{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: AdjustToasterOvenTemperature\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_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': 'AdjustToasterOvenTemperature',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/AdjustToasterOvenTemperature/20260324_205246_adjust-toaster-oven-temperature_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 218,\n    'stable_release_contact_loss_t': 218,\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_005_JOINTS = [0.012989, -1.037815, -0.044813, -2.281597, 0.036483, 1.492026, 0.699067]  # t=5\nAPPROACH_007_JOINTS = [0.008926, -1.052557, -0.043478, -2.279893, 0.038946, 1.512731, 0.694177]  # t=7\nAPPROACH_010_JOINTS = [0.003073, -1.097143, -0.041167, -2.254531, 0.042880, 1.533194, 0.687269]  # t=10\nAPPROACH_014_JOINTS = [-0.004789, -1.163207, -0.046417, -2.209743, 0.039728, 1.542886, 0.680502]  # t=14\nAPPROACH_015_JOINTS = [-0.006716, -1.176217, -0.049005, -2.200451, 0.037569, 1.544991, 0.679759]  # t=15\nAPPROACH_016_JOINTS = [-0.008620, -1.187607, -0.052353, -2.192089, 0.034555, 1.546034, 0.679066]  # t=16\nAPPROACH_019_JOINTS = [-0.013469, -1.212716, -0.061581, -2.177650, 0.020731, 1.546201, 0.670348]  # t=19\nAPPROACH_020_JOINTS = [-0.014906, -1.218158, -0.060069, -2.178291, 0.014610, 1.547451, 0.668350]  # t=20\nAPPROACH_022_JOINTS = [-0.017479, -1.224564, -0.050641, -2.183509, -0.003773, 1.551264, 0.660396]  # t=22\nAPPROACH_025_JOINTS = [-0.020490, -1.231648, -0.032488, -2.195590, -0.036936, 1.555245, 0.642438]  # t=25\nAPPROACH_030_JOINTS = [-0.022696, -1.245345, -0.016003, -2.218720, -0.064576, 1.563816, 0.630069]  # t=30\nAPPROACH_031_JOINTS = [-0.022768, -1.247895, -0.016320, -2.222862, -0.065040, 1.565427, 0.630065]  # t=31\nAPPROACH_035_JOINTS = [-0.022617, -1.254463, -0.027442, -2.232202, -0.057827, 1.570988, 0.633224]  # t=35\nAPPROACH_036_JOINTS = [-0.022494, -1.255220, -0.034707, -2.233914, -0.051015, 1.570992, 0.635944]  # t=36\nAPPROACH_040_JOINTS = [-0.022354, -1.259906, -0.084809, -2.246838, -0.011856, 1.572537, 0.649069]  # t=40\nAPPROACH_045_JOINTS = [-0.024756, -1.261362, -0.163862, -2.258093, 0.047829, 1.580273, 0.683486]  # t=45\nAPPROACH_048_JOINTS = [-0.028204, -1.262897, -0.200171, -2.268658, 0.086708, 1.594394, 0.718827]  # t=48\nAPPROACH_050_JOINTS = [-0.030818, -1.263993, -0.217534, -2.279328, 0.114176, 1.613284, 0.744337]  # t=50\nAPPROACH_054_JOINTS = [-0.035024, -1.275906, -0.250411, -2.314199, 0.183209, 1.665597, 0.773561]  # t=54\nAPPROACH_055_JOINTS = [-0.036807, -1.285149, -0.258097, -2.329467, 0.200043, 1.682820, 0.775510]  # t=55\nAPPROACH_059_JOINTS = [-0.047385, -1.345816, -0.289525, -2.413921, 0.274677, 1.781508, 0.771968]  # t=59\nAPPROACH_060_JOINTS = [-0.050925, -1.364986, -0.297100, -2.439518, 0.292218, 1.808891, 0.768444]  # t=60\nAPPROACH_062_JOINTS = [-0.059200, -1.404259, -0.311519, -2.493823, 0.322795, 1.863979, 0.761404]  # t=62\nAPPROACH_065_JOINTS = [-0.070356, -1.437256, -0.313978, -2.571024, 0.355414, 1.954611, 0.766649]  # t=65\nAPPROACH_068_JOINTS = [-0.073008, -1.436670, -0.307942, -2.614760, 0.391613, 2.016507, 0.775690]  # t=68\nAPPROACH_070_JOINTS = [-0.071503, -1.424913, -0.308041, -2.630312, 0.421507, 2.047725, 0.784491]  # t=70\nAPPROACH_071_JOINTS = [-0.070470, -1.418833, -0.309099, -2.635256, 0.436360, 2.059619, 0.787582]  # t=71\nAPPROACH_075_JOINTS = [-0.064918, -1.393527, -0.316869, -2.646510, 0.497781, 2.098179, 0.793277]  # t=75\nAPPROACH_078_JOINTS = [-0.060336, -1.371610, -0.322472, -2.651034, 0.537143, 2.124501, 0.790954]  # t=78\nAPPROACH_080_JOINTS = [-0.055072, -1.350819, -0.322929, -2.652798, 0.566222, 2.147155, 0.786135]  # t=80\nAPPROACH_085_JOINTS = [-0.045108, -1.305089, -0.320326, -2.651730, 0.618164, 2.192895, 0.774302]  # t=85\nAPPROACH_090_JOINTS = [-0.042161, -1.269775, -0.306415, -2.650449, 0.638514, 2.242463, 0.774939]  # t=90\nAPPROACH_091_JOINTS = [-0.041922, -1.263133, -0.302716, -2.651136, 0.640342, 2.253101, 0.775968]  # t=91\nAPPROACH_094_JOINTS = [-0.040072, -1.239904, -0.289905, -2.657711, 0.647928, 2.295046, 0.777607]  # t=94\nAPPROACH_095_JOINTS = [-0.038266, -1.229336, -0.283945, -2.659314, 0.652833, 2.313525, 0.777563]  # t=95\nAPPROACH_100_JOINTS = [-0.024231, -1.168656, -0.253662, -2.659279, 0.682765, 2.405500, 0.775869]  # t=100\nAPPROACH_105_JOINTS = [-0.008119, -1.113776, -0.234213, -2.655185, 0.713707, 2.477814, 0.767512]  # t=105\nAPPROACH_110_JOINTS = [0.003404, -1.084575, -0.243232, -2.655126, 0.740386, 2.506722, 0.743668]  # t=110\nAPPROACH_114_JOINTS = [0.013841, -1.057703, -0.252348, -2.650169, 0.767999, 2.523578, 0.721345]  # t=114\nAPPROACH_115_JOINTS = [0.018051, -1.046395, -0.252552, -2.645484, 0.778853, 2.529595, 0.716154]  # t=115\nAPPROACH_120_JOINTS = [0.044646, -0.971610, -0.252916, -2.607351, 0.852450, 2.562291, 0.685968]  # t=120\nAPPROACH_125_JOINTS = [0.066330, -0.905868, -0.260838, -2.581321, 0.933590, 2.583201, 0.636252]  # t=125\nAPPROACH_130_JOINTS = [0.077975, -0.864074, -0.270201, -2.577812, 1.011348, 2.592865, 0.570868]  # t=130\nAPPROACH_135_JOINTS = [0.084895, -0.819839, -0.274917, -2.568137, 1.089440, 2.598356, 0.508040]  # t=135\nAPPROACH_140_JOINTS = [0.089183, -0.760009, -0.286081, -2.542191, 1.173861, 2.595440, 0.441360]  # t=140\nAPPROACH_145_JOINTS = [0.085562, -0.701888, -0.321274, -2.508347, 1.242293, 2.554590, 0.371698]  # t=145\nAPPROACH_146_JOINTS = [0.084122, -0.693698, -0.327046, -2.501124, 1.254601, 2.541625, 0.365348]  # t=146\nPRESS_148_JOINTS = [0.077815, -0.689390, -0.328066, -2.494870, 1.266948, 2.530465, 0.380088]  # t=148\nPRESS_150_JOINTS = [0.071016, -0.683711, -0.322996, -2.488810, 1.271833, 2.530597, 0.404051]  # t=150\nPRESS_151_JOINTS = [0.067738, -0.679919, -0.318695, -2.485457, 1.272947, 2.534402, 0.417696]  # t=151\nPRESS_152_JOINTS = [0.064454, -0.675996, -0.312893, -2.482329, 1.272455, 2.541114, 0.432911]  # t=152\nPRESS_153_JOINTS = [0.061163, -0.672422, -0.306111, -2.479706, 1.270599, 2.549445, 0.448770]  # t=153\nPRESS_154_JOINTS = [0.057925, -0.669568, -0.298818, -2.477907, 1.267095, 2.557851, 0.462750]  # t=154\nPRESS_156_JOINTS = [0.051970, -0.670054, -0.288331, -2.477978, 1.263110, 2.564425, 0.474401]  # t=156\nPRESS_158_JOINTS = [0.047452, -0.670693, -0.281637, -2.477230, 1.264899, 2.565441, 0.476954]  # t=158\nPRESS_160_JOINTS = [0.043794, -0.670914, -0.275667, -2.475594, 1.266962, 2.566278, 0.478957]  # t=160\nPRESS_162_JOINTS = [0.040662, -0.670889, -0.271500, -2.475006, 1.269147, 2.566925, 0.478689]  # t=162\nPRESS_164_JOINTS = [0.038258, -0.670891, -0.268744, -2.474927, 1.272534, 2.566901, 0.475150]  # t=164\nPRESS_166_JOINTS = [0.036344, -0.671103, -0.266336, -2.474957, 1.276881, 2.567280, 0.469786]  # t=166\nPRESS_168_JOINTS = [0.035120, -0.671903, -0.263727, -2.475326, 1.284956, 2.569273, 0.458778]  # t=168\nPRESS_170_JOINTS = [0.034530, -0.672879, -0.262524, -2.475661, 1.297852, 2.569687, 0.443509]  # t=170\nPRESS_172_JOINTS = [0.033644, -0.673291, -0.261224, -2.476004, 1.307101, 2.570030, 0.432046]  # t=172\nPRESS_174_JOINTS = [0.032643, -0.673662, -0.259753, -2.476369, 1.315051, 2.570595, 0.422189]  # t=174\nPRESS_176_JOINTS = [0.031644, -0.674217, -0.257886, -2.477074, 1.323857, 2.572452, 0.411946]  # t=176\nPRESS_178_JOINTS = [0.030250, -0.674441, -0.255909, -2.477439, 1.328582, 2.573768, 0.406879]  # t=178\nPRESS_180_JOINTS = [0.028615, -0.674280, -0.254425, -2.477364, 1.329289, 2.573480, 0.406559]  # t=180\nPRESS_182_JOINTS = [0.027173, -0.673986, -0.253676, -2.477216, 1.329791, 2.572116, 0.406570]  # t=182\nPRESS_184_JOINTS = [0.025879, -0.673572, -0.253471, -2.476983, 1.329992, 2.569884, 0.407067]  # t=184\nPRESS_186_JOINTS = [0.024205, -0.672720, -0.253239, -2.476188, 1.325715, 2.566822, 0.414620]  # t=186\nPRESS_188_JOINTS = [0.022381, -0.672116, -0.252199, -2.475697, 1.319429, 2.565873, 0.429094]  # t=188\nPRESS_190_JOINTS = [0.021157, -0.672313, -0.251965, -2.476116, 1.320062, 2.565466, 0.442392]  # t=190\nPRESS_192_JOINTS = [0.020551, -0.673212, -0.252038, -2.476872, 1.327309, 2.565846, 0.453429]  # t=192\nPRESS_193_JOINTS = [0.020297, -0.673815, -0.251839, -2.477440, 1.331773, 2.566724, 0.458997]  # t=193\nPRESS_194_JOINTS = [0.020094, -0.674446, -0.252672, -2.479780, 1.339640, 2.567757, 0.463663]  # t=194\nPRESS_196_JOINTS = [0.020310, -0.675737, -0.256868, -2.487340, 1.370172, 2.568923, 0.465121]  # t=196\nPRESS_198_JOINTS = [0.020518, -0.677727, -0.259320, -2.495813, 1.410113, 2.573032, 0.465632]  # t=198\nPRESS_200_JOINTS = [0.020352, -0.680911, -0.258472, -2.506416, 1.456040, 2.583715, 0.460740]  # t=200\nPRESS_202_JOINTS = [0.019671, -0.684428, -0.254159, -2.515686, 1.504272, 2.597973, 0.454088]  # t=202\nPRESS_204_JOINTS = [0.017568, -0.688539, -0.246276, -2.523291, 1.546224, 2.614679, 0.456591]  # t=204\nPRESS_205_JOINTS = [0.015930, -0.689821, -0.241496, -2.527012, 1.562447, 2.622991, 0.463575]  # t=205\nPRESS_206_JOINTS = [0.013979, -0.690897, -0.235504, -2.528106, 1.574128, 2.631330, 0.473680]  # t=206\nPRESS_208_JOINTS = [0.009098, -0.691865, -0.223714, -2.529199, 1.588336, 2.646635, 0.515468]  # t=208\nPRESS_210_JOINTS = [0.003387, -0.692573, -0.211036, -2.528499, 1.589416, 2.661150, 0.569882]  # t=210\nPRESS_212_JOINTS = [-0.002620, -0.693127, -0.198625, -2.527862, 1.582198, 2.674991, 0.633496]  # t=212\nPRESS_214_JOINTS = [-0.008687, -0.694420, -0.187680, -2.528673, 1.566280, 2.686827, 0.704134]  # t=214\nPRESS_215_JOINTS = [-0.011660, -0.695248, -0.182609, -2.529308, 1.554345, 2.692197, 0.743728]  # t=215\nPRESS_216_JOINTS = [-0.014528, -0.696150, -0.177909, -2.529827, 1.540442, 2.697059, 0.785395]  # t=216\nPRESS_218_JOINTS = [-0.019791, -0.698018, -0.169759, -2.531153, 1.508622, 2.705129, 0.872712]  # t=218\nPRESS_220_JOINTS = [-0.024157, -0.699856, -0.163240, -2.532603, 1.475743, 2.711477, 0.961111]  # t=220\nPRESS_222_JOINTS = [-0.027235, -0.702345, -0.158729, -2.535290, 1.449352, 2.716055, 1.041428]  # t=222\nPRESS_224_JOINTS = [-0.029169, -0.706017, -0.155780, -2.539564, 1.428416, 2.718234, 1.114298]  # t=224\nPRESS_226_JOINTS = [-0.030249, -0.708490, -0.153868, -2.543378, 1.410262, 2.718902, 1.184942]  # t=226\nPRESS_228_JOINTS = [-0.031071, -0.710188, -0.152106, -2.545745, 1.390436, 2.719588, 1.256346]  # t=228\nPRESS_230_JOINTS = [-0.031920, -0.711702, -0.150396, -2.547289, 1.367630, 2.720072, 1.328664]  # t=230\nPRESS_232_JOINTS = [-0.032340, -0.713048, -0.149447, -2.548075, 1.346997, 2.719860, 1.397032]  # t=232\nPRESS_233_JOINTS = [-0.032451, -0.714339, -0.148981, -2.548795, 1.337465, 2.719729, 1.430218]  # t=233\nAPPROACH_000_JOINTS = [0.020043, -1.015707, -0.043832, -2.277006, 0.034405, 1.495798, 0.714649]  # 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_005_JOINTS, input_type='joint', steps=4, 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_010_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_045_JOINTS, input_type='joint', steps=5, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_078_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_094_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_114_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_140_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_145_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_148_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=1, 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_160_JOINTS, input_type='joint', steps=2, 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_166_JOINTS, input_type='joint', steps=2, 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_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_194_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_196_JOINTS, input_type='joint', steps=2, 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_205_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_206_JOINTS, input_type='joint', steps=1, 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_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_216_JOINTS, input_type='joint', steps=1, 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_233_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 21631, "code_num_lines": 236, "code_num_nonblank_lines": 227, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 97, "pretrain_task_id": 0, "retained_waypoint_count": 97, "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": 442331, "video_relpath": "videos/raw_extracted/00_AdjustToasterOvenTemperature.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: AdjustWaterTemperature\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_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': 'AdjustWaterTemperature',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/AdjustWaterTemperature/20260324_205247_adjust-water-temperature_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 243,\n    'stable_release_contact_loss_t': 243,\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 = [0.002579, -1.034126, -0.027043, -2.282255, 0.033292, 1.538172, 0.689823]  # t=3\nAPPROACH_005_JOINTS = [0.003426, -1.054671, -0.031165, -2.303988, 0.042554, 1.550061, 0.646263]  # t=5\nAPPROACH_010_JOINTS = [0.008565, -1.150319, -0.078697, -2.423724, 0.119216, 1.674475, 0.486010]  # t=10\nAPPROACH_015_JOINTS = [0.013420, -1.221816, -0.158189, -2.528129, 0.231938, 1.763784, 0.342651]  # t=15\nAPPROACH_020_JOINTS = [0.021763, -1.215650, -0.220685, -2.573299, 0.339163, 1.821208, 0.217171]  # t=20\nAPPROACH_025_JOINTS = [0.034025, -1.191178, -0.287795, -2.617725, 0.462229, 1.910517, 0.044250]  # t=25\nAPPROACH_030_JOINTS = [0.061405, -1.124366, -0.345890, -2.644420, 0.628402, 1.986242, -0.150863]  # t=30\nAPPROACH_035_JOINTS = [0.092078, -1.038028, -0.400014, -2.648552, 0.788399, 2.012808, -0.349047]  # t=35\nAPPROACH_040_JOINTS = [0.114294, -0.941791, -0.433034, -2.626487, 0.901688, 2.007028, -0.481250]  # t=40\nAPPROACH_045_JOINTS = [0.130409, -0.833143, -0.436525, -2.577607, 0.982924, 2.009367, -0.555736]  # t=45\nAPPROACH_050_JOINTS = [0.139067, -0.725291, -0.430099, -2.516877, 1.039756, 2.007928, -0.610162]  # t=50\nAPPROACH_055_JOINTS = [0.140114, -0.625982, -0.429156, -2.480468, 1.100328, 2.008133, -0.694937]  # t=55\nAPPROACH_060_JOINTS = [0.138566, -0.521184, -0.427255, -2.460280, 1.188444, 2.014669, -0.826302]  # t=60\nAPPROACH_065_JOINTS = [0.130294, -0.418152, -0.420632, -2.437105, 1.282580, 2.001781, -0.968337]  # t=65\nAPPROACH_070_JOINTS = [0.109814, -0.328796, -0.415704, -2.411327, 1.326807, 1.935124, -1.071154]  # t=70\nAPPROACH_075_JOINTS = [0.084414, -0.229781, -0.408512, -2.376349, 1.336685, 1.842237, -1.167381]  # t=75\nAPPROACH_080_JOINTS = [0.057329, -0.091480, -0.389669, -2.293248, 1.347429, 1.752797, -1.233572]  # t=80\nAPPROACH_085_JOINTS = [0.019506, 0.007832, -0.360305, -2.213311, 1.382070, 1.700322, -1.276191]  # t=85\nAPPROACH_090_JOINTS = [-0.020946, 0.066347, -0.325069, -2.158385, 1.416200, 1.669690, -1.320249]  # t=90\nAPPROACH_095_JOINTS = [-0.049916, 0.127580, -0.270734, -2.103663, 1.453436, 1.677593, -1.350037]  # t=95\nAPPROACH_100_JOINTS = [-0.071341, 0.185556, -0.218289, -2.054202, 1.481600, 1.694951, -1.366978]  # t=100\nAPPROACH_105_JOINTS = [-0.088355, 0.239945, -0.177492, -2.016578, 1.498869, 1.706103, -1.394670]  # t=105\nAPPROACH_110_JOINTS = [-0.102428, 0.297823, -0.148215, -1.968424, 1.515487, 1.721161, -1.408444]  # t=110\nAPPROACH_115_JOINTS = [-0.114087, 0.360317, -0.124606, -1.897384, 1.526501, 1.734622, -1.402549]  # t=115\nAPPROACH_120_JOINTS = [-0.125145, 0.421686, -0.105031, -1.819442, 1.526281, 1.734735, -1.389294]  # t=120\nAPPROACH_125_JOINTS = [-0.135407, 0.482088, -0.085985, -1.745536, 1.518640, 1.728042, -1.383094]  # t=125\nAPPROACH_130_JOINTS = [-0.144177, 0.535995, -0.065405, -1.686871, 1.511571, 1.719268, -1.394415]  # t=130\nAPPROACH_135_JOINTS = [-0.150117, 0.579914, -0.044865, -1.634629, 1.511844, 1.722954, -1.389133]  # t=135\nAPPROACH_140_JOINTS = [-0.154371, 0.623310, -0.028059, -1.578385, 1.517213, 1.731344, -1.375148]  # t=140\nAPPROACH_145_JOINTS = [-0.158928, 0.668201, -0.018828, -1.528455, 1.516045, 1.735777, -1.369220]  # t=145\nAPPROACH_149_JOINTS = [-0.162852, 0.701914, -0.011546, -1.491858, 1.517448, 1.736603, -1.367123]  # t=149\nAPPROACH_150_JOINTS = [-0.164083, 0.708176, -0.009454, -1.484312, 1.518238, 1.733807, -1.366360]  # t=150\nPRESS_151_JOINTS = [-0.165905, 0.710240, -0.008409, -1.482600, 1.518828, 1.728433, -1.368270]  # t=151\nPRESS_152_JOINTS = [-0.167452, 0.711489, -0.006846, -1.482254, 1.520913, 1.725467, -1.370599]  # t=152\nPRESS_154_JOINTS = [-0.169948, 0.712965, -0.003220, -1.483139, 1.526830, 1.723046, -1.375498]  # t=154\nPRESS_156_JOINTS = [-0.171735, 0.713550, 0.000321, -1.485354, 1.533987, 1.722932, -1.380703]  # t=156\nPRESS_158_JOINTS = [-0.172820, 0.713822, 0.003134, -1.487741, 1.540905, 1.723314, -1.385620]  # t=158\nPRESS_160_JOINTS = [-0.173369, 0.714257, 0.005230, -1.489626, 1.547235, 1.723157, -1.390067]  # t=160\nPRESS_162_JOINTS = [-0.173636, 0.715212, 0.006341, -1.490251, 1.551656, 1.721287, -1.393610]  # t=162\nPRESS_164_JOINTS = [-0.173659, 0.716482, 0.006879, -1.490093, 1.554948, 1.718747, -1.396663]  # t=164\nPRESS_166_JOINTS = [-0.173744, 0.718154, 0.006853, -1.489072, 1.556935, 1.714579, -1.398911]  # t=166\nPRESS_168_JOINTS = [-0.173593, 0.721839, 0.007192, -1.484819, 1.554989, 1.706125, -1.399314]  # t=168\nPRESS_170_JOINTS = [-0.173571, 0.726967, 0.007090, -1.478002, 1.550091, 1.694823, -1.398912]  # t=170\nPRESS_172_JOINTS = [-0.173353, 0.732770, 0.007570, -1.469909, 1.543409, 1.683292, -1.398054]  # t=172\nPRESS_174_JOINTS = [-0.173504, 0.738388, 0.007742, -1.461632, 1.535894, 1.672124, -1.397077]  # t=174\nPRESS_176_JOINTS = [-0.173991, 0.743797, 0.007755, -1.453207, 1.527723, 1.661628, -1.395935]  # t=176\nPRESS_177_JOINTS = [-0.174445, 0.746402, 0.007635, -1.449070, 1.523723, 1.656460, -1.395313]  # t=177\nPRESS_178_JOINTS = [-0.175049, 0.748928, 0.007385, -1.444986, 1.520030, 1.651897, -1.394854]  # t=178\nPRESS_180_JOINTS = [-0.176570, 0.752957, 0.007194, -1.438614, 1.514062, 1.644396, -1.394828]  # t=180\nPRESS_181_JOINTS = [-0.177332, 0.754708, 0.007208, -1.435802, 1.511192, 1.641020, -1.394799]  # t=181\nPRESS_182_JOINTS = [-0.177939, 0.756495, 0.007526, -1.432964, 1.507819, 1.637196, -1.394626]  # t=182\nPRESS_184_JOINTS = [-0.177920, 0.761336, 0.010674, -1.425322, 1.499862, 1.630043, -1.393312]  # t=184\nPRESS_186_JOINTS = [-0.178325, 0.766248, 0.012900, -1.417097, 1.491016, 1.622096, -1.391599]  # t=186\nPRESS_188_JOINTS = [-0.178630, 0.771540, 0.015379, -1.408275, 1.481930, 1.613792, -1.389751]  # t=188\nPRESS_190_JOINTS = [-0.178989, 0.776937, 0.017809, -1.399309, 1.472961, 1.605498, -1.387919]  # t=190\nPRESS_192_JOINTS = [-0.179586, 0.782292, 0.019755, -1.390334, 1.464498, 1.597139, -1.386049]  # t=192\nPRESS_194_JOINTS = [-0.181247, 0.787352, 0.020006, -1.381616, 1.456928, 1.588191, -1.384100]  # t=194\nPRESS_195_JOINTS = [-0.182106, 0.789979, 0.020235, -1.377187, 1.453207, 1.583475, -1.383162]  # t=195\nPRESS_196_JOINTS = [-0.182752, 0.792878, 0.020829, -1.372300, 1.449100, 1.578520, -1.382142]  # t=196\nPRESS_198_JOINTS = [-0.184239, 0.799418, 0.021628, -1.360895, 1.439498, 1.566364, -1.379684]  # t=198\nPRESS_200_JOINTS = [-0.186381, 0.807690, 0.022198, -1.347014, 1.430414, 1.550306, -1.376642]  # t=200\nPRESS_202_JOINTS = [-0.188660, 0.818489, 0.024029, -1.330346, 1.422776, 1.530968, -1.375187]  # t=202\nPRESS_204_JOINTS = [-0.190977, 0.831562, 0.026445, -1.310645, 1.414334, 1.509599, -1.374668]  # t=204\nPRESS_206_JOINTS = [-0.193540, 0.846421, 0.029153, -1.287878, 1.405368, 1.486037, -1.372957]  # t=206\nPRESS_208_JOINTS = [-0.196262, 0.862831, 0.032126, -1.262277, 1.395721, 1.461433, -1.369193]  # t=208\nPRESS_210_JOINTS = [-0.199095, 0.880689, 0.035553, -1.234066, 1.385647, 1.436227, -1.364341]  # t=210\nPRESS_212_JOINTS = [-0.202281, 0.899655, 0.039306, -1.203859, 1.375892, 1.410295, -1.358852]  # t=212\nPRESS_214_JOINTS = [-0.205729, 0.919204, 0.043531, -1.172451, 1.366172, 1.383180, -1.353087]  # t=214\nPRESS_216_JOINTS = [-0.209182, 0.939929, 0.048134, -1.139865, 1.356021, 1.356740, -1.346568]  # t=216\nPRESS_218_JOINTS = [-0.212769, 0.961557, 0.053124, -1.105890, 1.346046, 1.330334, -1.338620]  # t=218\nPRESS_220_JOINTS = [-0.217746, 0.982571, 0.056551, -1.072060, 1.336441, 1.303275, -1.330525]  # t=220\nPRESS_222_JOINTS = [-0.221886, 1.000927, 0.061382, -1.042695, 1.327324, 1.281902, -1.323254]  # t=222\nPRESS_224_JOINTS = [-0.225506, 1.013512, 0.066369, -1.022147, 1.318808, 1.269065, -1.318585]  # t=224\nPRESS_226_JOINTS = [-0.228765, 1.022120, 0.070975, -1.007441, 1.310095, 1.260923, -1.315563]  # t=226\nPRESS_228_JOINTS = [-0.231705, 1.028556, 0.075322, -0.995971, 1.301740, 1.253951, -1.312171]  # t=228\nPRESS_230_JOINTS = [-0.233993, 1.034808, 0.079827, -0.984210, 1.294118, 1.247393, -1.307766]  # t=230\nPRESS_232_JOINTS = [-0.236319, 1.041623, 0.083710, -0.971721, 1.286210, 1.238176, -1.304515]  # t=232\nPRESS_234_JOINTS = [-0.238524, 1.048599, 0.087500, -0.958727, 1.277907, 1.228951, -1.301966]  # t=234\nPRESS_236_JOINTS = [-0.240810, 1.055307, 0.091570, -0.945742, 1.268361, 1.219851, -1.299767]  # t=236\nPRESS_238_JOINTS = [-0.243402, 1.060856, 0.096141, -0.934455, 1.257700, 1.211446, -1.298258]  # t=238\nPRESS_240_JOINTS = [-0.246475, 1.063709, 0.101550, -0.927228, 1.245350, 1.205451, -1.298070]  # t=240\nPRESS_242_JOINTS = [-0.249938, 1.063084, 0.107579, -0.925608, 1.232047, 1.202561, -1.299249]  # t=242\nPRESS_243_JOINTS = [-0.251729, 1.061501, 0.110564, -0.926915, 1.225317, 1.202118, -1.300596]  # t=243\nPRESS_244_JOINTS = [-0.253524, 1.059014, 0.113406, -0.929736, 1.218653, 1.202339, -1.302512]  # t=244\nPRESS_246_JOINTS = [-0.256964, 1.051151, 0.118455, -0.940099, 1.205514, 1.205074, -1.308256]  # t=246\nPRESS_248_JOINTS = [-0.260100, 1.039078, 0.122466, -0.957285, 1.192849, 1.211458, -1.316699]  # t=248\nPRESS_250_JOINTS = [-0.262818, 1.022281, 0.125388, -0.982035, 1.180637, 1.222306, -1.328100]  # t=250\nPRESS_252_JOINTS = [-0.265072, 1.000429, 0.127191, -1.014783, 1.169055, 1.238486, -1.342581]  # t=252\nPRESS_254_JOINTS = [-0.266769, 0.973421, 0.128013, -1.055484, 1.158144, 1.260974, -1.360107]  # t=254\nPRESS_256_JOINTS = [-0.267872, 0.941231, 0.128221, -1.104162, 1.148254, 1.290873, -1.380452]  # t=256\nPRESS_257_JOINTS = [-0.268292, 0.922993, 0.128362, -1.131819, 1.143728, 1.309224, -1.391797]  # t=257\nPRESS_258_JOINTS = [-0.268687, 0.903104, 0.128750, -1.161958, 1.139405, 1.330426, -1.404024]  # t=258\nAPPROACH_000_JOINTS = [0.002977, -1.030809, -0.026424, -2.277712, 0.029467, 1.539352, 0.705861]  # 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_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_140_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_145_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_149_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_150_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, 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_160_JOINTS, input_type='joint', steps=2, 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_166_JOINTS, input_type='joint', steps=2, 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_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=1, 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_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_182_JOINTS, input_type='joint', steps=1, 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_214_JOINTS, input_type='joint', steps=2, 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_243_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_244_JOINTS, input_type='joint', steps=1, 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_257_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_258_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 20732, "code_num_lines": 228, "code_num_nonblank_lines": 219, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 93, "pretrain_task_id": 1, "retained_waypoint_count": 93, "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": 388336, "video_relpath": "videos/raw_extracted/01_AdjustWaterTemperature.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CheesyBread\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_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': 'CheesyBread',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CheesyBread/20260324_205248_cheesy-bread_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 111,\n    'stable_release_contact_loss_t': 231,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=5.169349, y=-0.662852, z=0.949744, qw=0.964067, qx=-0.017605, qy=0.011163, qz=-0.264842)\nGOAL_RECEPTACLE_POSE = pose(x=5.439678, y=-0.436471, z=0.926729, qw=0.983943, qx=0.000013, qy=-0.000011, qz=0.178484)\n\nAPPROACH_002_JOINTS = [-0.000091, -1.039810, -0.054196, -2.264715, 0.036617, 1.506161, 0.688943]  # t=2\nAPPROACH_005_JOINTS = [-0.001362, -1.040509, -0.016642, -2.265938, 0.060486, 1.507775, 0.744880]  # t=5\nAPPROACH_010_JOINTS = [-0.008246, -1.048148, 0.114002, -2.265669, 0.100475, 1.512643, 0.992961]  # t=10\nAPPROACH_012_JOINTS = [-0.011501, -1.058717, 0.164858, -2.263344, 0.109968, 1.498274, 1.103529]  # t=12\nAPPROACH_015_JOINTS = [-0.016820, -1.080786, 0.205772, -2.269001, 0.109331, 1.438904, 1.231059]  # t=15\nAPPROACH_020_JOINTS = [-0.023063, -1.116313, 0.227149, -2.271685, 0.105518, 1.358652, 1.355074]  # t=20\nAPPROACH_025_JOINTS = [-0.021886, -1.161704, 0.242205, -2.294962, 0.145718, 1.285389, 1.429634]  # t=25\nAPPROACH_030_JOINTS = [-0.018044, -1.179245, 0.277180, -2.354412, 0.213634, 1.279597, 1.455871]  # t=30\nAPPROACH_035_JOINTS = [-0.010734, -1.195567, 0.305129, -2.426152, 0.265644, 1.304122, 1.452000]  # t=35\nAPPROACH_040_JOINTS = [-0.002761, -1.192962, 0.355808, -2.468931, 0.325333, 1.325563, 1.475914]  # t=40\nAPPROACH_045_JOINTS = [0.006831, -1.181742, 0.427716, -2.500359, 0.395519, 1.361340, 1.525282]  # t=45\nAPPROACH_048_JOINTS = [0.012938, -1.170032, 0.442554, -2.518790, 0.420620, 1.367963, 1.508513]  # t=48\nAPPROACH_050_JOINTS = [0.015358, -1.158799, 0.449724, -2.534990, 0.429672, 1.389770, 1.490520]  # t=50\nAPPROACH_055_JOINTS = [0.021693, -1.122705, 0.489526, -2.591404, 0.472493, 1.487708, 1.458950]  # t=55\nAPPROACH_060_JOINTS = [0.030104, -1.082017, 0.546739, -2.636894, 0.520879, 1.588478, 1.453605]  # t=60\nAPPROACH_063_JOINTS = [0.030518, -1.050171, 0.574107, -2.653856, 0.534448, 1.653677, 1.454865]  # t=63\nAPPROACH_065_JOINTS = [0.028270, -1.031042, 0.578305, -2.657073, 0.528039, 1.695057, 1.453434]  # t=65\nAPPROACH_070_JOINTS = [0.021664, -0.972512, 0.581641, -2.661522, 0.516543, 1.764164, 1.442604]  # t=70\nAPPROACH_073_JOINTS = [0.022571, -0.946659, 0.584151, -2.661238, 0.511993, 1.777816, 1.434185]  # t=73\nAPPROACH_075_JOINTS = [0.026076, -0.936985, 0.588210, -2.666858, 0.515272, 1.780109, 1.435213]  # t=75\nAPPROACH_080_JOINTS = [0.041275, -0.936135, 0.601745, -2.692276, 0.529884, 1.785603, 1.441990]  # t=80\nAPPROACH_085_JOINTS = [0.055891, -0.936968, 0.624076, -2.733745, 0.554631, 1.819224, 1.443098]  # t=85\nAPPROACH_086_JOINTS = [0.058053, -0.934668, 0.629584, -2.743400, 0.560954, 1.829674, 1.442200]  # t=86\nDESCEND_088_JOINTS = [0.061669, -0.928263, 0.640725, -2.761587, 0.573014, 1.852312, 1.439809]  # t=88\nDESCEND_090_JOINTS = [0.065018, -0.920869, 0.652676, -2.778624, 0.584440, 1.876801, 1.437819]  # t=90\nDESCEND_092_JOINTS = [0.068299, -0.912696, 0.664780, -2.794727, 0.595831, 1.901331, 1.435990]  # t=92\nDESCEND_094_JOINTS = [0.071420, -0.901879, 0.678803, -2.811877, 0.609204, 1.928387, 1.433856]  # t=94\nDESCEND_096_JOINTS = [0.073964, -0.885686, 0.695509, -2.831099, 0.626542, 1.958684, 1.429899]  # t=96\nDESCEND_098_JOINTS = [0.075696, -0.866839, 0.711592, -2.848387, 0.643302, 1.989350, 1.425217]  # t=98\nDESCEND_099_JOINTS = [0.076463, -0.858757, 0.717715, -2.854667, 0.649146, 2.002658, 1.423498]  # t=99\nDESCEND_100_JOINTS = [0.077341, -0.852492, 0.721832, -2.859022, 0.652801, 2.012766, 1.422565]  # t=100\nDESCEND_102_JOINTS = [0.079367, -0.844565, 0.724789, -2.863280, 0.655102, 2.024000, 1.422341]  # t=102\nDESCEND_104_JOINTS = [0.081441, -0.840573, 0.723800, -2.864255, 0.653977, 2.028016, 1.422957]  # t=104\nDESCEND_105_JOINTS = [0.082441, -0.839525, 0.722672, -2.864250, 0.652916, 2.028631, 1.423486]  # t=105\nDESCEND_106_JOINTS = [0.083409, -0.838677, 0.721588, -2.864250, 0.651941, 2.029128, 1.424010]  # t=106\nDESCEND_107_JOINTS = [0.084333, -0.837951, 0.720590, -2.864251, 0.651067, 2.029570, 1.424510]  # t=107\nDESCEND_108_JOINTS = [0.085205, -0.837316, 0.719680, -2.864253, 0.650279, 2.029970, 1.424981]  # t=108\nDESCEND_109_JOINTS = [0.086025, -0.836752, 0.718848, -2.864241, 0.649571, 2.030339, 1.425418]  # t=109\nGRASP_HOLD_111_JOINTS = [0.087492, -0.835723, 0.717407, -2.862739, 0.648414, 2.030981, 1.426721]  # t=111\nLIFT_112_JOINTS = [0.088090, -0.835227, 0.716777, -2.862376, 0.647681, 2.031166, 1.427317]  # t=112\nLIFT_113_JOINTS = [0.088668, -0.834869, 0.716281, -2.862333, 0.646995, 2.031693, 1.427793]  # t=113\nLIFT_114_JOINTS = [0.089267, -0.834737, 0.715939, -2.862357, 0.646352, 2.032523, 1.428264]  # t=114\nLIFT_115_JOINTS = [0.089464, -0.834951, 0.712341, -2.861228, 0.645247, 2.027025, 1.428672]  # t=115\nLIFT_116_JOINTS = [0.088194, -0.835735, 0.701745, -2.856075, 0.638460, 2.008410, 1.428340]  # t=116\nLIFT_117_JOINTS = [0.085718, -0.841412, 0.685597, -2.843358, 0.619392, 1.980899, 1.432864]  # t=117\nLIFT_118_JOINTS = [0.083550, -0.851089, 0.669262, -2.825954, 0.595312, 1.949399, 1.445374]  # t=118\nLIFT_119_JOINTS = [0.080832, -0.863655, 0.650789, -2.808723, 0.568069, 1.915376, 1.464637]  # t=119\nLIFT_120_JOINTS = [0.076551, -0.878029, 0.627647, -2.794064, 0.537165, 1.882834, 1.484731]  # t=120\nLIFT_121_JOINTS = [0.070891, -0.895286, 0.596102, -2.782730, 0.501570, 1.847051, 1.497266]  # t=121\nTRANSPORT_123_JOINTS = [0.056579, -0.928180, 0.523010, -2.772837, 0.427750, 1.787449, 1.498541]  # t=123\nTRANSPORT_125_JOINTS = [0.039549, -0.953811, 0.448292, -2.765124, 0.353289, 1.737723, 1.488056]  # t=125\nTRANSPORT_127_JOINTS = [0.018792, -0.965647, 0.375440, -2.762155, 0.286121, 1.703094, 1.486429]  # t=127\nTRANSPORT_129_JOINTS = [-0.006056, -0.954257, 0.309089, -2.760641, 0.223004, 1.690534, 1.493413]  # t=129\nTRANSPORT_131_JOINTS = [-0.029577, -0.925315, 0.252149, -2.742983, 0.166083, 1.692266, 1.488189]  # t=131\nTRANSPORT_133_JOINTS = [-0.047826, -0.899137, 0.200395, -2.707437, 0.117865, 1.684059, 1.467653]  # t=133\nTRANSPORT_135_JOINTS = [-0.062691, -0.861555, 0.158636, -2.679791, 0.082351, 1.702618, 1.453279]  # t=135\nTRANSPORT_137_JOINTS = [-0.070482, -0.813291, 0.140055, -2.656562, 0.071339, 1.728954, 1.458087]  # t=137\nTRANSPORT_139_JOINTS = [-0.073179, -0.773044, 0.135320, -2.631673, 0.069512, 1.736925, 1.477324]  # t=139\nTRANSPORT_140_JOINTS = [-0.074494, -0.753681, 0.132484, -2.619902, 0.066433, 1.743746, 1.487405]  # t=140\nTRANSPORT_141_JOINTS = [-0.077254, -0.730359, 0.126568, -2.608186, 0.061439, 1.759776, 1.503821]  # t=141\nTRANSPORT_143_JOINTS = [-0.083483, -0.672596, 0.112991, -2.583853, 0.051135, 1.806668, 1.539717]  # t=143\nTRANSPORT_145_JOINTS = [-0.085009, -0.613653, 0.109466, -2.555800, 0.046504, 1.865776, 1.560898]  # t=145\nTRANSPORT_147_JOINTS = [-0.083728, -0.570420, 0.108467, -2.532065, 0.042483, 1.915743, 1.566974]  # t=147\nTRANSPORT_149_JOINTS = [-0.081579, -0.542382, 0.106478, -2.516719, 0.039005, 1.957455, 1.570525]  # t=149\nTRANSPORT_151_JOINTS = [-0.078952, -0.523396, 0.104297, -2.507770, 0.036169, 1.994732, 1.573515]  # t=151\nTRANSPORT_153_JOINTS = [-0.076911, -0.507564, 0.099950, -2.505084, 0.031993, 2.033703, 1.574780]  # t=153\nTRANSPORT_155_JOINTS = [-0.076371, -0.496592, 0.089947, -2.508057, 0.024696, 2.064225, 1.571864]  # t=155\nTRANSPORT_157_JOINTS = [-0.076615, -0.489170, 0.075687, -2.512066, 0.016823, 2.096783, 1.564155]  # t=157\nTRANSPORT_159_JOINTS = [-0.077143, -0.480717, 0.059896, -2.515947, 0.009145, 2.128497, 1.554345]  # t=159\nPLACE_161_JOINTS = [-0.078251, -0.470146, 0.042039, -2.517862, 0.000928, 2.156068, 1.542375]  # t=161\nPLACE_163_JOINTS = [-0.078873, -0.457068, 0.025483, -2.516316, -0.005354, 2.182287, 1.530160]  # t=163\nPLACE_165_JOINTS = [-0.078497, -0.443894, 0.013159, -2.511584, -0.009337, 2.200616, 1.521180]  # t=165\nPLACE_167_JOINTS = [-0.076806, -0.431898, 0.006453, -2.505045, -0.010885, 2.208972, 1.516709]  # t=167\nPLACE_169_JOINTS = [-0.074383, -0.422162, 0.003827, -2.498241, -0.011581, 2.211486, 1.516624]  # t=169\nPLACE_171_JOINTS = [-0.072171, -0.414861, 0.001870, -2.493549, -0.012644, 2.209990, 1.517196]  # t=171\nPLACE_173_JOINTS = [-0.070215, -0.407296, 0.000264, -2.489769, -0.014133, 2.204379, 1.517997]  # t=173\nPLACE_175_JOINTS = [-0.068490, -0.397570, -0.001073, -2.486947, -0.016081, 2.196909, 1.519002]  # t=175\nPLACE_177_JOINTS = [-0.067070, -0.381469, -0.001668, -2.484885, -0.020757, 2.187716, 1.521618]  # t=177\nPLACE_179_JOINTS = [-0.065598, -0.363687, -0.001307, -2.480064, -0.027119, 2.175574, 1.525984]  # t=179\nPLACE_181_JOINTS = [-0.063595, -0.347746, 0.000640, -2.463549, -0.033273, 2.152727, 1.532160]  # t=181\nPLACE_183_JOINTS = [-0.061396, -0.329360, 0.002431, -2.441771, -0.037896, 2.125418, 1.537712]  # t=183\nPLACE_185_JOINTS = [-0.059206, -0.315042, 0.002534, -2.420535, -0.038443, 2.104751, 1.539927]  # t=185\nPLACE_187_JOINTS = [-0.057200, -0.305900, 0.002171, -2.407767, -0.038442, 2.093375, 1.541299]  # t=187\nPLACE_189_JOINTS = [-0.055463, -0.300140, 0.001420, -2.400263, -0.038495, 2.086941, 1.542155]  # t=189\nPLACE_191_JOINTS = [-0.053929, -0.296672, 0.000557, -2.395755, -0.038553, 2.083141, 1.542677]  # t=191\nPLACE_193_JOINTS = [-0.052588, -0.294379, -0.000343, -2.393140, -0.038653, 2.081182, 1.542996]  # t=193\nPLACE_195_JOINTS = [-0.051433, -0.292921, -0.001252, -2.391420, -0.038787, 2.079925, 1.543126]  # t=195\nPLACE_197_JOINTS = [-0.050433, -0.291251, -0.002090, -2.390773, -0.038900, 2.079878, 1.543166]  # t=197\nPLACE_199_JOINTS = [-0.049601, -0.286792, -0.002978, -2.394094, -0.039113, 2.084876, 1.543186]  # t=199\nPLACE_201_JOINTS = [-0.048686, -0.285790, -0.003297, -2.397466, -0.039056, 2.087887, 1.543408]  # t=201\nPLACE_202_JOINTS = [-0.048172, -0.286549, -0.003307, -2.398548, -0.039040, 2.087833, 1.543698]  # t=202\nPLACE_203_JOINTS = [-0.047737, -0.287930, -0.003393, -2.399749, -0.039042, 2.087105, 1.543903]  # t=203\nPLACE_205_JOINTS = [-0.047072, -0.290656, -0.003749, -2.401400, -0.039045, 2.087471, 1.543987]  # t=205\nPLACE_207_JOINTS = [-0.046591, -0.291853, -0.004146, -2.402582, -0.039050, 2.088820, 1.543992]  # t=207\nPLACE_209_JOINTS = [-0.046221, -0.292214, -0.004425, -2.402775, -0.039054, 2.088952, 1.543996]  # t=209\nPLACE_211_JOINTS = [-0.045933, -0.292299, -0.004630, -2.402770, -0.039057, 2.088952, 1.543999]  # t=211\nPLACE_213_JOINTS = [-0.045712, -0.292879, -0.004794, -2.403012, -0.039061, 2.088094, 1.544002]  # t=213\nPLACE_215_JOINTS = [-0.045571, -0.297409, -0.004995, -2.405261, -0.039066, 2.082957, 1.543999]  # t=215\nPLACE_217_JOINTS = [-0.043412, -0.302534, 0.001243, -2.407748, -0.034819, 2.080341, 1.547761]  # t=217\nPLACE_219_JOINTS = [-0.039696, -0.306201, 0.013497, -2.410445, -0.029149, 2.079032, 1.558790]  # t=219\nPLACE_221_JOINTS = [-0.035480, -0.312348, 0.028297, -2.414747, -0.022779, 2.074736, 1.572692]  # t=221\nPLACE_223_JOINTS = [-0.030752, -0.320417, 0.046032, -2.420645, -0.015071, 2.070154, 1.589258]  # t=223\nPLACE_225_JOINTS = [-0.026324, -0.329376, 0.064178, -2.427599, -0.007346, 2.063874, 1.606335]  # t=225\nPLACE_227_JOINTS = [-0.022568, -0.338885, 0.081243, -2.434993, 0.000483, 2.051593, 1.621682]  # t=227\nPLACE_229_JOINTS = [-0.020314, -0.352078, 0.094049, -2.442940, 0.006588, 2.027398, 1.633040]  # t=229\nPLACE_231_JOINTS = [-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193]  # t=231\nRELEASE_POSE_231_JOINTS = [-0.020222, -0.378319, 0.098434, -2.457637, 0.010321, 1.990529, 1.635193]  # t=231\nRETRACT_234_JOINTS = [-0.020094, -0.428989, 0.102865, -2.490941, 0.017079, 1.942488, 1.627963]  # t=234\nRETRACT_237_JOINTS = [-0.018746, -0.505455, 0.108985, -2.540737, 0.023509, 1.893845, 1.601203]  # t=237\nRETRACT_240_JOINTS = [-0.017638, -0.602460, 0.115347, -2.605550, 0.032217, 1.866991, 1.582188]  # t=240\nRETRACT_243_JOINTS = [-0.015414, -0.704197, 0.123529, -2.676495, 0.041523, 1.852375, 1.549222]  # t=243\nRETRACT_246_JOINTS = [-0.009352, -0.787643, 0.132864, -2.730204, 0.042220, 1.842434, 1.437432]  # t=246\nRETRACT_249_JOINTS = [-0.001932, -0.864709, 0.138756, -2.769649, 0.041601, 1.822660, 1.299024]  # t=249\nRETRACT_250_JOINTS = [0.000575, -0.886832, 0.139967, -2.780657, 0.041177, 1.819237, 1.250800]  # t=250\nRETRACT_252_JOINTS = [0.005152, -0.922065, 0.140792, -2.801047, 0.041372, 1.794930, 1.158271]  # t=252\nRETRACT_254_JOINTS = [0.008882, -0.948488, 0.141348, -2.812046, 0.039923, 1.777934, 1.076238]  # t=254\nRETRACT_255_JOINTS = [0.010941, -0.961850, 0.141712, -2.813454, 0.038237, 1.770151, 1.035460]  # t=255\nRETRACT_258_JOINTS = [0.020160, -0.999201, 0.137445, -2.806068, 0.034876, 1.749521, 0.878974]  # t=258\nRETRACT_261_JOINTS = [0.030145, -1.031051, 0.121841, -2.790528, 0.035955, 1.725998, 0.698561]  # t=261\nRETRACT_264_JOINTS = [0.034239, -1.072912, 0.095753, -2.774287, 0.045981, 1.695271, 0.581411]  # t=264\nRETRACT_267_JOINTS = [0.031577, -1.144591, 0.060928, -2.781196, 0.065103, 1.663704, 0.553198]  # t=267\nRETRACT_270_JOINTS = [0.030354, -1.240828, 0.041605, -2.803285, 0.076768, 1.627633, 0.541824]  # t=270\nRETRACT_273_JOINTS = [0.026090, -1.326692, 0.041261, -2.816196, 0.076756, 1.583559, 0.584392]  # t=273\nRETRACT_276_JOINTS = [0.017395, -1.388157, 0.051159, -2.829709, 0.076808, 1.554582, 0.689758]  # t=276\nRETRACT_277_JOINTS = [0.014311, -1.403579, 0.055986, -2.835074, 0.076825, 1.549260, 0.729387]  # t=277\nRETRACT_279_JOINTS = [0.008068, -1.421335, 0.066707, -2.845551, 0.076685, 1.538027, 0.810544]  # t=279\nRETRACT_282_JOINTS = [0.002528, -1.430688, 0.086103, -2.847098, 0.075299, 1.524598, 0.899135]  # t=282\nAPPROACH_000_JOINTS = [0.000540, -1.039431, -0.054396, -2.264717, 0.036371, 1.506583, 0.689183]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_063_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_073_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_096_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_111_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_111_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_203_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_231_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_231_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_231_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_234_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_237_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_240_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_243_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_246_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_249_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_250_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_252_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_254_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_255_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_258_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_261_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_264_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_267_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_270_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_273_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_276_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_277_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_279_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_282_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 28559, "code_num_lines": 325, "code_num_nonblank_lines": 310, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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,-0.25624828232185515,0.9461011316511255,0.9874274269033041,0.0009309853729006178,0.0036202709975846534,0.1580288059287269,-6.944677522373464e-07,4.428954777785892e-07,-2.8346665678587738e-06,6.077173718459905e-08,-9.593571294979927e-06,0.000558861177056254,-0.0006403266989535454,-2.8322802010497443e-05,-0.0007127560894953166,9.872734366368523e-05,-0.0001137812276295837,-0.00044759504645514275,0.0004884556776307834,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.134821020491845e-66,2.409661149879049e-68,1.6462368873619943e-21,2.482214952496322e-28,-5.972126752107396e-07,4.202151663053614e-09,5.370165876403011e-08,4.202151663022851e-09,5.3701658764076794e-08,7.277701256876052e-08,7.279340856309199e-08,4.7712559813664574e-08,-2.0183549842777758e-11,0.0,0.0,0.0,0.0,0.0,0.0,-1.2363614668864354e-17,-1.3352748509741583e-17,-1.3352748509741583e-17,-9.373824867996993e-18,-1.0060509781595965e-17,-1.0060509781595965e-17,0.0,0.0,-1.1222028615198751e-17,0.0,0.0,-4.717306500834532e-08,1.21463397123868e-05,-5.127547868622499e-07,6.962346267487187e-10,-1.0311303337443222e-07,-5.127547346704463e-07,-4.871065488329899e-12,-1.0311362036637729e-07,-2.2212737449091893e-06,-4.8617205987859126e-11,-4.5395623187555623e-11,0.0,4.546107536593426e-08,1.0219405904021926e-06,0.0,0.0,-9.296121494943535e-16,0.0,1.8157871266638586e-17,-2.5334279355108903e-17,-3.182283056183121e-36,0.0,0.0,-7.893417488803628e-17,8.067116300999107e-06,-5.26524948260064e-07,0.0,0.0,2.7417948297351465e-92,0.0,-6.47869228487817e-17,0.0,-1.8733299286246587e-60,2.8379914653353608e-14,0.0,2.7822280013998237e-37,6.479647745417581e-18,-4.350319176392539e-28,-0.0007246606150741409,0.0023174800940165036,-0.000187779924779346,-0.07682381855754117,-0.005439493251038825,-0.003021298462500422,-1.2953277538002663e-07,3.909638087882372e-07,0.00016578022455005759,-2.552930286351685e-05,4.054404761542186e-07,-3.413500977268881e-08,7.909773277546223e-07,7.618598777907676e-07,1.7456752835336283e-06,-3.57930481018632e-05,9.863945531806944e-06,-4.6293675458794486e-08,1.9732278973373785e-08,-1.7437440416956973e-07,1.6679175156783722e-06,6.794439811502572e-06,-1.3997373236644885e-06,5.156084615292892e-08],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 126, "pretrain_task_id": 2, "retained_waypoint_count": 126, "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": 406458, "video_relpath": "videos/raw_extracted/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 = '../../../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': '../../../artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseBlenderLid/20260324_205249_close-blender-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../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=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_306_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_308_JOINTS, input_type='joint', steps=2, settle_steps=0, 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\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": 38177, "code_num_lines": 410, "code_num_nonblank_lines": 400, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": "{\"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}},\"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": false, "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": "Close the lid blender by securely placing the lid on top.", "task_name": "CloseBlenderLid", "video_available": true, "video_bytes": 600823, "video_relpath": "videos/raw_extracted/03_CloseBlenderLid.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseCabinet\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_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': 'CloseCabinet',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseCabinet/20260324_205250_close-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 139,\n    'stable_release_contact_loss_t': 139,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=5.011535, y=-0.326828, z=1.466561, qw=0.924577, qx=-0.122572, qy=0.096919, qz=-0.347477)\nGOAL_RECEPTACLE_POSE = pose(x=4.633734, y=-0.543107, z=0.947956, qw=0.979094, qx=0.000001, qy=-0.000035, qz=-0.203411)\n\nAPPROACH_003_JOINTS = [-0.048599, -1.030665, -0.035566, -2.288837, 0.028148, 1.534844, 0.677663]  # t=3\nAPPROACH_005_JOINTS = [-0.046065, -1.064152, -0.039163, -2.290504, 0.026958, 1.524947, 0.677641]  # t=5\nAPPROACH_006_JOINTS = [-0.044946, -1.090841, -0.041405, -2.295427, 0.026443, 1.522175, 0.677529]  # t=6\nAPPROACH_009_JOINTS = [-0.043320, -1.209489, -0.046504, -2.326058, 0.024164, 1.517557, 0.684008]  # t=9\nAPPROACH_010_JOINTS = [-0.043520, -1.257886, -0.048177, -2.340378, 0.022316, 1.521012, 0.688592]  # t=10\nAPPROACH_012_JOINTS = [-0.044906, -1.364293, -0.050617, -2.371350, 0.017204, 1.530002, 0.701599]  # t=12\nAPPROACH_015_JOINTS = [-0.048803, -1.531898, -0.051343, -2.413772, 0.007084, 1.549605, 0.726955]  # t=15\nAPPROACH_018_JOINTS = [-0.055183, -1.685314, -0.052023, -2.442365, -0.015588, 1.576378, 0.761914]  # t=18\nAPPROACH_020_JOINTS = [-0.060396, -1.767920, -0.055536, -2.451065, -0.040618, 1.598403, 0.786772]  # t=20\nAPPROACH_021_JOINTS = [-0.063362, -1.764786, -0.058119, -2.425563, -0.054298, 1.602421, 0.798205]  # t=21\nAPPROACH_023_JOINTS = [-0.069680, -1.762997, -0.066862, -2.357809, -0.086901, 1.585125, 0.818307]  # t=23\nAPPROACH_024_JOINTS = [-0.072679, -1.762955, -0.073847, -2.323448, -0.105661, 1.576194, 0.826183]  # t=24\nAPPROACH_025_JOINTS = [-0.075517, -1.762941, -0.083158, -2.289831, -0.126348, 1.568780, 0.832209]  # t=25\nAPPROACH_027_JOINTS = [-0.080625, -1.762925, -0.107683, -2.226746, -0.171244, 1.558397, 0.838013]  # t=27\nAPPROACH_029_JOINTS = [-0.084970, -1.762899, -0.137944, -2.168332, -0.216429, 1.554888, 0.836099]  # t=29\nAPPROACH_030_JOINTS = [-0.086918, -1.762894, -0.155466, -2.140798, -0.239502, 1.553680, 0.831903]  # t=30\nAPPROACH_033_JOINTS = [-0.091662, -1.762867, -0.214793, -2.062117, -0.303173, 1.558535, 0.807792]  # t=33\nAPPROACH_036_JOINTS = [-0.094814, -1.762832, -0.279122, -1.993271, -0.352379, 1.577391, 0.772128]  # t=36\nAPPROACH_038_JOINTS = [-0.095843, -1.762807, -0.323314, -1.954906, -0.378951, 1.599288, 0.744472]  # t=38\nAPPROACH_039_JOINTS = [-0.095888, -1.761868, -0.345592, -1.939810, -0.391087, 1.612915, 0.730017]  # t=39\nAPPROACH_040_JOINTS = [-0.095412, -1.759158, -0.367988, -1.928007, -0.402050, 1.629141, 0.715423]  # t=40\nAPPROACH_041_JOINTS = [-0.094115, -1.754251, -0.390721, -1.919855, -0.410600, 1.647917, 0.700562]  # t=41\nAPPROACH_042_JOINTS = [-0.091974, -1.747389, -0.413964, -1.914407, -0.416299, 1.668957, 0.685272]  # t=42\nAPPROACH_045_JOINTS = [-0.083308, -1.721349, -0.486038, -1.898419, -0.421038, 1.738289, 0.636285]  # t=45\nAPPROACH_048_JOINTS = [-0.074022, -1.690365, -0.554341, -1.877596, -0.410382, 1.809636, 0.586886]  # t=48\nAPPROACH_051_JOINTS = [-0.069874, -1.662547, -0.603971, -1.857654, -0.382308, 1.864549, 0.547299]  # t=51\nAPPROACH_054_JOINTS = [-0.070534, -1.640486, -0.641032, -1.846479, -0.349631, 1.907762, 0.517543]  # t=54\nAPPROACH_055_JOINTS = [-0.070019, -1.631879, -0.653095, -1.845990, -0.339167, 1.924937, 0.508799]  # t=55\nAPPROACH_057_JOINTS = [-0.067719, -1.612300, -0.676737, -1.850660, -0.319354, 1.962880, 0.492573]  # t=57\nAPPROACH_060_JOINTS = [-0.063479, -1.580261, -0.705724, -1.867788, -0.289474, 2.027159, 0.475156]  # t=60\nPRESS_061_JOINTS = [-0.067237, -1.575684, -0.708743, -1.871965, -0.279959, 2.040413, 0.476829]  # t=61\nPRESS_062_JOINTS = [-0.071882, -1.572176, -0.709417, -1.878338, -0.270044, 2.051492, 0.479839]  # t=62\nPRESS_063_JOINTS = [-0.075973, -1.568191, -0.709288, -1.887618, -0.259539, 2.062922, 0.482342]  # t=63\nPRESS_064_JOINTS = [-0.077515, -1.561835, -0.711053, -1.901453, -0.247822, 2.077289, 0.482262]  # t=64\nPRESS_066_JOINTS = [-0.078516, -1.549204, -0.715303, -1.931337, -0.223354, 2.112503, 0.477698]  # t=66\nPRESS_067_JOINTS = [-0.078563, -1.543213, -0.717167, -1.947064, -0.211039, 2.132270, 0.473545]  # t=67\nPRESS_068_JOINTS = [-0.078204, -1.536968, -0.719015, -1.963427, -0.198706, 2.153919, 0.468696]  # t=68\nPRESS_070_JOINTS = [-0.076811, -1.523888, -0.721643, -1.996549, -0.174006, 2.201267, 0.457979]  # t=70\nPRESS_072_JOINTS = [-0.075872, -1.511589, -0.724936, -2.027264, -0.151458, 2.247356, 0.445294]  # t=72\nPRESS_074_JOINTS = [-0.079467, -1.510897, -0.729785, -2.033530, -0.127681, 2.264337, 0.425499]  # t=74\nPRESS_076_JOINTS = [-0.081421, -1.509356, -0.733459, -2.032480, -0.101311, 2.265002, 0.405207]  # t=76\nPRESS_077_JOINTS = [-0.082237, -1.508973, -0.734702, -2.031452, -0.087847, 2.262591, 0.395365]  # t=77\nPRESS_078_JOINTS = [-0.083022, -1.509241, -0.734849, -2.030961, -0.073736, 2.257614, 0.385233]  # t=78\nPRESS_080_JOINTS = [-0.082694, -1.513938, -0.731119, -2.031449, -0.036201, 2.234733, 0.358231]  # t=80\nPRESS_082_JOINTS = [-0.081789, -1.523185, -0.722311, -2.033344, 0.007852, 2.196181, 0.327655]  # t=82\nPRESS_083_JOINTS = [-0.081961, -1.529184, -0.716634, -2.035748, 0.029581, 2.174823, 0.313441]  # t=83\nPRESS_084_JOINTS = [-0.082617, -1.535874, -0.711135, -2.038130, 0.050362, 2.153191, 0.301055]  # t=84\nPRESS_086_JOINTS = [-0.084083, -1.549832, -0.698732, -2.045380, 0.091062, 2.110182, 0.279281]  # t=86\nPRESS_087_JOINTS = [-0.085135, -1.557199, -0.691820, -2.050437, 0.110339, 2.089722, 0.269564]  # t=87\nPRESS_088_JOINTS = [-0.086496, -1.564963, -0.684210, -2.056728, 0.129081, 2.069997, 0.260846]  # t=88\nPRESS_090_JOINTS = [-0.089802, -1.581166, -0.667267, -2.073086, 0.165510, 2.034421, 0.246476]  # t=90\nPRESS_092_JOINTS = [-0.093921, -1.598960, -0.646576, -2.095753, 0.202341, 2.003064, 0.235715]  # t=92\nPRESS_094_JOINTS = [-0.098473, -1.617880, -0.621897, -2.125348, 0.240346, 1.978472, 0.227647]  # t=94\nPRESS_096_JOINTS = [-0.102515, -1.635647, -0.592201, -2.160257, 0.280389, 1.962827, 0.222783]  # t=96\nPRESS_098_JOINTS = [-0.100666, -1.642842, -0.558340, -2.206860, 0.327868, 1.967355, 0.209644]  # t=98\nPRESS_100_JOINTS = [-0.097630, -1.650479, -0.522984, -2.253313, 0.377740, 1.977948, 0.192566]  # t=100\nPRESS_102_JOINTS = [-0.095038, -1.658683, -0.484306, -2.298063, 0.425644, 1.994636, 0.176836]  # t=102\nPRESS_104_JOINTS = [-0.088011, -1.656375, -0.446456, -2.345841, 0.473944, 2.025020, 0.152327]  # t=104\nPRESS_106_JOINTS = [-0.077128, -1.648004, -0.412831, -2.395124, 0.522246, 2.060882, 0.115437]  # t=106\nPRESS_108_JOINTS = [-0.065435, -1.640449, -0.384002, -2.443689, 0.566404, 2.092875, 0.072104]  # t=108\nPRESS_109_JOINTS = [-0.059292, -1.636401, -0.372410, -2.468765, 0.587070, 2.109686, 0.046903]  # t=109\nPRESS_110_JOINTS = [-0.053062, -1.632507, -0.362282, -2.492599, 0.606879, 2.125655, 0.020352]  # t=110\nPRESS_112_JOINTS = [-0.039902, -1.621760, -0.343641, -2.534633, 0.645367, 2.158201, -0.034986]  # t=112\nPRESS_114_JOINTS = [-0.024728, -1.600827, -0.322876, -2.563338, 0.684054, 2.194762, -0.090607]  # t=114\nPRESS_116_JOINTS = [-0.006922, -1.565662, -0.297039, -2.576438, 0.723352, 2.234961, -0.143900]  # t=116\nPRESS_118_JOINTS = [0.013722, -1.516878, -0.268913, -2.582268, 0.766464, 2.282300, -0.200351]  # t=118\nPRESS_120_JOINTS = [0.036568, -1.460779, -0.240024, -2.585544, 0.817156, 2.341422, -0.268187]  # t=120\nPRESS_122_JOINTS = [0.060450, -1.401468, -0.212454, -2.585762, 0.874212, 2.409406, -0.345861]  # t=122\nPRESS_124_JOINTS = [0.085437, -1.339010, -0.189987, -2.579663, 0.936763, 2.477970, -0.432562]  # t=124\nPRESS_126_JOINTS = [0.112464, -1.273251, -0.173097, -2.566434, 1.008812, 2.542795, -0.533999]  # t=126\nPRESS_128_JOINTS = [0.141016, -1.202954, -0.159320, -2.545503, 1.093339, 2.605538, -0.650871]  # t=128\nPRESS_130_JOINTS = [0.169405, -1.126503, -0.146833, -2.513162, 1.192147, 2.668431, -0.780380]  # t=130\nPRESS_132_JOINTS = [0.195305, -1.044262, -0.135890, -2.466428, 1.306959, 2.727706, -0.921371]  # t=132\nPRESS_134_JOINTS = [0.214888, -0.956644, -0.126190, -2.403412, 1.437056, 2.778521, -1.072083]  # t=134\nPRESS_136_JOINTS = [0.223255, -0.864942, -0.116910, -2.323944, 1.581631, 2.816408, -1.230279]  # t=136\nPRESS_138_JOINTS = [0.215426, -0.771147, -0.105669, -2.237604, 1.736061, 2.839715, -1.388948]  # t=138\nPRESS_139_JOINTS = [0.203893, -0.727745, -0.099711, -2.197006, 1.814588, 2.850112, -1.465855]  # t=139\nPRESS_140_JOINTS = [0.186648, -0.699960, -0.093982, -2.164745, 1.890431, 2.869738, -1.538872]  # t=140\nPRESS_142_JOINTS = [0.143571, -0.665939, -0.063061, -2.110626, 2.025686, 2.943885, -1.660997]  # t=142\nPRESS_143_JOINTS = [0.118344, -0.650107, -0.036213, -2.082704, 2.085186, 2.997480, -1.708154]  # t=143\nPRESS_144_JOINTS = [0.089650, -0.634596, 0.000832, -2.055321, 2.140708, 3.059725, -1.747523]  # t=144\nPRESS_146_JOINTS = [0.013968, -0.596887, 0.093994, -1.985106, 2.224037, 3.214258, -1.791736]  # t=146\nPRESS_148_JOINTS = [-0.078713, -0.547186, 0.220357, -1.904600, 2.205402, 3.411525, -1.736064]  # t=148\nPRESS_150_JOINTS = [-0.121399, -0.479901, 0.343376, -1.837870, 2.060439, 3.652197, -1.575843]  # t=150\nPRESS_151_JOINTS = [-0.120389, -0.437665, 0.389099, -1.810115, 1.980582, 3.770065, -1.490446]  # t=151\nPRESS_152_JOINTS = [-0.119781, -0.432952, 0.398707, -1.832166, 1.921900, 3.759981, -1.421019]  # t=152\nPRESS_153_JOINTS = [-0.115748, -0.448800, 0.399763, -1.867809, 1.872584, 3.753493, -1.358986]  # t=153\nPRESS_154_JOINTS = [-0.108936, -0.462565, 0.398288, -1.900048, 1.824847, 3.751859, -1.301264]  # t=154\nAPPROACH_000_JOINTS = [-0.050970, -1.019523, -0.033659, -2.290474, 0.029730, 1.546336, 0.676788]  # 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_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_064_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=1, 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_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_086_JOINTS, input_type='joint', steps=2, 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_108_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=1, 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_118_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_122_JOINTS, input_type='joint', steps=2, 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_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_140_JOINTS, input_type='joint', steps=1, 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_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_144_JOINTS, input_type='joint', steps=1, 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_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 19848, "code_num_lines": 220, "code_num_nonblank_lines": 211, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 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}},\"initial_state\":[0.5000000000000003,5.156937510161194,-10.988743075372119,2.1261331401018187e-07,2.043469605268088e-08,-0.05214614461446485,-1.0190970995260578,-0.03315550356240724,-2.290533667567664,0.030321602004568515,1.5471447014429143,0.6762651659318559,0.020558126880584622,-0.020508433729714046,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.023580275525336102,0.0,0.0,0.03382545769885247,1.4542365381452755,-5.914514606145859e-05,3.192042141662198e-08,-5.448785620130281e-10,4.2863687439719084e-08,1.2539402665168245e-08,-6.813095009513959e-10,-6.682939855423348e-10,-2.216699615098176e-10,0.0,0.0,0.0,0.0,0.0,0.0,-1.4698863252047855e-15,-1.4914978070103727e-15,-1.4914978070103727e-15,0.0,0.0,-1.7948047476822766e-16,0.0,0.0,0.0,-0.00020444045082972795,0.0,-2.442062296411121e-09,4.905555316345224e-08,0.0,0.0,0.0,0.0,0.0,-1.6067348277566337e-10,5.163977721807908e-07,-0.0003630060814117848,0.0,0.0,0.0,0.0,0.0,-0.007822585268125555,1.2430416362730111e-09,-0.0006579637753044965,0.0,-3.186203323663528e-14,0.0,0.0,-2.270863538791211e-14,0.0,-2.436508423977983e-14,-0.006247571618089152,-0.006247571618089152,-7.985989218308793e-06,0.0,0.0,5.011534572385686,-0.32682799739570045,1.4665607894567714,0.9245770409355701,-0.12257210995574534,0.09691850953586752,-0.3474768708060527,4.633733622037834,-0.5431066430451348,0.9479553911488543,0.9790935308997166,2.1333869835750028e-07,-3.4817277614379024e-05,-0.20341056152038597,4.826171955707923,-0.4963614227643704,0.9380044400130231,0.9968878626798056,0.020925174418713076,0.01964020112791392,0.07342335334818414,4.7034771485844,-0.47252092986962974,0.9579102777544333,0.9928049424845178,-0.0005128450662245864,-0.0006001536591006577,-0.11974023126684091,-7.499260129570191e-07,4.1666404517752734e-07,-3.084654768407995e-06,5.178983811811842e-08,-9.248609594336528e-06,0.0005441534140159967,-0.0006623473126530214,-2.8188749507491612e-05,-0.0007307685432437589,0.00010528018895401066,-0.00011378986855316113,-0.0004637874027474975,0.0004722633398114659,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0255213995027008,0.0,0.0,0.03252165544660448,0.0,-6.528975466966058e-07,6.495231164883621e-08,-9.841221591544431e-12,8.72198882274902e-08,2.5515427791072168e-08,-1.2305342974029111e-11,-1.2070266211276503e-11,-4.003650409591213e-12,0.0,0.0,0.0,0.0,0.0,0.0,-6.001890486602137e-17,-6.51769180985257e-17,-6.51769180985257e-17,0.0,0.0,-7.667533332050815e-18,0.0,0.0,0.0,-2.067144075720235e-06,-1.855265698265126e-06,-4.410684869172171e-11,9.981922392686872e-08,0.0,0.0,0.0,0.0,0.0,-3.269430727052675e-10,1.0507811978495675e-06,-6.847702795448325e-08,0.0,0.0,0.0,0.0,0.0,-5.630659993218168e-07,2.5293660671520903e-09,3.232782177186616e-13,0.0,-1.0498402450755937e-15,0.0,0.0,-8.978162186296545e-16,0.0,-8.028190109401566e-16,-4.630883105699204e-07,-4.630883105699204e-07,-1.446392047405752e-07,0.0,0.0,0.02710090566310381,-0.017048777458352843,-0.004330034197612481,-0.18631825745499492,1.0062793362229774,0.3043449415920242,-8.042911722926557e-08,1.0668304529708816e-08,2.402271330461363e-06,7.854999140732006e-07,-2.7437143657099957e-06,6.487516670946219e-10,0.002820701806138188,8.57931855439275e-05,-0.0012318904983034831,0.01897668585034757,0.15345377383955663,-0.006463377663598236,6.36191061620772e-05,-0.00025757943538597035,-8.175851321010614e-05,0.004952257444256024,0.000458238510063677,-0.0026413445409755806],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 89, "pretrain_task_id": 4, "retained_waypoint_count": 89, "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": 486525, "video_relpath": "videos/raw_extracted/04_CloseCabinet.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseDishwasher\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_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': 'CloseDishwasher',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseDishwasher/20260324_205251_close-dishwasher_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 127,\n    'stable_release_contact_loss_t': 127,\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=4.114777, y=-3.028331, z=0.938904, qw=0.672271, qx=0.001090, qy=-0.003958, qz=-0.740293)\n\nAPPROACH_003_JOINTS = [-0.030889, -1.032442, -0.023810, -2.281348, 0.040262, 1.525696, 0.703331]  # t=3\nAPPROACH_004_JOINTS = [-0.028273, -1.042804, -0.012382, -2.289096, 0.049210, 1.511163, 0.704340]  # t=4\nAPPROACH_005_JOINTS = [-0.024855, -1.063976, 0.004752, -2.299761, 0.058241, 1.488392, 0.703226]  # t=5\nAPPROACH_008_JOINTS = [-0.010066, -1.167524, 0.093954, -2.354893, 0.077520, 1.430933, 0.694916]  # t=8\nAPPROACH_011_JOINTS = [0.012827, -1.283309, 0.217862, -2.403589, 0.089359, 1.370973, 0.664359]  # t=11\nAPPROACH_012_JOINTS = [0.022327, -1.318693, 0.264128, -2.417441, 0.094911, 1.353463, 0.650666]  # t=12\nAPPROACH_013_JOINTS = [0.032814, -1.352679, 0.314012, -2.431437, 0.099801, 1.340618, 0.636336]  # t=13\nAPPROACH_015_JOINTS = [0.057075, -1.417473, 0.422652, -2.461699, 0.113277, 1.331976, 0.611399]  # t=15\nAPPROACH_016_JOINTS = [0.071282, -1.449016, 0.480823, -2.477999, 0.123316, 1.335410, 0.601969]  # t=16\nAPPROACH_019_JOINTS = [0.128762, -1.549152, 0.668876, -2.514187, 0.166154, 1.343976, 0.581188]  # t=19\nAPPROACH_020_JOINTS = [0.153747, -1.582416, 0.730911, -2.514952, 0.184378, 1.336586, 0.570746]  # t=20\nAPPROACH_024_JOINTS = [0.257666, -1.667653, 0.931830, -2.471557, 0.264089, 1.297687, 0.513829]  # t=24\nAPPROACH_025_JOINTS = [0.282528, -1.677931, 0.982392, -2.454431, 0.281629, 1.292296, 0.504920]  # t=25\nAPPROACH_028_JOINTS = [0.353452, -1.692525, 1.158674, -2.395489, 0.321378, 1.299636, 0.516197]  # t=28\nAPPROACH_032_JOINTS = [0.418568, -1.655507, 1.371159, -2.307717, 0.355721, 1.358909, 0.583742]  # t=32\nAPPROACH_033_JOINTS = [0.426462, -1.636364, 1.412563, -2.280080, 0.356990, 1.377449, 0.603956]  # t=33\nAPPROACH_036_JOINTS = [0.425455, -1.566533, 1.499850, -2.205039, 0.347626, 1.438439, 0.669250]  # t=36\nAPPROACH_037_JOINTS = [0.420249, -1.542442, 1.518055, -2.189673, 0.340445, 1.456650, 0.691649]  # t=37\nAPPROACH_040_JOINTS = [0.396120, -1.474092, 1.564253, -2.171072, 0.326439, 1.516616, 0.747765]  # t=40\nAPPROACH_041_JOINTS = [0.385164, -1.454353, 1.582848, -2.166988, 0.323460, 1.538613, 0.765949]  # t=41\nAPPROACH_043_JOINTS = [0.359239, -1.420497, 1.627762, -2.157826, 0.321428, 1.583875, 0.805584]  # t=43\nAPPROACH_044_JOINTS = [0.344480, -1.406364, 1.653306, -2.152627, 0.322448, 1.607073, 0.826795]  # t=44\nAPPROACH_048_JOINTS = [0.273293, -1.370267, 1.767942, -2.125451, 0.334948, 1.705362, 0.911268]  # t=48\nAPPROACH_052_JOINTS = [0.178654, -1.372743, 1.881305, -2.073777, 0.350761, 1.808932, 0.971628]  # t=52\nAPPROACH_056_JOINTS = [0.065998, -1.419289, 1.978751, -1.982973, 0.366918, 1.900748, 0.981028]  # t=56\nAPPROACH_060_JOINTS = [-0.044417, -1.504906, 2.047934, -1.859793, 0.394181, 1.950136, 0.982877]  # t=60\nAPPROACH_064_JOINTS = [-0.153363, -1.625303, 2.085317, -1.700700, 0.431582, 1.966872, 0.974220]  # t=64\nAPPROACH_068_JOINTS = [-0.248465, -1.758033, 2.090510, -1.535592, 0.493244, 1.956015, 0.988539]  # t=68\nAPPROACH_069_JOINTS = [-0.270205, -1.765617, 2.094505, -1.508226, 0.498712, 1.951689, 0.992940]  # t=69\nAPPROACH_071_JOINTS = [-0.314666, -1.763098, 2.114848, -1.488341, 0.487448, 1.974100, 0.999770]  # t=71\nAPPROACH_072_JOINTS = [-0.334195, -1.763070, 2.126264, -1.487857, 0.481624, 1.993927, 1.001319]  # t=72\nAPPROACH_074_JOINTS = [-0.367919, -1.763062, 2.147812, -1.502445, 0.474951, 2.045719, 0.998753]  # t=74\nAPPROACH_076_JOINTS = [-0.393205, -1.763045, 2.163690, -1.532871, 0.469247, 2.103317, 0.990996]  # t=76\nAPPROACH_077_JOINTS = [-0.394605, -1.760988, 2.166996, -1.544261, 0.460522, 2.119502, 0.994391]  # t=77\nPRESS_097_JOINTS = [-0.508868, -1.763029, 2.175690, -1.581536, -0.088738, 1.996153, 1.234629]  # t=97\nPRESS_113_JOINTS = [-0.641419, -1.763005, 2.026597, -1.709427, 0.136935, 2.158503, 1.063324]  # t=113\nPRESS_126_JOINTS = [-0.919682, -1.763041, 1.937925, -1.647116, 0.220034, 2.281735, 0.993140]  # t=126\nPRESS_142_JOINTS = [-0.923130, -1.763044, 1.940382, -1.713145, 0.284160, 2.432413, 1.141539]  # t=142\nAPPROACH_000_JOINTS = [-0.033497, -1.029915, -0.032503, -2.275192, 0.032116, 1.529353, 0.699408]  # 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_008_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=1, 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_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, 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_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_037_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=4, 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_056_JOINTS, input_type='joint', steps=4, 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_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=20, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=16, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=13, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_142_JOINTS, input_type='joint', steps=16, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 10024, "code_num_lines": 120, "code_num_nonblank_lines": 111, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 74, "pretrain_task_id": 5, "retained_waypoint_count": 74, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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": "Close the dishwasher door.", "task_name": "CloseDishwasher", "video_available": true, "video_bytes": 287037, "video_relpath": "videos/raw_extracted/05_CloseDishwasher.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_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': 'CloseDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseDrawer/20260324_205252_close-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 187,\n    'stable_release_contact_loss_t': 187,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.311485, y=-2.844140, z=0.736255, qw=0.721490, qx=0.000163, qy=0.000158, qz=0.692425)\nGOAL_RECEPTACLE_POSE = pose(x=2.329933, y=-2.667122, z=0.947955, qw=0.713318, qx=-0.000014, qy=-0.000014, qz=-0.700840)\n\nAPPROACH_005_JOINTS = [-0.039742, -1.041528, -0.034553, -2.295304, 0.052049, 1.549461, 0.705016]  # t=5\nAPPROACH_010_JOINTS = [-0.033970, -1.042708, -0.037854, -2.294979, 0.047958, 1.547045, 0.707716]  # t=10\nAPPROACH_013_JOINTS = [-0.034276, -1.070706, -0.062246, -2.292772, 0.028010, 1.528809, 0.694407]  # t=13\nAPPROACH_015_JOINTS = [-0.036334, -1.106662, -0.091743, -2.299021, 0.006514, 1.515731, 0.673678]  # t=15\nAPPROACH_019_JOINTS = [-0.043817, -1.184590, -0.167365, -2.317359, -0.049195, 1.492914, 0.617234]  # t=19\nAPPROACH_020_JOINTS = [-0.046345, -1.203545, -0.188683, -2.321062, -0.064900, 1.486788, 0.601110]  # t=20\nAPPROACH_025_JOINTS = [-0.062011, -1.288312, -0.300840, -2.327318, -0.141164, 1.450957, 0.517428]  # t=25\nAPPROACH_026_JOINTS = [-0.065741, -1.303451, -0.322923, -2.326122, -0.155750, 1.441076, 0.500689]  # t=26\nAPPROACH_030_JOINTS = [-0.080542, -1.351213, -0.397952, -2.314296, -0.207904, 1.399299, 0.440245]  # t=30\nAPPROACH_031_JOINTS = [-0.083833, -1.359302, -0.412807, -2.310590, -0.219153, 1.390596, 0.426972]  # t=31\nAPPROACH_035_JOINTS = [-0.092153, -1.361647, -0.460667, -2.288540, -0.263164, 1.349019, 0.389069]  # t=35\nAPPROACH_040_JOINTS = [-0.096074, -1.333140, -0.504584, -2.237781, -0.324901, 1.278818, 0.344482]  # t=40\nAPPROACH_045_JOINTS = [-0.097208, -1.307960, -0.553008, -2.195287, -0.374743, 1.236108, 0.291181]  # t=45\nAPPROACH_049_JOINTS = [-0.106198, -1.317799, -0.601570, -2.183221, -0.416635, 1.211241, 0.242481]  # t=49\nAPPROACH_050_JOINTS = [-0.109509, -1.323383, -0.613875, -2.182844, -0.426603, 1.205782, 0.230733]  # t=50\nAPPROACH_053_JOINTS = [-0.120243, -1.341238, -0.646494, -2.179446, -0.446314, 1.187910, 0.202657]  # t=53\nAPPROACH_055_JOINTS = [-0.125056, -1.347596, -0.656626, -2.175159, -0.444407, 1.179635, 0.193221]  # t=55\nAPPROACH_058_JOINTS = [-0.128702, -1.349233, -0.659163, -2.178414, -0.444064, 1.180622, 0.189273]  # t=58\nAPPROACH_060_JOINTS = [-0.134015, -1.358716, -0.682628, -2.188375, -0.444235, 1.179162, 0.185608]  # t=60\nAPPROACH_065_JOINTS = [-0.169284, -1.437572, -0.797091, -2.248757, -0.439054, 1.216045, 0.147161]  # t=65\nAPPROACH_070_JOINTS = [-0.227281, -1.526157, -0.934918, -2.304468, -0.435050, 1.243807, 0.108931]  # t=70\nAPPROACH_073_JOINTS = [-0.256885, -1.547246, -1.000411, -2.324068, -0.437039, 1.250663, 0.094244]  # t=73\nAPPROACH_075_JOINTS = [-0.271949, -1.547885, -1.032443, -2.332637, -0.435464, 1.257091, 0.087852]  # t=75\nAPPROACH_076_JOINTS = [-0.277952, -1.545000, -1.046375, -2.334261, -0.433088, 1.259879, 0.085084]  # t=76\nAPPROACH_080_JOINTS = [-0.292642, -1.519221, -1.094043, -2.328440, -0.417590, 1.271000, 0.070023]  # t=80\nAPPROACH_081_JOINTS = [-0.293904, -1.509860, -1.102892, -2.325686, -0.412132, 1.274253, 0.066895]  # t=81\nAPPROACH_085_JOINTS = [-0.293053, -1.466871, -1.136831, -2.296548, -0.394913, 1.279453, 0.052682]  # t=85\nAPPROACH_089_JOINTS = [-0.287506, -1.424371, -1.189329, -2.245929, -0.394365, 1.273467, 0.034495]  # t=89\nAPPROACH_090_JOINTS = [-0.285509, -1.414757, -1.204772, -2.235121, -0.396293, 1.272124, 0.029265]  # t=90\nAPPROACH_095_JOINTS = [-0.272979, -1.374573, -1.281108, -2.177713, -0.405620, 1.261364, -0.007838]  # t=95\nAPPROACH_098_JOINTS = [-0.257162, -1.351660, -1.312948, -2.155055, -0.391661, 1.253137, -0.012377]  # t=98\nAPPROACH_100_JOINTS = [-0.245119, -1.338098, -1.337317, -2.145639, -0.385719, 1.250873, -0.011765]  # t=100\nAPPROACH_105_JOINTS = [-0.220409, -1.313805, -1.382866, -2.125812, -0.370709, 1.242842, -0.016710]  # t=105\nAPPROACH_107_JOINTS = [-0.214917, -1.312803, -1.400928, -2.118181, -0.351000, 1.245856, -0.035573]  # t=107\nAPPROACH_110_JOINTS = [-0.211695, -1.322474, -1.455112, -2.116098, -0.323233, 1.264917, -0.090119]  # t=110\nAPPROACH_112_JOINTS = [-0.211906, -1.331127, -1.493360, -2.117019, -0.300902, 1.281806, -0.126955]  # t=112\nAPPROACH_115_JOINTS = [-0.212129, -1.341766, -1.544403, -2.126072, -0.266332, 1.314008, -0.167033]  # t=115\nAPPROACH_116_JOINTS = [-0.212198, -1.343712, -1.558317, -2.130325, -0.257001, 1.324032, -0.175281]  # t=116\nAPPROACH_120_JOINTS = [-0.210631, -1.337848, -1.581310, -2.140875, -0.229825, 1.338656, -0.166201]  # t=120\nAPPROACH_125_JOINTS = [-0.192293, -1.325223, -1.592219, -2.178004, -0.197565, 1.383430, -0.130556]  # t=125\nAPPROACH_126_JOINTS = [-0.186248, -1.322612, -1.593934, -2.191411, -0.192162, 1.401675, -0.122974]  # t=126\nAPPROACH_130_JOINTS = [-0.157606, -1.311228, -1.606956, -2.254873, -0.174454, 1.494956, -0.100613]  # t=130\nAPPROACH_135_JOINTS = [-0.116390, -1.290792, -1.625770, -2.325213, -0.152076, 1.610178, -0.086534]  # t=135\nAPPROACH_137_JOINTS = [-0.099415, -1.280985, -1.633904, -2.344376, -0.142141, 1.645496, -0.083967]  # t=137\nAPPROACH_139_JOINTS = [-0.084922, -1.270489, -1.645380, -2.353026, -0.134157, 1.667522, -0.084164]  # t=139\nAPPROACH_140_JOINTS = [-0.078875, -1.265314, -1.653893, -2.350665, -0.131389, 1.672321, -0.085735]  # t=140\nAPPROACH_141_JOINTS = [-0.072752, -1.260590, -1.664125, -2.345045, -0.128459, 1.673796, -0.087177]  # t=141\nAPPROACH_145_JOINTS = [-0.052955, -1.248685, -1.725623, -2.283375, -0.129882, 1.641803, -0.104841]  # t=145\nAPPROACH_148_JOINTS = [-0.029282, -1.254762, -1.769280, -2.245108, -0.133771, 1.636991, -0.111685]  # t=148\nAPPROACH_150_JOINTS = [-0.010727, -1.264791, -1.791984, -2.225665, -0.137227, 1.641322, -0.108317]  # t=150\nAPPROACH_151_JOINTS = [-0.001403, -1.271303, -1.803940, -2.217706, -0.140766, 1.645687, -0.105932]  # t=151\nAPPROACH_155_JOINTS = [0.043712, -1.308765, -1.849795, -2.210681, -0.163259, 1.698526, -0.093139]  # t=155\nAPPROACH_156_JOINTS = [0.056092, -1.319850, -1.861798, -2.211544, -0.171178, 1.717519, -0.089355]  # t=156\nAPPROACH_160_JOINTS = [0.104162, -1.367943, -1.923408, -2.209494, -0.219466, 1.794157, -0.092264]  # t=160\nAPPROACH_161_JOINTS = [0.116239, -1.381079, -1.936879, -2.209445, -0.230057, 