim_saved_summary_success": true, "sim_success": true, "sim_success_source": "whole_body_ik_rerun", "sim_validation_matches_aggregate": true, "sim_validation_success": true, "source_split": "robocasa_pretrain_atomic_65", "task_description": "Turn on the toaster oven by setting the timer.", "task_name": "TurnOnToasterOven", "video_available": true, "video_bytes": 431509, "video_relpath": "videos/compressed/63_TurnOnToasterOven.mp4"}
{"code": "# Honest source-preserving motion compression candidate.\n# Source policy: /workspace/action2code/outputs/programs/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint.py\n# Compression note: target_retained_waypoints=2; actual_retained_waypoints=2; keep_counts={0: 2}\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene.json'\nPOLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnSinkSpout', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 87, 'stable_release_contact_loss_t': 87, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}\n\nMOTION_SEQUENCE_00 = [\n    {'target': [0.022622, -1.023282, -0.011191, -2.278173, 0.03325, 1.557661, 0.699607], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},\n    {'target': [0.198816, 0.200417, 0.411054, -1.7659, -0.793678, 3.086582, 2.286972], 'input_type': 'joint', 'steps': 101, 'settle_steps': 0, 'gripper': -1.0},\n]\n\ndef run_joint_sequence(sequence):\n    for item in sequence:\n        payload = dict(item)\n        target = payload.pop('target')\n        moveJoint(target, **payload)\n\nrun_joint_sequence(MOTION_SEQUENCE_00)\n", "code_char_count": 1949, "code_num_lines": 21, "code_num_nonblank_lines": 16, "compressed_candidate_available": true, "dataset_type": "compressed", "episode_index": 0, "final_code_state": "accepted_candidate", "initial_env_config_json": 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eft_group_2\":{\"cls\":\"Drawer\"},\"stack_4_left_group_3\":{\"cls\":\"Drawer\"},\"stack_4_left_group_base\":{\"cls\":\"Box\"},\"stack_4_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_right_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stove_left_group\":{\"cls\":\"Stove\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"toaster_right_group\":{\"cls\":\"Toaster\"},\"wall_accessory_1_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_2_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_3_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_4_room\":{\"cls\":\"WallAccessory\"},\"wall_accessory_5_room\":{\"cls\":\"WallAccessory\"},\"wall_left_1_backing_room\":{\"cls\":\"Wall\"},\"wall_left_1_room\":{\"cls\":\"Wall\"},\"wall_main_1_backing_room\":{\"cls\":\"Wall\"},\"wall_main_1_room\":{\"cls\":\"Wall\"},\"wall_right_1_backing_room\":{\"cls\":\"Wall\"},\"wall_right_1_room\":{\"cls\":\"Wall\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,-1.3435886114798734e-07],\"init_robot_base_pos\":[3.0350319627706157,-1.7146292291906637,0.0],\"lang\":\"Turn the sink spout to the left.\",\"layout_id\":30,\"object_cfgs\":[{\"info\":{\"cat\":\"avocado\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"avocado\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter_0\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_right_group\",\"offset\":[0.0,0.1],\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.052865963819999987,0.08099999999999999,0.052313077259999986],\"ref\":\"sink_right_group\"},\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[1.021342939065558,-3.469446951953614e-17,0.46],\"size\":[0.9523141218688842,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"yogurt\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"yogurt\",\"dairy\",\"packaged_food\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml\",\"split\":\"train\"},\"name\":\"distr_sink\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"sink_right_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.4]},\"reset_region\":{\"height\":0.13494754823873578,\"name\":\"basin\",\"offset\":[-0.06517741141494493,-0.024395080242305967,-0.22206354385833346],\"size\":[0.3445961465834447,0.39989720086417463]},\"type\":\"object\",\"washable\":true}],\"style_id\":44,\"task_refs\":{\"behavior\":\"left\",\"init_sink_mode\":\"off\"}},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.09590403735637665,\"qx\":0.6604631543159485,\"qy\":0.7352633476257324,\"qz\":0.11823201924562454,\"x\":3.292080779436204,\"y\":-1.7063713008857195,\"z\":1.297799680433906},\"goal_pose\":{\"qw\":0.44404035355125226,\"qx\":-0.014442946574712663,\"qy\":0.0476032780026298,\"qz\":-0.89462477812529,\"x\":3.5186116489329406,\"y\":-2.1546669920429196,\"z\":0.9453882559658895},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnSinkSpout\"}", 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