1.813805, -0.092393]  # t=161\nAPPROACH_165_JOINTS = [0.171541, -1.438175, -1.976877, -2.218775, -0.267922, 1.913610, -0.077537]  # t=165\nAPPROACH_170_JOINTS = [0.267922, -1.524428, -2.022584, -2.234719, -0.323894, 2.088276, -0.039964]  # t=170\nAPPROACH_175_JOINTS = [0.380047, -1.613588, -2.055438, -2.228000, -0.381330, 2.258943, 0.007404]  # t=175\nAPPROACH_180_JOINTS = [0.502380, -1.706796, -2.080257, -2.196632, -0.442385, 2.419339, 0.055086]  # t=180\nAPPROACH_185_JOINTS = [0.649303, -1.763089, -2.085852, -2.164521, -0.486498, 2.600300, 0.115132]  # t=185\nAPPROACH_186_JOINTS = [0.685192, -1.762989, -2.085032, -2.161813, -0.486479, 2.646008, 0.128285]  # t=186\nAPPROACH_187_JOINTS = [0.709178, -1.759594, -2.085705, -2.156204, -0.485063, 2.673549, 0.130848]  # t=187\nPRESS_188_JOINTS = [0.718518, -1.757533, -2.083977, -2.151078, -0.479340, 2.672702, 0.120546]  # t=188\nPRESS_189_JOINTS = [0.722492, -1.761372, -2.079552, -2.138779, -0.473374, 2.647868, 0.106631]  # t=189\nPRESS_190_JOINTS = [0.725849, -1.763469, -2.072322, -2.119186, -0.468146, 2.600578, 0.094876]  # t=190\nPRESS_191_JOINTS = [0.728696, -1.762943, -2.063537, -2.093851, -0.462716, 2.537912, 0.086960]  # t=191\nPRESS_192_JOINTS = [0.733489, -1.763011, -2.054667, -2.063948, -0.454115, 2.476034, 0.085730]  # t=192\nPRESS_193_JOINTS = [0.740913, -1.762965, -2.045893, -2.035325, -0.442932, 2.432758, 0.086841]  # t=193\nPRESS_194_JOINTS = [0.746314, -1.762876, -2.037657, -2.012032, -0.434313, 2.400872, 0.086652]  # t=194\nPRESS_195_JOINTS = [0.747661, -1.762853, -2.030811, -1.993125, -0.427575, 2.371936, 0.086564]  # t=195\nPRESS_196_JOINTS = [0.743610, -1.762270, -2.026093, -1.978435, -0.421148, 2.340847, 0.087867]  # t=196\nPRESS_197_JOINTS = [0.734646, -1.761900, -2.023079, -1.966954, -0.415907, 2.308967, 0.089589]  # t=197\nPRESS_198_JOINTS = [0.722538, -1.762023, -2.021212, -1.957966, -0.412323, 2.278501, 0.090924]  # t=198\nPRESS_199_JOINTS = [0.705420, -1.761721, -2.019269, -1.951792, -0.406963, 2.245664, 0.088781]  # t=199\nPRESS_200_JOINTS = [0.684015, -1.761431, -2.016548, -1.948414, -0.398907, 2.212372, 0.082220]  # t=200\nAPPROACH_000_JOINTS = [-0.044247, -1.041620, -0.032867, -2.295311, 0.054272, 1.549349, 0.702722]  # 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_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_049_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_058_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_073_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_089_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_098_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_145_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_148_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_155_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_156_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_160_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_165_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_170_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_175_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_180_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_185_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_190_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_192_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_194_JOINTS, input_type='joint', steps=1, 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_197_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_198_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_199_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_200_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 17545, "code_num_lines": 194, "code_num_nonblank_lines": 185, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"},\"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\":[0.0,0.0,3.1415921820563995],\"init_robot_base_pos\":[3.6443478993598126,-3.3564615762376304,0.0],\"lang\":\"Close the right drawer.\",\"layout_id\":35,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"measuring_cup\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"measuring_cup\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup007/model.xml\",\"split\":\"train\"},\"max_size\":[null,null,0.1],\"name\":\"drawer_obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_3_dining_area_group_2\",\"pos\":[null,-0.75],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.16,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.065],\"size\":[0.47800000000000004,0.51]},\"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_island_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.342302,0.055938,0.055938],\"ref\":\"stack_3_dining_area_group_2\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.30000073810650374,0.0,0.46],\"size\":[1.1999985237869926,1.3]},\"type\":\"object\"}],\"style_id\":49},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12709441781044006,\"qx\":0.7082141637802124,\"qy\":-0.6892920732498169,\"qz\":-0.08459354192018509,\"x\":3.393215680296754,\"y\":-3.3448946992939055,\"z\":1.2932736162076284},\"goal_pose\":{\"qw\":0.7133181646453742,\"qx\":-1.4092690347072247e-05,\"qy\":-1.4091602989935469e-05,\"qz\":-0.7008403495731241,\"x\":2.329932628787934,\"y\":-2.667122192203645,\"z\":0.9479550567285825},\"object_pose\":{\"qw\":0.7214897215650175,\"qx\":0.0001633172015912889,\"qy\":0.00015815181002727926,\"qz\":0.6924251078575429,\"x\":3.3114845440743466,\"y\":-2.8441399376967356,\"z\":0.7362552818233469}},\"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\"}", "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\":\"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\"},\"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\":[0.0,0.0,3.1415921820563995],\"init_robot_base_pos\":[3.6443478993598126,-3.3564615762376304,0.0],\"lang\":\"Close the right drawer.\",\"layout_id\":35,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"measuring_cup\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"measuring_cup\",\"tool\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup007/model.xml\",\"split\":\"train\"},\"max_size\":[null,null,0.1],\"name\":\"drawer_obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"stack_3_dining_area_group_2\",\"pos\":[null,-0.75],\"size\":[0.3,0.3]},\"reset_region\":{\"height\":0.16,\"name\":\"int\",\"offset\":[0.0,-0.015000000000000013,-0.065],\"size\":[0.47800000000000004,0.51]},\"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_island_group\",\"offset\":[0.0,0.1],\"pos\":[null,-1.0],\"sample_region_kwargs\":{\"min_size\":[0.342302,0.055938,0.055938],\"ref\":\"stack_3_dining_area_group_2\"},\"size\":[1.0,0.5]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.30000073810650374,0.0,0.46],\"size\":[1.1999985237869926,1.3]},\"type\":\"object\"}],\"style_id\":49},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12709441781044006,\"qx\":0.7082141637802124,\"qy\":-0.6892920732498169,\"qz\":-0.08459354192018509,\"x\":3.393215680296754,\"y\":-3.3448946992939055,\"z\":1.2932736162076284},\"goal_pose\":{\"qw\":0.7133181646453742,\"qx\":-1.4092690347072247e-05,\"qy\":-1.4091602989935469e-05,\"qz\":-0.7008403495731241,\"x\":2.329932628787934,\"y\":-2.667122192203645,\"z\":0.9479550567285825},\"object_pose\":{\"qw\":0.7214897215650175,\"qx\":0.0001633172015912889,\"qy\":0.00015815181002727926,\"qz\":0.6924251078575429,\"x\":3.3114845440743466,\"y\":-2.8441399376967356,\"z\":0.7362552818233469}},\"initial_state\":[0.5000000000000003,13.356464630727634,6.3556458274334595,2.0312509470644389e-07,2.145359920830628e-08,-0.0451780415129943,-1.0417419396091634,-0.032535022017441066,-2.2953207395775306,0.05467911655193654,1.5491168383081766,0.7023517222819337,0.020566849862920924,-0.020499709189799726,0.0,0.0,0.0,0.0,-3.925227005349136e-16,-3.956259260590943e-16,-3.956259260590943e-16,0.0,0.0,0.0,0.0,0.0,0.0,-0.0070510219171230045,-1.3828993415224888e-09,-0.0003862831961956757,2.2341475081475127e-08,5.022243769773562e-07,0.0,0.0,-4.229739945765558e-15,-4.2694851085004906e-15,-4.2694851085004906e-15,0.0,0.0,1.6527716458046958e-14,-0.006047549522939153,-1.7137238528995396e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.965161619609656e-15,1.0237500674316674e-15,0.0,3.4987685133240064e-15,0.0,0.0,-4.3321794320483883e-16,-1.0306046894393866e-05,-3.0915364181095193e-09,-1.416754910907012e-09,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.416240546689094e-16,0.0,0.0,0.0,0.0,-2.416240546689094e-16,0.0,0.0,0.0,0.00022427191589098456,-9.322424244000367e-05,0.0,9.359251549578716e-10,1.0971776619325096e-09,3.9276358240966643e-10,0.0,0.0,-5.176576034363217e-15,-5.176576034363217e-15,0.0,-5.746796314969228e-16,0.0,3.3697036802840213e-17,-1.8781923208811413e-15,3.537601679414682e-17,0.0,0.0,3.3697036802840213e-17,-0.28338198827814887,3.3114845440743466,-2.8441399376967356,0.7362552818233469,0.7214897215650175,0.0001633172015912889,0.00015815181002727926,0.6924251078575429,2.329932628787934,-2.667122192203645,0.9479550567285825,0.7133181646453742,-1.4092690347072247e-05,-1.4091602989935469e-05,-0.7008403495731241,-6.280892711938086e-07,-1.9761791555729246e-07,-2.773792787718078e-06,3.138544161388034e-07,-8.590449042343154e-06,4.297186751594264e-06,-0.0006334540646150883,0.0011086384697876746,-0.0007918960145820912,-0.0010364914085297227,-0.0001006140730912768,-0.00044470162342442654,0.0004913479962022543,0.0,0.0,0.0,0.0,-1.4960838634704602e-17,-1.5763547123417277e-17,-1.5763547123417277e-17,0.0,0.0,0.0,0.0,0.0,0.0,-5.19348924263622e-07,-2.497701078598955e-11,-1.327450890136669e-07,4.546107536592641e-08,1.0219405904022303e-06,0.0,0.0,-1.4733133739144665e-16,-1.555951975495448e-16,-1.555951975495448e-16,0.0,0.0,2.933840975056242e-60,-4.4758577484060875e-07,-3.092932152779688e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.688250121883506e-47,-5.82462278439359e-14,0.0,-5.643936930550037e-103,0.0,0.0,-1.7136708454509358e-17,-1.8661364348298378e-07,-5.5837281535250944e-11,-2.5588487912399042e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0620255162524582e-17,0.0,0.0,0.0,0.0,-1.0620255162524582e-17,0.0,0.0,0.0,0.0004570077721067736,-1.79921020457158e-06,-1.9781457696536766e-06,1.9044392811829603e-09,2.2325591175201367e-09,7.99203216763974e-10,0.0,0.0,-2.5219942361505404e-16,-2.5219942361505404e-16,0.0,-3.7930241003767295e-63,0.0,7.189005519030477e-17,-7.031843395105211e-17,7.444543984041026e-17,0.0,0.0,7.189005519030477e-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": false, "motion_primitive_count": 76, "pretrain_task_id": 6, "retained_waypoint_count": 76, "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": 217539, "video_relpath": "videos/raw_extracted/06_CloseDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseElectricKettleLid\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-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': 'CloseElectricKettleLid',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseElectricKettleLid/20260324_205253_close-electric-kettle-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 45,\n    'stable_release_contact_loss_t': 45,\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_002_JOINTS = [-0.007994, -1.051319, -0.023417, -2.286476, 0.027760, 1.512055, 0.710257]  # t=2\nAPPROACH_004_JOINTS = [-0.008855, -1.062445, -0.023359, -2.286813, 0.027803, 1.500917, 0.710192]  # t=4\nAPPROACH_005_JOINTS = [-0.009284, -1.065517, -0.023246, -2.289923, 0.027870, 1.501116, 0.710131]  # t=5\nAPPROACH_006_JOINTS = [-0.009800, -1.073349, -0.024591, -2.293474, 0.027125, 1.501779, 0.707135]  # t=6\nAPPROACH_008_JOINTS = [-0.010633, -1.104658, -0.038271, -2.311884, 0.022340, 1.524503, 0.675419]  # t=8\nAPPROACH_010_JOINTS = [-0.011601, -1.142796, -0.084143, -2.340727, 0.015274, 1.577876, 0.598188]  # t=10\nAPPROACH_012_JOINTS = [-0.011716, -1.185910, -0.154104, -2.374556, 0.021165, 1.636965, 0.489598]  # t=12\nAPPROACH_013_JOINTS = [-0.011247, -1.205231, -0.190366, -2.392599, 0.030887, 1.665116, 0.432818]  # t=13\nAPPROACH_014_JOINTS = [-0.010356, -1.222592, -0.225759, -2.410176, 0.044567, 1.689144, 0.375145]  # t=14\nAPPROACH_015_JOINTS = [-0.008769, -1.235804, -0.257903, -2.427678, 0.061455, 1.709627, 0.318406]  # t=15\nAPPROACH_016_JOINTS = [-0.006291, -1.243006, -0.284152, -2.444949, 0.081014, 1.728747, 0.266225]  # t=16\nAPPROACH_018_JOINTS = [0.001088, -1.241626, -0.321737, -2.477686, 0.125405, 1.762089, 0.173804]  # t=18\nAPPROACH_020_JOINTS = [0.010139, -1.229399, -0.352726, -2.505907, 0.172396, 1.781723, 0.084157]  # t=20\nAPPROACH_022_JOINTS = [0.021950, -1.206116, -0.375481, -2.528286, 0.222849, 1.794960, -0.005244]  # t=22\nAPPROACH_023_JOINTS = [0.028564, -1.190866, -0.387249, -2.534991, 0.248291, 1.798373, -0.051308]  # t=23\nAPPROACH_024_JOINTS = [0.035316, -1.173734, -0.400012, -2.537860, 0.271653, 1.797906, -0.098644]  # t=24\nAPPROACH_026_JOINTS = [0.050147, -1.132715, -0.426871, -2.533655, 0.316277, 1.788937, -0.194651]  # t=26\nAPPROACH_028_JOINTS = [0.067614, -1.080954, -0.451195, -2.519841, 0.359452, 1.775254, -0.288398]  # t=28\nAPPROACH_030_JOINTS = [0.086010, -1.025696, -0.457536, -2.502832, 0.401115, 1.763640, -0.358369]  # t=30\nAPPROACH_032_JOINTS = [0.103455, -0.975651, -0.441689, -2.491962, 0.443610, 1.758969, -0.403163]  # t=32\nAPPROACH_034_JOINTS = [0.114994, -0.943869, -0.411654, -2.487218, 0.480474, 1.752293, -0.422568]  # t=34\nPRESS_035_JOINTS = [0.117773, -0.933069, -0.398226, -2.486384, 0.493702, 1.751518, -0.427533]  # t=35\nPRESS_036_JOINTS = [0.120366, -0.922496, -0.382439, -2.488740, 0.508631, 1.755776, -0.431469]  # t=36\nPRESS_037_JOINTS = [0.122578, -0.912930, -0.365429, -2.493445, 0.524117, 1.762276, -0.435214]  # t=37\nPRESS_038_JOINTS = [0.124322, -0.904492, -0.347925, -2.500555, 0.539566, 1.770293, -0.439287]  # t=38\nPRESS_040_JOINTS = [0.126526, -0.887985, -0.314156, -2.519095, 0.569250, 1.794429, -0.449823]  # t=40\nPRESS_042_JOINTS = [0.127620, -0.871612, -0.283115, -2.542716, 0.597594, 1.822392, -0.464980]  # t=42\nPRESS_043_JOINTS = [0.127489, -0.863201, -0.269974, -2.557317, 0.610237, 1.839082, -0.474932]  # t=43\nPRESS_044_JOINTS = [0.126638, -0.856400, -0.257650, -2.570561, 0.618843, 1.855206, -0.484262]  # t=44\nPRESS_045_JOINTS = [0.125571, -0.850702, -0.243209, -2.583193, 0.623514, 1.871406, -0.491320]  # t=45\nPRESS_046_JOINTS = [0.123038, -0.849436, -0.230750, -2.584330, 0.620782, 1.882366, -0.492585]  # t=46\nPRESS_048_JOINTS = [0.116957, -0.848267, -0.202331, -2.579585, 0.598765, 1.892982, -0.480973]  # t=48\nPRESS_050_JOINTS = [0.109957, -0.849083, -0.175325, -2.574084, 0.565381, 1.897967, -0.464975]  # t=50\nPRESS_052_JOINTS = [0.103747, -0.849477, -0.150072, -2.568861, 0.533607, 1.902792, -0.448225]  # t=52\nPRESS_054_JOINTS = [0.098311, -0.851597, -0.126681, -2.565443, 0.503241, 1.908080, -0.433757]  # t=54\nPRESS_056_JOINTS = [0.093850, -0.856733, -0.108137, -2.566219, 0.480972, 1.916128, -0.425762]  # t=56\nPRESS_057_JOINTS = [0.092114, -0.859436, -0.103519, -2.566863, 0.477341, 1.917569, -0.423337]  # t=57\nRETREAT_060_JOINTS = [0.088649, -0.863297, -0.098544, -2.569047, 0.478153, 1.918824, -0.421903]  # t=60\nAPPROACH_000_JOINTS = [-0.007665, -1.047581, -0.023419, -2.286876, 0.027752, 1.517545, 0.710290]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, 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_014_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_035_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_036_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_037_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_038_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_040_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_043_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_045_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_048_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_054_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_056_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_060_JOINTS, input_type='joint', steps=3, 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": 10203, "code_num_lines": 124, "code_num_nonblank_lines": 114, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 39, "pretrain_task_id": 7, "retained_waypoint_count": 39, "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": 200358, "video_relpath": "videos/raw_extracted/07_CloseElectricKettleLid.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseFridge\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_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': 'CloseFridge',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseFridge/20260324_205254_close-fridge_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 278,\n    'stable_release_contact_loss_t': 278,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=1.528040, y=-4.936388, z=1.456120, qw=0.024288, qx=0.158458, qy=-0.001041, qz=0.987066)\nGOAL_RECEPTACLE_POSE = pose(x=0.646441, y=-4.938412, z=0.920047, qw=-0.043192, qx=0.000001, qy=-0.000000, qz=0.999067)\n\nAPPROACH_002_JOINTS = [-0.042328, -1.021834, -0.040833, -2.274612, 0.009138, 1.506788, 0.717668]  # t=2\nAPPROACH_003_JOINTS = [-0.042673, -1.032982, -0.046122, -2.272497, 0.003997, 1.493566, 0.718745]  # t=3\nAPPROACH_005_JOINTS = [-0.044820, -1.081704, -0.071951, -2.270905, -0.005982, 1.474925, 0.716107]  # t=5\nAPPROACH_008_JOINTS = [-0.050564, -1.219801, -0.127796, -2.284821, 0.004221, 1.493843, 0.717001]  # t=8\nAPPROACH_010_JOINTS = [-0.055738, -1.324727, -0.174902, -2.290816, 0.032662, 1.509293, 0.723150]  # t=10\nAPPROACH_012_JOINTS = [-0.062628, -1.421107, -0.233347, -2.288507, 0.062926, 1.522371, 0.729690]  # t=12\nAPPROACH_014_JOINTS = [-0.071173, -1.501241, -0.295903, -2.281842, 0.090531, 1.541071, 0.740167]  # t=14\nAPPROACH_015_JOINTS = [-0.075826, -1.532914, -0.327510, -2.280669, 0.101761, 1.557265, 0.748176]  # t=15\nAPPROACH_016_JOINTS = [-0.080563, -1.560116, -0.358510, -2.281268, 0.112433, 1.578725, 0.756679]  # t=16\nAPPROACH_019_JOINTS = [-0.096236, -1.621103, -0.445781, -2.298233, 0.136367, 1.653922, 0.783499]  # t=19\nAPPROACH_020_JOINTS = [-0.102373, -1.638076, -0.471487, -2.304552, 0.143887, 1.678167, 0.791467]  # t=20\nAPPROACH_022_JOINTS = [-0.117074, -1.671781, -0.516129, -2.317905, 0.159359, 1.719350, 0.806778]  # t=22\nAPPROACH_025_JOINTS = [-0.139310, -1.694173, -0.562673, -2.340948, 0.155065, 1.762984, 0.826376]  # t=25\nAPPROACH_029_JOINTS = [-0.157840, -1.675904, -0.639847, -2.329943, 0.140172, 1.809171, 0.851726]  # t=29\nAPPROACH_030_JOINTS = [-0.158643, -1.661700, -0.667521, -2.324005, 0.149885, 1.819404, 0.873812]  # t=30\nAPPROACH_033_JOINTS = [-0.152978, -1.593652, -0.749690, -2.286835, 0.185615, 1.825580, 0.960441]  # t=33\nAPPROACH_035_JOINTS = [-0.139418, -1.525961, -0.799683, -2.251517, 0.215438, 1.826350, 1.021246]  # t=35\nAPPROACH_038_JOINTS = [-0.103661, -1.399826, -0.874867, -2.187526, 0.274969, 1.825795, 1.106711]  # t=38\nAPPROACH_040_JOINTS = [-0.069656, -1.306897, -0.933268, -2.144623, 0.321294, 1.823228, 1.156919]  # t=40\nAPPROACH_044_JOINTS = [0.025219, -1.132504, -1.086858, -2.078190, 0.446653, 1.830505, 1.227319]  # t=44\nAPPROACH_045_JOINTS = [0.056199, -1.092852, -1.128841, -2.064997, 0.478603, 1.837470, 1.242537]  # t=45\nAPPROACH_047_JOINTS = [0.126802, -1.022155, -1.209114, -2.040578, 0.525854, 1.859336, 1.250884]  # t=47\nAPPROACH_050_JOINTS = [0.236266, -0.948321, -1.302360, -2.007492, 0.567484, 1.891541, 1.257334]  # t=50\nAPPROACH_052_JOINTS = [0.316573, -0.916167, -1.360716, -1.990160, 0.582367, 1.936599, 1.257346]  # t=52\nAPPROACH_055_JOINTS = [0.451845, -0.900358, -1.443194, -1.961100, 0.596611, 2.026755, 1.237783]  # t=55\nAPPROACH_056_JOINTS = [0.495541, -0.905168, -1.466682, -1.943982, 0.594534, 2.045452, 1.232385]  # t=56\nAPPROACH_058_JOINTS = [0.565815, -0.929095, -1.505408, -1.900051, 0.572366, 2.050539, 1.237915]  # t=58\nAPPROACH_060_JOINTS = [0.617526, -0.967062, -1.530792, -1.854165, 0.537038, 2.027594, 1.268084]  # t=60\nAPPROACH_061_JOINTS = [0.640578, -0.988881, -1.538789, -1.833840, 0.516228, 2.014932, 1.288346]  # t=61\nAPPROACH_063_JOINTS = [0.689677, -1.034498, -1.547059, -1.801210, 0.470623, 2.001356, 1.325441]  # t=63\nAPPROACH_065_JOINTS = [0.737484, -1.079687, -1.546926, -1.776912, 0.417787, 1.980002, 1.357276]  # t=65\nAPPROACH_066_JOINTS = [0.760962, -1.100459, -1.544589, -1.765829, 0.389313, 1.966669, 1.372938]  # t=66\nAPPROACH_070_JOINTS = [0.847615, -1.171932, -1.523656, -1.723081, 0.292416, 1.891543, 1.429870]  # t=70\nAPPROACH_072_JOINTS = [0.883113, -1.201422, -1.511612, -1.704786, 0.258281, 1.835432, 1.447572]  # t=72\nAPPROACH_075_JOINTS = [0.916973, -1.241019, -1.490770, -1.691217, 0.231274, 1.727000, 1.446948]  # t=75\nAPPROACH_079_JOINTS = [0.932131, -1.278086, -1.463233, -1.716575, 0.223266, 1.616304, 1.396710]  # t=79\nAPPROACH_080_JOINTS = [0.931886, -1.283262, -1.460102, -1.724110, 0.218765, 1.605035, 1.376521]  # t=80\nAPPROACH_085_JOINTS = [0.895928, -1.283563, -1.420382, -1.813444, 0.194603, 1.582131, 1.237624]  # t=85\nAPPROACH_090_JOINTS = [0.818955, -1.247953, -1.368567, -1.975418, 0.196429, 1.665151, 1.086832]  # t=90\nAPPROACH_093_JOINTS = [0.765629, -1.213864, -1.331237, -2.085513, 0.232757, 1.737041, 1.012146]  # t=93\nAPPROACH_095_JOINTS = [0.732618, -1.185173, -1.298724, -2.157325, 0.278379, 1.813963, 0.970350]  # t=95\nAPPROACH_099_JOINTS = [0.677446, -1.100058, -1.208892, -2.305076, 0.392017, 2.061282, 0.929101]  # t=99\nAPPROACH_100_JOINTS = [0.668793, -1.070918, -1.180912, -2.335307, 0.426113, 2.138925, 0.925602]  # t=100\nAPPROACH_105_JOINTS = [0.665411, -0.892254, -1.042510, -2.414316, 0.640133, 2.526836, 0.922328]  # t=105\nAPPROACH_107_JOINTS = [0.681876, -0.803660, -0.996624, -2.406879, 0.739454, 2.649585, 0.930119]  # t=107\nAPPROACH_110_JOINTS = [0.711176, -0.656232, -0.968072, -2.340793, 0.879523, 2.757603, 0.935963]  # t=110\nAPPROACH_113_JOINTS = [0.703284, -0.555366, -0.954749, -2.287152, 1.012644, 2.816358, 0.907822]  # t=113\nAPPROACH_115_JOINTS = [0.700687, -0.469397, -0.940979, -2.245231, 1.114447, 2.866952, 0.893885]  # t=115\nPRESS_116_JOINTS = [0.694104, -0.435536, -0.924641, -2.229928, 1.167583, 2.892368, 0.884251]  # t=116\nPRESS_117_JOINTS = [0.681459, -0.410213, -0.902480, -2.222388, 1.219265, 2.921717, 0.870038]  # t=117\nPRESS_118_JOINTS = [0.664761, -0.389262, -0.877217, -2.217055, 1.269581, 2.950351, 0.852790]  # t=118\nPRESS_119_JOINTS = [0.643680, -0.375169, -0.848969, -2.215398, 1.317857, 2.976758, 0.832198]  # t=119\nPRESS_121_JOINTS = [0.591718, -0.362621, -0.788569, -2.219576, 1.408135, 3.015235, 0.780159]  # t=121\nPRESS_122_JOINTS = [0.562171, -0.361164, -0.759037, -2.223388, 1.449272, 3.025358, 0.751105]  # t=122\nPRESS_123_JOINTS = [0.529951, -0.366053, -0.729624, -2.229487, 1.485781, 3.031465, 0.721328]  # t=123\nPRESS_125_JOINTS = [0.457485, -0.409905, -0.662935, -2.263866, 1.544406, 3.048270, 0.662047]  # t=125\nPRESS_127_JOINTS = [0.380033, -0.488179, -0.587567, -2.319563, 1.584927, 3.071733, 0.611230]  # t=127\nPRESS_129_JOINTS = [0.305089, -0.570303, -0.514344, -2.379922, 1.607860, 3.091714, 0.582548]  # t=129\nPRESS_131_JOINTS = [0.235452, -0.651075, -0.443511, -2.439367, 1.614288, 3.107931, 0.578473]  # t=131\nPRESS_133_JOINTS = [0.173131, -0.723936, -0.377602, -2.491795, 1.605739, 3.120063, 0.594636]  # t=133\nPRESS_135_JOINTS = [0.119790, -0.781540, -0.321338, -2.530529, 1.582608, 3.124296, 0.630383]  # t=135\nPRESS_137_JOINTS = [0.074934, -0.829386, -0.273025, -2.559480, 1.544271, 3.127139, 0.679547]  # t=137\nPRESS_139_JOINTS = [0.037894, -0.865769, -0.231765, -2.584314, 1.486755, 3.135765, 0.737255]  # t=139\nPRESS_141_JOINTS = [0.007487, -0.887588, -0.197273, -2.605095, 1.408839, 3.150111, 0.810030]  # t=141\nPRESS_143_JOINTS = [-0.019941, -0.901972, -0.165858, -2.628995, 1.312106, 3.167004, 0.901189]  # t=143\nPRESS_145_JOINTS = [-0.050120, -0.910521, -0.135926, -2.657784, 1.197893, 3.178393, 1.009522]  # t=145\nPRESS_147_JOINTS = [-0.090003, -0.918765, -0.106699, -2.688709, 1.070324, 3.179241, 1.125491]  # t=147\nPRESS_149_JOINTS = [-0.143863, -0.920774, -0.077234, -2.712315, 0.931845, 3.163422, 1.238335]  # t=149\nPRESS_151_JOINTS = [-0.211167, -0.918674, -0.039669, -2.722910, 0.784673, 3.121964, 1.345417]  # t=151\nPRESS_153_JOINTS = [-0.290956, -0.919502, 0.007366, -2.733141, 0.627384, 3.042324, 1.455478]  # t=153\nPRESS_154_JOINTS = [-0.332991, -0.915964, 0.034046, -2.727244, 0.543394, 2.990646, 1.518691]  # t=154\nPRESS_155_JOINTS = [-0.372493, -0.909494, 0.057878, -2.706079, 0.461547, 2.935069, 1.590498]  # t=155\nPRESS_156_JOINTS = [-0.408389, -0.903945, 0.077793, -2.678106, 0.378863, 2.868866, 1.661983]  # t=156\nPRESS_157_JOINTS = [-0.437888, -0.902124, 0.095156, -2.641116, 0.295601, 2.793333, 1.724089]  # t=157\nPRESS_159_JOINTS = [-0.467955, -0.893853, 0.116754, -2.541691, 0.150881, 2.620825, 1.800438]  # t=159\nPRESS_160_JOINTS = [-0.469809, -0.891000, 0.117872, -2.486460, 0.093910, 2.530361, 1.815447]  # t=160\nPRESS_161_JOINTS = [-0.465331, -0.889958, 0.113622, -2.430815, 0.045501, 2.440001, 1.818684]  # t=161\nPRESS_163_JOINTS = [-0.443392, -0.885897, 0.096369, -2.321000, -0.033274, 2.267237, 1.800153]  # t=163\nPRESS_165_JOINTS = [-0.411773, -0.882873, 0.073115, -2.218364, -0.093982, 2.107599, 1.769453]  # t=165\nPRESS_166_JOINTS = [-0.394636, -0.886816, 0.060314, -2.175866, -0.118900, 2.038838, 1.760874]  # t=166\nPRESS_167_JOINTS = [-0.377140, -0.895944, 0.048533, -2.144105, -0.141915, 1.979520, 1.756166]  # t=167\nPRESS_169_JOINTS = [-0.341837, -0.929132, 0.024706, -2.109569, -0.176109, 1.897624, 1.757357]  # t=169\nPRESS_171_JOINTS = [-0.307632, -0.976812, -0.001096, -2.103429, -0.195606, 1.840068, 1.757172]  # t=171\nPRESS_173_JOINTS = [-0.275496, -1.034559, -0.027663, -2.109188, -0.203961, 1.801914, 1.744943]  # t=173\nPRESS_175_JOINTS = [-0.246383, -1.104693, -0.049079, -2.124242, -0.200891, 1.778365, 1.729693]  # t=175\nPRESS_177_JOINTS = [-0.222016, -1.185289, -0.060863, -2.146608, -0.192821, 1.763273, 1.722012]  # t=177\nPRESS_179_JOINTS = [-0.203487, -1.275379, -0.057551, -2.174033, -0.181749, 1.754534, 1.732906]  # t=179\nPRESS_181_JOINTS = [-0.190579, -1.374973, -0.031924, -2.205901, -0.165753, 1.752655, 1.770403]  # t=181\nPRESS_183_JOINTS = [-0.181141, -1.478672, 0.003487, -2.241459, -0.147360, 1.766921, 1.822022]  # t=183\nPRESS_185_JOINTS = [-0.173303, -1.584164, 0.043789, -2.282340, -0.129354, 1.796593, 1.877696]  # t=185\nPRESS_186_JOINTS = [-0.169606, -1.638545, 0.065472, -2.304269, -0.120867, 1.815736, 1.906881]  # t=186\nPRESS_187_JOINTS = [-0.165978, -1.693585, 0.088089, -2.326978, -0.113036, 1.836603, 1.937545]  # t=187\nPRESS_188_JOINTS = [-0.162511, -1.748504, 0.111623, -2.349254, -0.106529, 1.858699, 1.970712]  # t=188\nPRESS_189_JOINTS = [-0.159118, -1.768253, 0.136874, -2.350839, -0.103710, 1.878230, 2.007267]  # t=189\nPRESS_191_JOINTS = [-0.152694, -1.763135, 0.193483, -2.286105, -0.111023, 1.852010, 2.088655]  # t=191\nPRESS_193_JOINTS = [-0.148909, -1.762893, 0.253758, -2.221664, -0.125836, 1.801002, 2.166936]  # t=193\nPRESS_195_JOINTS = [-0.146081, -1.762632, 0.313134, -2.170188, -0.136034, 1.743875, 2.226630]  # t=195\nPRESS_197_JOINTS = [-0.141205, -1.755196, 0.351133, -2.136219, -0.141413, 1.703252, 2.250698]  # t=197\nPRESS_198_JOINTS = [-0.138257, -1.747544, 0.357473, -2.126525, -0.146116, 1.692087, 2.255490]  # t=198\nPRESS_199_JOINTS = [-0.135123, -1.740449, 0.360898, -2.118384, -0.150358, 1.684035, 2.259943]  # t=199\nPRESS_200_JOINTS = [-0.131892, -1.734705, 0.365741, -2.111391, -0.154580, 1.678794, 2.260358]  # t=200\nPRESS_201_JOINTS = [-0.128761, -1.730784, 0.375674, -2.105098, -0.156309, 1.674698, 2.259027]  # t=201\nPRESS_203_JOINTS = [-0.123899, -1.730491, 0.416183, -2.093650, -0.146202, 1.663010, 2.272599]  # t=203\nPRESS_205_JOINTS = [-0.120392, -1.735456, 0.470658, -2.085325, -0.130226, 1.649998, 2.300769]  # t=205\nPRESS_207_JOINTS = [-0.116627, -1.741795, 0.529968, -2.080361, -0.113038, 1.637074, 2.330526]  # t=207\nPRESS_209_JOINTS = [-0.112060, -1.749461, 0.591247, -2.075627, -0.097983, 1.629152, 2.362115]  # t=209\nPRESS_211_JOINTS = [-0.108382, -1.750647, 0.650360, -2.069263, -0.084050, 1.627876, 2.392938]  # t=211\nPRESS_213_JOINTS = [-0.108441, -1.741003, 0.705354, -2.065961, -0.070757, 1.637293, 2.432452]  # t=213\nPRESS_215_JOINTS = [-0.113501, -1.720907, 0.761608, -2.066513, -0.055397, 1.659259, 2.484229]  # t=215\nPRESS_217_JOINTS = [-0.123275, -1.693698, 0.819910, -2.066353, -0.042620, 1.689416, 2.542639]  # t=217\nPRESS_219_JOINTS = [-0.138239, -1.660011, 0.877829, -2.063998, -0.034876, 1.726908, 2.603231]  # t=219\nPRESS_221_JOINTS = [-0.158586, -1.621399, 0.932640, -2.059641, -0.033555, 1.767871, 2.663349]  # t=221\nPRESS_223_JOINTS = [-0.183973, -1.580003, 0.983265, -2.054058, -0.037412, 1.811786, 2.720419]  # t=223\nPRESS_225_JOINTS = [-0.215074, -1.537405, 1.032111, -2.043968, -0.044703, 1.857473, 2.775390]  # t=225\nPRESS_227_JOINTS = [-0.250707, -1.496414, 1.076562, -2.027933, -0.056166, 1.898071, 2.826601]  # t=227\nPRESS_229_JOINTS = [-0.287367, -1.459015, 1.107674, -2.011982, -0.072259, 1.928409, 2.865735]  # t=229\nPRESS_231_JOINTS = [-0.323980, -1.426162, 1.134326, -2.001473, -0.086040, 1.957942, 2.896856]  # t=231\nPRESS_233_JOINTS = [-0.361091, -1.395755, 1.150243, -1.995906, -0.091471, 1.988695, 2.897526]  # t=233\nPRESS_235_JOINTS = [-0.398484, -1.362240, 1.158619, -1.992500, -0.086920, 2.021676, 2.893358]  # t=235\nPRESS_237_JOINTS = [-0.437020, -1.325417, 1.165510, -1.987647, -0.077770, 2.055854, 2.883264]  # t=237\nPRESS_239_JOINTS = [-0.477563, -1.287609, 1.174815, -1.981153, -0.068389, 2.090008, 2.869878]  # t=239\nPRESS_241_JOINTS = [-0.517557, -1.255483, 1.186929, -1.972114, -0.065463, 2.120680, 2.861773]  # t=241\nPRESS_243_JOINTS = [-0.551808, -1.235012, 1.198922, -1.960277, -0.069561, 2.141848, 2.864270]  # t=243\nPRESS_245_JOINTS = [-0.581622, -1.221360, 1.212965, -1.950272, -0.072283, 2.158103, 2.870143]  # t=245\nPRESS_247_JOINTS = [-0.606869, -1.212975, 1.226723, -1.942053, -0.071488, 2.170085, 2.878833]  # t=247\nPRESS_249_JOINTS = [-0.625944, -1.208881, 1.233503, -1.936658, -0.067801, 2.175111, 2.886322]  # t=249\nPRESS_250_JOINTS = [-0.630508, -1.209230, 1.232799, -1.935851, -0.065120, 2.172084, 2.886811]  # t=250\nPRESS_251_JOINTS = [-0.632643, -1.210446, 1.231050, -1.935275, -0.060905, 2.166872, 2.887236]  # t=251\nPRESS_253_JOINTS = [-0.634943, -1.213788, 1.224732, -1.939260, -0.053676, 2.154331, 2.888395]  # t=253\nPRESS_255_JOINTS = [-0.631912, -1.219814, 1.213200, -1.951780, -0.049045, 2.134820, 2.892325]  # t=255\nPRESS_257_JOINTS = [-0.621702, -1.226932, 1.193141, -1.974565, -0.045481, 2.115415, 2.896601]  # t=257\nPRESS_259_JOINTS = [-0.614396, -1.228897, 1.169809, -2.007193, -0.042781, 2.111575, 2.897484]  # t=259\nPRESS_261_JOINTS = [-0.628696, -1.212817, 1.151640, -2.037924, -0.042080, 2.132788, 2.897382]  # t=261\nPRESS_263_JOINTS = [-0.659896, -1.178283, 1.135351, -2.068018, -0.047768, 2.169961, 2.897330]  # t=263\nPRESS_265_JOINTS = [-0.697277, -1.135322, 1.118694, -2.090486, -0.059248, 2.212611, 2.897396]  # t=265\nPRESS_267_JOINTS = [-0.729599, -1.097137, 1.108469, -2.090917, -0.072267, 2.235922, 2.897581]  # t=267\nPRESS_269_JOINTS = [-0.763659, -1.058985, 1.102949, -2.081534, -0.084035, 2.244369, 2.897542]  # t=269\nPRESS_271_JOINTS = [-0.801835, -1.014465, 1.096464, -2.077156, -0.097247, 2.260001, 2.897532]  # t=271\nPRESS_273_JOINTS = [-0.844940, -0.960274, 1.094266, -2.075236, -0.111597, 2.296423, 2.897527]  # t=273\nPRESS_275_JOINTS = [-0.886513, -0.904439, 1.099916, -2.067673, -0.126756, 2.344194, 2.897526]  # t=275\nPRESS_277_JOINTS = [-0.931254, -0.842386, 1.104128, -2.057658, -0.146289, 2.394464, 2.897453]  # t=277\nPRESS_278_JOINTS = [-0.952792, -0.808679, 1.103386, -2.052021, -0.154833, 2.417767, 2.897427]  # t=278\nPRESS_279_JOINTS = [-0.955132, -0.795137, 1.103652, -2.054264, -0.155733, 2.438671, 2.897649]  # t=279\nPRESS_281_JOINTS = [-0.940234, -0.791170, 1.088647, -2.090475, -0.147175, 2.512078, 2.897651]  # t=281\nPRESS_282_JOINTS = [-0.926381, -0.795742, 1.076141, -2.117640, -0.141267, 2.556292, 2.897518]  # t=282\nRETREAT_283_JOINTS = [-0.913573, -0.797426, 1.062207, -2.144425, -0.137766, 2.601124, 2.897448]  # t=283\nRETREAT_284_JOINTS = [-0.902019, -0.796499, 1.045820, -2.171147, -0.135826, 2.646868, 2.897408]  # t=284\nRETREAT_285_JOINTS = [-0.886858, -0.799508, 1.026709, -2.198920, -0.133998, 2.690563, 2.897400]  # t=285\nRETREAT_286_JOINTS = [-0.866851, -0.807526, 1.006517, -2.228536, -0.130684, 2.734244, 2.897389]  # t=286\nRETREAT_287_JOINTS = [-0.842103, -0.821126, 0.985798, -2.261283, -0.126134, 2.777526, 2.897345]  # t=287\nRETREAT_288_JOINTS = [-0.813888, -0.838166, 0.964383, -2.297785, -0.119905, 2.821203, 2.896524]  # t=288\nRETREAT_289_JOINTS = [-0.783775, -0.855712, 0.942466, -2.336578, -0.111305, 2.866886, 2.892455]  # t=289\nRETREAT_290_JOINTS = [-0.752124, -0.873397, 0.920178, -2.376129, -0.099886, 2.913325, 2.883614]  # t=290\nRETREAT_291_JOINTS = [-0.718562, -0.891794, 0.896874, -2.415663, -0.084877, 2.957106, 2.869201]  # t=291\nRETREAT_292_JOINTS = [-0.683253, -0.909200, 0.872827, -2.453402, -0.065658, 2.996104, 2.848015]  # t=292\nRETREAT_293_JOINTS = [-0.645829, -0.924863, 0.848507, -2.488558, -0.042244, 3.028688, 2.819241]  # t=293\nAPPROACH_000_JOINTS = [-0.042861, -1.016750, -0.040271, -2.275602, 0.009804, 1.516156, 0.717502]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, 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_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_058_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_093_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_099_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_113_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, 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_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_156_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, 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_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, 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_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_198_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_199_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_200_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_250_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_251_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_255_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_261_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_267_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_269_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_271_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_273_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_275_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_277_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_278_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_279_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_281_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_282_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_283_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_284_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_285_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_286_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_287_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_288_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_289_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_290_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_291_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_292_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_293_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": 33208, "code_num_lines": 360, "code_num_nonblank_lines": 350, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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,-1.6945502846722803e-53,3.392953868092192e-58,-3.458597745409872e-17,-2.0810416524782347e-58,0.0,-3.458597745409872e-17,-5.643453814740897e-07,4.158247977602128e-09,-5.652736187110874e-07,-1.7006129570981914e-06,2.8789225493239024e-08,-4.419534313362002e-11,0.0,9.914116924004591e-08,8.488588135328979e-07,-4.010220855929795e-08,0.0,-1.0667990296436956e-30,0.0,0.0,-9.868989797931642e-18,0.0,0.0,0.0,-1.4495859369442572e-17,-3.336496945507764e-06,8.819786174291366e-08,0.0,0.0,-1.364692426048448e-12,-5.2996420507421435e-11,4.847325344777521e-10,-9.996189655043498e-09,-1.6038928924349715e-07,-1.4464022439803945e-06,0.009049256442352948,0.000338097429560943,0.001129916803260845,0.03230466763770952,-0.2952270143989357,-0.0073741471666316,1.3530740981618188e-11,-8.15395900642417e-12,1.853880789418274e-06,-1.1517044653787253e-07,-6.297725097809988e-08,-7.107537488010059e-13,1.138893514557159e-07,9.631759595621384e-08,1.7310070948384766e-06,1.0589476899388092e-06,-1.5348982758504208e-06,1.2288387879444529e-14],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 157, "pretrain_task_id": 8, "retained_waypoint_count": 157, "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": 698354, "video_relpath": "videos/raw_extracted/08_CloseFridge.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseFridgeDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_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': 'CloseFridgeDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 101,\n    'stable_release_contact_loss_t': 101,\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=0.258172, y=-0.857218, z=0.790729, qw=0.537984, qx=-0.545464, qy=-0.433279, qz=0.474671)\n\nAPPROACH_001_JOINTS = [-0.043800, -1.050213, -0.033740, -2.284728, 0.043175, 1.520718, 0.714233]  # t=1\nAPPROACH_002_JOINTS = [-0.043039, -1.053878, -0.034313, -2.283995, 0.042504, 1.514266, 0.714621]  # t=2\nAPPROACH_003_JOINTS = [-0.042103, -1.056857, -0.034845, -2.284036, 0.041872, 1.511274, 0.715114]  # t=3\nAPPROACH_004_JOINTS = [-0.041035, -1.058328, -0.035271, -2.284803, 0.041318, 1.511333, 0.715676]  # t=4\nAPPROACH_005_JOINTS = [-0.039938, -1.060210, -0.035769, -2.286491, 0.040628, 1.509798, 0.716239]  # t=5\nPRESS_009_JOINTS = [-0.044900, -1.136100, -0.076978, -2.291873, 0.002180, 1.447319, 0.736807]  # t=9\nPRESS_011_JOINTS = [-0.053590, -1.208141, -0.119897, -2.306176, -0.029846, 1.420746, 0.766046]  # t=11\nPRESS_013_JOINTS = [-0.065416, -1.275999, -0.158385, -2.324840, -0.075576, 1.397333, 0.814015]  # t=13\nPRESS_015_JOINTS = [-0.078971, -1.328130, -0.195923, -2.338539, -0.127776, 1.378962, 0.874443]  # t=15\nPRESS_016_JOINTS = [-0.085823, -1.348433, -0.214300, -2.341923, -0.154577, 1.366451, 0.904105]  # t=16\nPRESS_017_JOINTS = [-0.092592, -1.364258, -0.230959, -2.342646, -0.182297, 1.350693, 0.933292]  # t=17\nPRESS_019_JOINTS = [-0.105985, -1.384734, -0.263918, -2.335545, -0.238060, 1.306556, 0.989883]  # t=19\nPRESS_021_JOINTS = [-0.118230, -1.388688, -0.302028, -2.317271, -0.293890, 1.255477, 1.042269]  # t=21\nPRESS_023_JOINTS = [-0.128059, -1.375490, -0.332937, -2.298347, -0.346725, 1.211072, 1.096693]  # t=23\nPRESS_025_JOINTS = [-0.135684, -1.348489, -0.360567, -2.280143, -0.399089, 1.173781, 1.153462]  # t=25\nPRESS_026_JOINTS = [-0.139074, -1.332630, -0.379501, -2.264927, -0.426209, 1.153172, 1.176651]  # t=26\nPRESS_027_JOINTS = [-0.142797, -1.318430, -0.403839, -2.242038, -0.450238, 1.126365, 1.193643]  # t=27\nPRESS_028_JOINTS = [-0.146900, -1.306540, -0.428954, -2.214731, -0.469653, 1.094378, 1.206848]  # t=28\nPRESS_029_JOINTS = [-0.151250, -1.296556, -0.447840, -2.188163, -0.486260, 1.058555, 1.218450]  # t=29\nPRESS_030_JOINTS = [-0.155834, -1.288511, -0.459221, -2.164718, -0.501819, 1.021673, 1.229900]  # t=30\nPRESS_031_JOINTS = [-0.160638, -1.282496, -0.466131, -2.147060, -0.517658, 0.985128, 1.241778]  # t=31\nPRESS_032_JOINTS = [-0.165375, -1.278492, -0.472062, -2.137662, -0.536652, 0.952456, 1.253152]  # t=32\nPRESS_033_JOINTS = [-0.170212, -1.277003, -0.479645, -2.134526, -0.560839, 0.924074, 1.263745]  # t=33\nPRESS_034_JOINTS = [-0.174826, -1.277005, -0.490402, -2.134248, -0.590342, 0.900455, 1.272287]  # t=34\nPRESS_035_JOINTS = [-0.178938, -1.277234, -0.504636, -2.135031, -0.623100, 0.880328, 1.278049]  # t=35\nPRESS_037_JOINTS = [-0.186819, -1.280422, -0.535811, -2.142609, -0.688991, 0.846007, 1.284641]  # t=37\nPRESS_038_JOINTS = [-0.191419, -1.285136, -0.549757, -2.153657, -0.718742, 0.831146, 1.288603]  # t=38\nPRESS_039_JOINTS = [-0.196569, -1.292292, -0.562736, -2.174525, -0.744634, 0.820054, 1.296045]  # t=39\nPRESS_041_JOINTS = [-0.209256, -1.315144, -0.593107, -2.234386, -0.779816, 0.821381, 1.330110]  # t=41\nPRESS_043_JOINTS = [-0.227113, -1.350738, -0.630036, -2.294605, -0.802471, 0.838210, 1.371409]  # t=43\nPRESS_045_JOINTS = [-0.248885, -1.393111, -0.669043, -2.355018, -0.829085, 0.857908, 1.404206]  # t=45\nPRESS_046_JOINTS = [-0.260729, -1.414953, -0.688101, -2.386438, -0.845132, 0.870592, 1.419079]  # t=46\nPRESS_047_JOINTS = [-0.273084, -1.436655, -0.706413, -2.418938, -0.862062, 0.885649, 1.434386]  # t=47\nPRESS_049_JOINTS = [-0.296916, -1.474638, -0.742821, -2.477722, -0.896995, 0.920657, 1.455765]  # t=49\nPRESS_051_JOINTS = [-0.316725, -1.500145, -0.786809, -2.524544, -0.942121, 0.961286, 1.455336]  # t=51\nPRESS_053_JOINTS = [-0.333910, -1.514688, -0.832338, -2.569517, -0.980635, 1.008214, 1.455159]  # t=53\nPRESS_054_JOINTS = [-0.341078, -1.517158, -0.853850, -2.590582, -0.996128, 1.035481, 1.458109]  # t=54\nPRESS_055_JOINTS = [-0.347050, -1.516363, -0.873806, -2.611495, -1.007932, 1.065033, 1.463441]  # t=55\nPRESS_056_JOINTS = [-0.351530, -1.512174, -0.891573, -2.632692, -1.015612, 1.097506, 1.472127]  # t=56\nPRESS_057_JOINTS = [-0.354723, -1.504686, -0.908278, -2.654101, -1.020824, 1.131374, 1.483875]  # t=57\nPRESS_059_JOINTS = [-0.358334, -1.481292, -0.941052, -2.694847, -1.030130, 1.201319, 1.511949]  # t=59\nPRESS_061_JOINTS = [-0.357178, -1.447743, -0.972180, -2.728965, -1.038846, 1.279007, 1.540698]  # t=61\nPRESS_063_JOINTS = [-0.351871, -1.410288, -0.990094, -2.747384, -1.030120, 1.362788, 1.555720]  # t=63\nPRESS_065_JOINTS = [-0.339541, -1.362874, -1.012832, -2.770291, -1.020732, 1.458121, 1.583274]  # t=65\nPRESS_067_JOINTS = [-0.321314, -1.307403, -1.036563, -2.792147, -1.013495, 1.558517, 1.615807]  # t=67\nPRESS_069_JOINTS = [-0.296685, -1.245074, -1.058239, -2.809611, -1.004291, 1.662569, 1.649983]  # t=69\nPRESS_071_JOINTS = [-0.264245, -1.174780, -1.078950, -2.819150, -0.992127, 1.767329, 1.682077]  # t=71\nPRESS_073_JOINTS = [-0.224953, -1.099425, -1.097809, -2.821946, -0.972259, 1.872459, 1.710556]  # t=73\nPRESS_075_JOINTS = [-0.178658, -1.019121, -1.115833, -2.818497, -0.944229, 1.977630, 1.735019]  # t=75\nPRESS_077_JOINTS = [-0.125783, -0.933023, -1.134586, -2.811438, -0.911588, 2.082841, 1.755677]  # t=77\nPRESS_079_JOINTS = [-0.067196, -0.842844, -1.153343, -2.802695, -0.871327, 2.191076, 1.772772]  # t=79\nPRESS_081_JOINTS = [-0.004729, -0.750311, -1.171006, -2.791023, -0.818686, 2.298729, 1.781368]  # t=81\nPRESS_083_JOINTS = [0.062004, -0.652645, -1.189239, -2.778486, -0.753495, 2.407727, 1.780415]  # t=83\nPRESS_085_JOINTS = [0.134112, -0.547206, -1.209281, -2.767160, -0.671569, 2.521505, 1.766979]  # t=85\nPRESS_087_JOINTS = [0.204430, -0.446438, -1.223170, -2.757597, -0.562279, 2.626554, 1.729107]  # t=87\nPRESS_089_JOINTS = [0.272252, -0.350449, -1.228210, -2.750494, -0.421828, 2.725137, 1.665572]  # t=89\nPRESS_090_JOINTS = [0.307753, -0.298878, -1.227931, -2.748311, -0.338358, 2.774687, 1.626379]  # t=90\nPRESS_091_JOINTS = [0.347004, -0.242561, -1.224026, -2.748817, -0.241813, 2.825445, 1.581839]  # t=91\nPRESS_093_JOINTS = [0.427345, -0.134935, -1.199801, -2.747877, -0.002997, 2.913562, 1.468728]  # t=93\nPRESS_095_JOINTS = [0.494000, -0.027589, -1.143049, -2.725994, 0.291137, 2.960702, 1.321159]  # t=95\nPRESS_097_JOINTS = [0.504996, 0.076757, -1.041838, -2.677569, 0.604898, 2.967609, 1.151719]  # t=97\nPRESS_099_JOINTS = [0.447019, 0.156362, -0.907861, -2.623960, 0.873353, 2.973729, 0.988924]  # t=99\nPRESS_100_JOINTS = [0.401523, 0.188276, -0.835117, -2.598136, 0.988071, 2.981295, 0.912235]  # t=100\nPRESS_101_JOINTS = [0.349974, 0.217427, -0.762546, -2.572069, 1.092279, 2.989837, 0.837919]  # t=101\nRETREAT_102_JOINTS = [0.295542, 0.244014, -0.692385, -2.545244, 1.187814, 2.997731, 0.765477]  # t=102\nRETREAT_103_JOINTS = [0.241458, 0.265705, -0.625831, -2.520949, 1.275703, 3.007089, 0.694693]  # t=103\nRETREAT_104_JOINTS = [0.190005, 0.281005, -0.563732, -2.501906, 1.356390, 3.017652, 0.625292]  # t=104\nRETREAT_105_JOINTS = [0.145150, 0.274956, -0.504017, -2.506567, 1.416568, 3.033689, 0.564414]  # t=105\nRETREAT_106_JOINTS = [0.104385, 0.269239, -0.451578, -2.510621, 1.460664, 3.046604, 0.515842]  # t=106\nRETREAT_107_JOINTS = [0.068026, 0.265521, -0.406742, -2.512688, 1.491896, 3.054836, 0.479020]  # t=107\nRETREAT_108_JOINTS = [0.036203, 0.263138, -0.369279, -2.513558, 1.512559, 3.058902, 0.452496]  # t=108\nRETREAT_109_JOINTS = [0.008651, 0.261940, -0.338857, -2.513650, 1.524056, 3.059524, 0.434919]  # t=109\nRETREAT_110_JOINTS = [-0.014910, 0.261330, -0.314575, -2.513316, 1.528501, 3.057823, 0.424262]  # t=110\nRETREAT_111_JOINTS = [-0.034709, 0.260368, -0.295042, -2.513123, 1.527377, 3.053994, 0.418023]  # t=111\nRETREAT_112_JOINTS = [-0.051272, 0.258346, -0.279859, -2.513417, 1.522702, 3.048664, 0.414701]  # t=112\nRETREAT_113_JOINTS = [-0.065186, 0.256355, -0.268364, -2.513404, 1.515501, 3.041021, 0.413565]  # t=113\nRETREAT_114_JOINTS = [-0.076798, 0.254645, -0.259753, -2.513181, 1.505716, 3.032467, 0.414689]  # t=114\nRETREAT_115_JOINTS = [-0.086544, 0.252378, -0.253815, -2.513063, 1.493695, 3.023282, 0.417843]  # t=115\nRETREAT_116_JOINTS = [-0.094772, 0.248732, -0.250256, -2.512920, 1.479775, 3.013549, 0.422746]  # t=116\nPRESS_007_JOINTS = [-0.039813, -1.081520, -0.044821, -2.288959, 0.029381, 1.482837, 0.720444]  # t=7\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_001_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, 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\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_007_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_011_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_013_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_017_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_019_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_025_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_026_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_029_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_032_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_033_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_035_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_037_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_038_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_039_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_041_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_043_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_047_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_049_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_051_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_116_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": 18143, "code_num_lines": 206, "code_num_nonblank_lines": 196, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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_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\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.1979496687111961,-0.9338229890814326,0.0],\"lang\":\"Fully close the fridge drawer.\",\"layout_id\":30,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"mushroom\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"mushroom\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_drawer\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_left_group\",\"pos\":[0.0,0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.07066568713686604,0.05329286747463404,0.06963380960147325],\"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\":\"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_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_shelf\",\"placement\":{\"fixture\":\"fridge_left_group\",\"pos\":[0.0,0],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.050422134104999995,0.16269918619499998,0.04841119022249999],\"reg_type\":\"shelf\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[0.00011821911312942524,0.06749573964801626,0.19216007184764555],\"size\":[0.7711952059269747,0.5150505212666887]},\"type\":\"object\"}],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12112200260162354,\"qx\":0.7045720219612122,\"qy\":-0.6941331028938293,\"qz\":-0.0841837003827095,\"x\":0.9533597525017448,\"y\":-0.9202870871284045,\"z\":1.2961300850239763},\"goal_pose\":{\"qw\":0.7888589510705282,\"qx\":-0.11149567780451539,\"qy\":-0.12993025966133007,\"qz\":0.5902443534428414,\"x\":0.6937100931877832,\"y\":-0.8692682881155436,\"z\":0.7989328854209974},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseFridgeDrawer\"}", "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\":\"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_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_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\":[0.0,0.0,3.1415926193612504],\"init_robot_base_pos\":[1.1979496687111961,-0.9338229890814326,0.0],\"lang\":\"Fully close the fridge drawer.\",\"layout_id\":30,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"mushroom\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"mushroom\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_drawer\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_left_group\",\"pos\":[0.0,0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.07066568713686604,0.05329286747463404,0.06963380960147325],\"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\":\"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_1/model.xml\",\"split\":\"train\"},\"name\":\"distr_shelf\",\"placement\":{\"fixture\":\"fridge_left_group\",\"pos\":[0.0,0],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.050422134104999995,0.16269918619499998,0.04841119022249999],\"reg_type\":\"shelf\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[0.00011821911312942524,0.06749573964801626,0.19216007184764555],\"size\":[0.7711952059269747,0.5150505212666887]},\"type\":\"object\"}],\"style_id\":53},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12112200260162354,\"qx\":0.7045720219612122,\"qy\":-0.6941331028938293,\"qz\":-0.0841837003827095,\"x\":0.9533597525017448,\"y\":-0.9202870871284045,\"z\":1.2961300850239763},\"goal_pose\":{\"qw\":0.7888589510705282,\"qx\":-0.11149567780451539,\"qy\":-0.12993025966133007,\"qz\":0.5902443534428414,\"x\":0.6937100931877832,\"y\":-0.8692682881155436,\"z\":0.7989328854209974},\"object_pose\":{\"qw\":NaN,\"qx\":NaN,\"qy\":NaN,\"qz\":NaN,\"x\":NaN,\"y\":NaN,\"z\":NaN}},\"initial_state\":[0.5000000000000003,10.933823347691055,8.80204998191495,2.0112836417167033e-07,2.1512472088596396e-08,-0.04461029778945686,-1.0487376564420403,-0.03332117145048238,-2.2851159968092416,0.04366839426931403,1.5238087206291104,0.7139182571034722,0.020564788954173647,-0.02050177026004058,-5.914514599316033e-05,3.1920421415859596e-08,-5.448785610091541e-10,4.2863687438708124e-08,1.2539402664869926e-08,-6.813094996960005e-10,-6.682939843098483e-10,-2.2166996110110814e-10,0.0,-1.2210211414523824e-16,-1.198626318166829e-16,-1.198626318166829e-16,-1.2210211414523824e-16,-1.198626318166829e-16,-1.198626318166829e-16,-1.2210211414523824e-16,-1.198626318166829e-16,-1.198626318166829e-16,-1.2210211414523824e-16,-1.198626318166829e-16,-1.198626318166829e-16,0.0,0.0,0.4185988023017321,1.570760326715512,1.5707588902188603,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.442062291911005e-09,4.905555316228659e-08,0.0,0.0,0.0,-0.0002044404505058348,-1.6067348277305866e-10,5.163977721684973e-07,-0.00036300608138757764,0.0,0.0,-0.006247571617791699,-0.006247571617791699,-7.985989203554295e-06,0.0,0.0,0.0,0.0,-3.390208537201603e-15,-3.201107343977302e-15,0.0,-0.007822585267728105,1.2430416362424954e-09,-0.0006579637753044986,0.0,-9.725952552650787e-16,-9.725952552650787e-16,-9.725952552650787e-16,-9.725952552650787e-16,0.6937100931877832,-0.8692682881155436,0.7989328854209974,0.7888589510705282,-0.11149567780451539,-0.12993025966133007,0.5902443534428414,0.3844884075342098,-0.7664414700310702,1.1009940600212649,0.8746054240580147,0.01444447671932537,-0.02676424876219452,0.48388054754122933,-6.311081523218265e-07,-1.9945252107859046e-07,-2.7689249662718413e-06,3.047445960622484e-07,-8.57347674782091e-06,3.2187145804600983e-06,-0.0006290546871997836,0.001083105122755688,-0.0007801631562530351,-0.000997984770941594,-0.00010370233411242989,-0.0004484453973635583,0.0004876043597994246,-6.528984684090296e-07,6.495231164879839e-08,-9.841234983969935e-12,8.721988822750267e-08,2.5515427791065332e-08,-1.2305359728117846e-11,-1.2070282652069653e-11,-4.0036558721173406e-12,0.0,-5.667566310730275e-18,-4.997575759302437e-18,-4.997575759302437e-18,-5.667566310730275e-18,-4.997575759302437e-18,-4.997575759302437e-18,-5.667566310730275e-18,-4.997575759302437e-18,-4.997575759302437e-18,-5.667566310730275e-18,-4.997575759302437e-18,-4.997575759302437e-18,0.0,0.0,-1.7539743148477716e-06,-7.325408739265785e-05,-7.61771355376057e-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,-1.8552688414493048e-06,-4.4106908740447684e-11,9.98192239268869e-08,0.0,0.0,0.0,-2.0671489673518727e-06,-3.2694307270139356e-10,1.0507811978495618e-06,-6.847756210511752e-08,0.0,0.0,-4.630946167514188e-07,-4.630946167514188e-07,-1.4463940149971127e-07,0.0,0.0,0.0,0.0,-1.68609086465164e-16,-1.1369555978439627e-16,0.0,-5.630744578645951e-07,2.5293660671687733e-09,3.233918706103169e-13,0.0,-3.3137763367521847e-17,-3.3137763367521847e-17,-3.3137763367521847e-17,-3.3137763367521847e-17,-0.03720247497755478,0.012546256936187512,-0.0029287518563297136,-1.1043138622806012,0.01412316043171862,0.1259303623402032,-0.0003223327701001462,-0.00035789558645615084,5.574789569018817e-05,-0.003387491167527408,-0.019385624507831167,0.0001926053550921839],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseFridgeDrawer/20260324_205255_close-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseFridgeDrawer\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 80, "pretrain_task_id": 9, "retained_waypoint_count": 80, "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": 267339, "video_relpath": "videos/raw_extracted/09_CloseFridgeDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseMicrowave\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_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': 'CloseMicrowave',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseMicrowave/20260324_205256_close-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 203,\n    'stable_release_contact_loss_t': 203,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.144317, y=-0.247162, z=1.472589, qw=0.999989, qx=-0.000087, qy=-0.000003, qz=0.004630)\nGOAL_RECEPTACLE_POSE = pose(x=2.769839, y=-0.094801, z=0.949546, qw=0.831743, qx=-0.158557, qy=0.387725, qz=0.364326)\n\nAPPROACH_003_JOINTS = [-0.016320, -1.029413, -0.037870, -2.276578, 0.039729, 1.506229, 0.701238]  # t=3\nAPPROACH_004_JOINTS = [-0.016686, -1.046482, -0.038522, -2.274233, 0.039459, 1.489140, 0.700916]  # t=4\nAPPROACH_005_JOINTS = [-0.017301, -1.074789, -0.041981, -2.271501, 0.042013, 1.476343, 0.700068]  # t=5\nAPPROACH_010_JOINTS = [-0.026124, -1.295396, -0.091215, -2.270712, 0.067765, 1.490939, 0.708327]  # t=10\nAPPROACH_011_JOINTS = [-0.028118, -1.337982, -0.104179, -2.266512, 0.074536, 1.495934, 0.709353]  # t=11\nAPPROACH_015_JOINTS = [-0.034403, -1.470210, -0.158111, -2.214945, 0.097442, 1.518194, 0.695268]  # t=15\nAPPROACH_016_JOINTS = [-0.035636, -1.494564, -0.167090, -2.195439, 0.103205, 1.526328, 0.688430]  # t=16\nAPPROACH_020_JOINTS = [-0.042190, -1.575039, -0.180334, -2.113920, 0.124987, 1.573699, 0.667487]  # t=20\nAPPROACH_021_JOINTS = [-0.045995, -1.592043, -0.176264, -2.094311, 0.119643, 1.590356, 0.669288]  # t=21\nAPPROACH_025_JOINTS = [-0.061876, -1.645508, -0.141475, -2.016551, 0.072850, 1.668543, 0.665772]  # t=25\nAPPROACH_030_JOINTS = [-0.072265, -1.708811, -0.122058, -1.945748, 0.034086, 1.764829, 0.683985]  # t=30\nAPPROACH_031_JOINTS = [-0.073453, -1.722330, -0.117440, -1.934553, 0.028145, 1.783281, 0.683689]  # t=31\nAPPROACH_033_JOINTS = [-0.076979, -1.754500, -0.095835, -1.917073, 0.016071, 1.812111, 0.673471]  # t=33\nAPPROACH_035_JOINTS = [-0.082360, -1.763460, -0.068345, -1.879376, -0.000485, 1.827854, 0.663069]  # t=35\nAPPROACH_040_JOINTS = [-0.105509, -1.762863, 0.023815, -1.724493, -0.087175, 1.805238, 0.667294]  # t=40\nAPPROACH_041_JOINTS = [-0.113123, -1.762833, 0.047721, -1.694184, -0.117144, 1.796813, 0.679597]  # t=41\nAPPROACH_044_JOINTS = [-0.136943, -1.760919, 0.122866, -1.605891, -0.215647, 1.770437, 0.714429]  # t=44\nAPPROACH_045_JOINTS = [-0.145414, -1.758941, 0.148549, -1.578180, -0.251301, 1.755849, 0.723166]  # t=45\nAPPROACH_047_JOINTS = [-0.164561, -1.756880, 0.203231, -1.534330, -0.326529, 1.709467, 0.742243]  # t=47\nAPPROACH_050_JOINTS = [-0.194793, -1.763398, 0.295514, -1.499692, -0.432524, 1.627636, 0.777945]  # t=50\nAPPROACH_053_JOINTS = [-0.226896, -1.762852, 0.395063, -1.467346, -0.549401, 1.546463, 0.826382]  # t=53\nAPPROACH_055_JOINTS = [-0.250685, -1.762853, 0.466303, -1.456160, -0.631240, 1.489290, 0.857974]  # t=55\nAPPROACH_056_JOINTS = [-0.263246, -1.762856, 0.504333, -1.455540, -0.671141, 1.457125, 0.872617]  # t=56\nAPPROACH_059_JOINTS = [-0.300901, -1.762839, 0.624901, -1.472388, -0.772921, 1.350712, 0.915507]  # t=59\nAPPROACH_060_JOINTS = [-0.311811, -1.762846, 0.664452, -1.485592, -0.798196, 1.313255, 0.930716]  # t=60\nAPPROACH_065_JOINTS = [-0.349272, -1.762382, 0.852729, -1.567333, -0.867896, 1.171532, 1.027041]  # t=65\nAPPROACH_070_JOINTS = [-0.373554, -1.749910, 1.012948, -1.637404, -0.862794, 1.115207, 1.151257]  # t=70\nAPPROACH_073_JOINTS = [-0.401433, -1.725550, 1.100357, -1.662083, -0.878593, 1.118306, 1.210031]  # t=73\nAPPROACH_075_JOINTS = [-0.423085, -1.703224, 1.143178, -1.670883, -0.897623, 1.130970, 1.241145]  # t=75\nAPPROACH_077_JOINTS = [-0.443993, -1.679937, 1.178196, -1.680420, -0.919745, 1.157422, 1.256056]  # t=77\nAPPROACH_079_JOINTS = [-0.463938, -1.657835, 1.207625, -1.696549, -0.937512, 1.189428, 1.263153]  # t=79\nAPPROACH_080_JOINTS = [-0.473239, -1.647839, 1.217944, -1.707947, -0.942424, 1.200445, 1.273230]  # t=80\nAPPROACH_082_JOINTS = [-0.492637, -1.629045, 1.232511, -1.729803, -0.945169, 1.213605, 1.306628]  # t=82\nAPPROACH_085_JOINTS = [-0.520797, -1.606567, 1.246671, -1.760579, -0.953720, 1.209723, 1.345911]  # t=85\nAPPROACH_090_JOINTS = [-0.538669, -1.582839, 1.244598, -1.820951, -0.964473, 1.146735, 1.382262]  # t=90\nAPPROACH_091_JOINTS = [-0.539396, -1.577517, 1.239521, -1.833101, -0.965749, 1.132044, 1.395269]  # t=91\nAPPROACH_094_JOINTS = [-0.539677, -1.557355, 1.213597, -1.861023, -0.969458, 1.085566, 1.451231]  # t=94\nAPPROACH_095_JOINTS = [-0.540095, -1.547446, 1.200975, -1.861523, -0.970124, 1.073964, 1.470796]  # t=95\nAPPROACH_097_JOINTS = [-0.543530, -1.523036, 1.178873, -1.850647, -0.968923, 1.056313, 1.495969]  # t=97\nAPPROACH_099_JOINTS = [-0.550323, -1.498658, 1.171342, -1.845061, -0.968818, 1.045284, 1.523882]  # t=99\nAPPROACH_100_JOINTS = [-0.555510, -1.485530, 1.173216, -1.846987, -0.969213, 1.048145, 1.538778]  # t=100\nAPPROACH_105_JOINTS = [-0.572535, -1.422046, 1.172453, -1.856391, -0.954357, 1.086586, 1.625407]  # t=105\nAPPROACH_110_JOINTS = [-0.557480, -1.369024, 1.156354, -1.926704, -0.918923, 1.185806, 1.740662]  # t=110\nAPPROACH_115_JOINTS = [-0.529250, -1.319655, 1.136630, -2.000284, -0.953304, 1.319825, 1.778307]  # t=115\nAPPROACH_116_JOINTS = [-0.522733, -1.311427, 1.130949, -2.010744, -0.964286, 1.338947, 1.780566]  # t=116\nAPPROACH_120_JOINTS = [-0.493087, -1.281596, 1.097608, -2.048853, -1.006318, 1.398928, 1.792619]  # t=120\nAPPROACH_125_JOINTS = [-0.450639, -1.237363, 1.033074, -2.081467, -1.059799, 1.476870, 1.743638]  # t=125\nAPPROACH_127_JOINTS = [-0.432894, -1.218213, 1.001190, -2.088417, -1.079189, 1.505100, 1.711854]  # t=127\nAPPROACH_129_JOINTS = [-0.414967, -1.200957, 0.968172, -2.097499, -1.083431, 1.516955, 1.703083]  # t=129\nAPPROACH_130_JOINTS = [-0.405790, -1.192343, 0.951130, -2.101779, -1.076084, 1.517933, 1.709093]  # t=130\nAPPROACH_132_JOINTS = [-0.386560, -1.175973, 0.919956, -2.107963, -1.054865, 1.519341, 1.726187]  # t=132\nPRESS_134_JOINTS = [-0.365235, -1.163215, 0.891503, -2.108150, -1.028076, 1.518008, 1.739377]  # t=134\nPRESS_136_JOINTS = [-0.341564, -1.153352, 0.858931, -2.112125, -1.001084, 1.524586, 1.752607]  # t=136\nPRESS_138_JOINTS = [-0.317239, -1.144798, 0.823188, -2.120675, -0.977071, 1.541849, 1.765133]  # t=138\nPRESS_140_JOINTS = [-0.293210, -1.137344, 0.784254, -2.132405, -0.957617, 1.568430, 1.776527]  # t=140\nPRESS_142_JOINTS = [-0.269014, -1.132267, 0.742754, -2.146358, -0.938763, 1.600698, 1.786237]  # t=142\nPRESS_144_JOINTS = [-0.243777, -1.132012, 0.696862, -2.163624, -0.917124, 1.639504, 1.804804]  # t=144\nPRESS_146_JOINTS = [-0.216770, -1.134203, 0.642614, -2.187471, -0.893141, 1.697860, 1.818862]  # t=146\nPRESS_148_JOINTS = [-0.190308, -1.139176, 0.584319, -2.215647, -0.873026, 1.771054, 1.834710]  # t=148\nPRESS_150_JOINTS = [-0.166568, -1.141667, 0.526619, -2.246575, -0.857538, 1.855678, 1.837521]  # t=150\nPRESS_152_JOINTS = [-0.145257, -1.144676, 0.466745, -2.277174, -0.844028, 1.943187, 1.826717]  # t=152\nPRESS_154_JOINTS = [-0.127466, -1.147496, 0.406350, -2.308162, -0.836472, 2.033843, 1.807030]  # t=154\nPRESS_155_JOINTS = [-0.120217, -1.148325, 0.377400, -2.323067, -0.835081, 2.079161, 1.795635]  # t=155\nPRESS_156_JOINTS = [-0.114303, -1.148079, 0.349919, -2.337089, -0.835534, 2.124221, 1.783744]  # t=156\nPRESS_158_JOINTS = [-0.106237, -1.143499, 0.299122, -2.361488, -0.839222, 2.213049, 1.759718]  # t=158\nPRESS_160_JOINTS = [-0.102186, -1.133304, 0.252077, -2.380917, -0.843839, 2.300594, 1.734350]  # t=160\nPRESS_162_JOINTS = [-0.101197, -1.116137, 0.205810, -2.395360, -0.846753, 2.389112, 1.706628]  # t=162\nPRESS_164_JOINTS = [-0.101249, -1.095871, 0.159814, -2.406451, -0.842107, 2.475300, 1.677127]  # t=164\nPRESS_166_JOINTS = [-0.100856, -1.072724, 0.113607, -2.415441, -0.825928, 2.560838, 1.641647]  # t=166\nPRESS_168_JOINTS = [-0.099400, -1.046771, 0.068863, -2.423166, -0.798308, 2.646651, 1.596681]  # t=168\nPRESS_169_JOINTS = [-0.098365, -1.032153, 0.048026, -2.425066, -0.780422, 2.688135, 1.570666]  # t=169\nPRESS_170_JOINTS = [-0.096713, -1.016225, 0.029154, -2.425414, -0.758514, 2.725790, 1.540987]  # t=170\nPRESS_172_JOINTS = [-0.089996, -0.982684, -0.002624, -2.421084, -0.698352, 2.784618, 1.469406]  # t=172\nPRESS_173_JOINTS = [-0.084671, -0.965762, -0.015757, -2.416674, -0.660695, 2.806123, 1.427929]  # t=173\nPRESS_174_JOINTS = [-0.078036, -0.949205, -0.027514, -2.410843, -0.618819, 2.822656, 1.383194]  # t=174\nPRESS_176_JOINTS = [-0.060754, -0.918963, -0.048076, -2.396037, -0.524783, 2.841103, 1.285175]  # t=176\nPRESS_177_JOINTS = [-0.050305, -0.904992, -0.056915, -2.386888, -0.474248, 2.843676, 1.233039]  # t=177\nPRESS_178_JOINTS = [-0.040243, -0.892035, -0.066154, -2.375241, -0.424255, 2.843139, 1.182311]  # t=178\nPRESS_180_JOINTS = [-0.023411, -0.869918, -0.084300, -2.348607, -0.330875, 2.837667, 1.093299]  # t=180\nPRESS_181_JOINTS = [-0.016569, -0.860814, -0.092002, -2.335899, -0.288531, 2.834263, 1.055192]  # t=181\nPRESS_182_JOINTS = [-0.010565, -0.853225, -0.098124, -2.325555, -0.249480, 2.830508, 1.020452]  # t=182\nPRESS_183_JOINTS = [-0.005581, -0.846167, -0.103999, -2.315489, -0.213484, 2.827307, 0.989355]  # t=183\nPRESS_184_JOINTS = [-0.001076, -0.839862, -0.108696, -2.307106, -0.180126, 2.823996, 0.960632]  # t=184\nPRESS_186_JOINTS = [0.006211, -0.828460, -0.117039, -2.292268, -0.120511, 2.818992, 0.910963]  # t=186\nPRESS_188_JOINTS = [0.012085, -0.820425, -0.124531, -2.280314, -0.067885, 2.813872, 0.869777]  # t=188\nPRESS_190_JOINTS = [0.017657, -0.815478, -0.131963, -2.271328, -0.019486, 2.807955, 0.834340]  # t=190\nPRESS_192_JOINTS = [0.023253, -0.812609, -0.139584, -2.265343, 0.025944, 2.802097, 0.803866]  # t=192\nPRESS_194_JOINTS = [0.028952, -0.809767, -0.147725, -2.260677, 0.068055, 2.797609, 0.775533]  # t=194\nPRESS_196_JOINTS = [0.034392, -0.807121, -0.155567, -2.256986, 0.105714, 2.794231, 0.748280]  # t=196\nPRESS_198_JOINTS = [0.038387, -0.804669, -0.162272, -2.254123, 0.136768, 2.792013, 0.724453]  # t=198\nPRESS_200_JOINTS = [0.039902, -0.802033, -0.166919, -2.251964, 0.158830, 2.791471, 0.705571]  # t=200\nPRESS_201_JOINTS = [0.039843, -0.800013, -0.168025, -2.250607, 0.166304, 2.791860, 0.697673]  # t=201\nPRESS_202_JOINTS = [0.039658, -0.796562, -0.168381, -2.248433, 0.172366, 2.792916, 0.690908]  # t=202\nPRESS_203_JOINTS = [0.039533, -0.791387, -0.168309, -2.245312, 0.177642, 2.794720, 0.685325]  # t=203\nPRESS_204_JOINTS = [0.039503, -0.785968, -0.168124, -2.241607, 0.182159, 2.795764, 0.679539]  # t=204\nPRESS_206_JOINTS = [0.039420, -0.784316, -0.168577, -2.236916, 0.189015, 2.788904, 0.662769]  # t=206\nPRESS_208_JOINTS = [0.038329, -0.782961, -0.169255, -2.229459, 0.192229, 2.773500, 0.649954]  # t=208\nPRESS_210_JOINTS = [0.035195, -0.781591, -0.168672, -2.220786, 0.190942, 2.753656, 0.645729]  # t=210\nPRESS_212_JOINTS = [0.031485, -0.779452, -0.167454, -2.212158, 0.188977, 2.734479, 0.646431]  # t=212\nPRESS_214_JOINTS = [0.027811, -0.777464, -0.166141, -2.204001, 0.186987, 2.716251, 0.647711]  # t=214\nRETREAT_218_JOINTS = [0.022925, -0.775628, -0.163816, -2.193891, 0.187539, 2.698922, 0.648047]  # t=218\nAPPROACH_000_JOINTS = [-0.016103, -1.020079, -0.037544, -2.278405, 0.039894, 1.519546, 0.701247]  # 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_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=3, 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_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_073_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_094_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_132_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\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_150_JOINTS, input_type='joint', steps=2, 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_155_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_156_JOINTS, input_type='joint', steps=1, 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_160_JOINTS, input_type='joint', steps=2, 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_166_JOINTS, input_type='joint', steps=2, 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_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_170_JOINTS, input_type='joint', steps=1, 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_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_174_JOINTS, input_type='joint', steps=1, 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_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=1, 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_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_182_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_184_JOINTS, input_type='joint', steps=1, 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_196_JOINTS, input_type='joint', steps=2, 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_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_203_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_204_JOINTS, input_type='joint', steps=1, 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_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_218_JOINTS, input_type='joint', steps=4, 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": 22629, "code_num_lines": 250, "code_num_nonblank_lines": 240, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 102, "pretrain_task_id": 10, "retained_waypoint_count": 102, "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": 572448, "video_relpath": "videos/raw_extracted/10_CloseMicrowave.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseOven/20260324_205257_close-oven_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': 'CloseOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 153,\n    'stable_release_contact_loss_t': 153,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.364652, y=-3.154097, z=0.585401, qw=0.679861, qx=0.000004, qy=0.000010, qz=0.733341)\nGOAL_RECEPTACLE_POSE = pose(x=0.343861, y=-2.566871, z=0.939190, qw=0.509650, qx=0.011326, qy=-0.005772, qz=0.860288)\n\nAPPROACH_005_JOINTS = [-0.000375, -1.046051, -0.006536, -2.261081, 0.046804, 1.556048, 0.685552]  # t=5\nAPPROACH_008_JOINTS = [-0.001345, -1.083329, 0.001114, -2.257102, 0.054185, 1.500479, 0.689880]  # t=8\nAPPROACH_010_JOINTS = [-0.000275, -1.119204, 0.023988, -2.262834, 0.074194, 1.462244, 0.705405]  # t=10\nAPPROACH_015_JOINTS = [0.008795, -1.240507, 0.149025, -2.319467, 0.173519, 1.408603, 0.807565]  # t=15\nAPPROACH_018_JOINTS = [0.020423, -1.341649, 0.239183, -2.367048, 0.244098, 1.394776, 0.889862]  # t=18\nAPPROACH_020_JOINTS = [0.032798, -1.421188, 0.304466, -2.398301, 0.295954, 1.385962, 0.950507]  # t=20\nAPPROACH_022_JOINTS = [0.048574, -1.502589, 0.374900, -2.428639, 0.352270, 1.377814, 1.018396]  # t=22\nAPPROACH_025_JOINTS = [0.078709, -1.611155, 0.487621, -2.468722, 0.455850, 1.348632, 1.125360]  # t=25\nAPPROACH_030_JOINTS = [0.146859, -1.759226, 0.683475, -2.483458, 0.656474, 1.290376, 1.316577]  # t=30\nAPPROACH_033_JOINTS = [0.184417, -1.760979, 0.798567, -2.436315, 0.749430, 1.282741, 1.447787]  # t=33\nAPPROACH_035_JOINTS = [0.202919, -1.754206, 0.872069, -2.400185, 0.815236, 1.281264, 1.537256]  # t=35\nAPPROACH_038_JOINTS = [0.222696, -1.732382, 0.973982, -2.342570, 0.922556, 1.295820, 1.656826]  # t=38\nAPPROACH_040_JOINTS = [0.230813, -1.712285, 1.044583, -2.311300, 0.987481, 1.320887, 1.726581]  # t=40\nAPPROACH_044_JOINTS = [0.241217, -1.664996, 1.192974, -2.272886, 1.099604, 1.411329, 1.837617]  # t=44\nAPPROACH_045_JOINTS = [0.245028, -1.652657, 1.227483, -2.268386, 1.116993, 1.434811, 1.859903]  # t=45\nAPPROACH_046_JOINTS = [0.250375, -1.641007, 1.260372, -2.268092, 1.128325, 1.457434, 1.881045]  # t=46\nAPPROACH_048_JOINTS = [0.265332, -1.618271, 1.323774, -2.277175, 1.146314, 1.505231, 1.914262]  # t=48\nAPPROACH_050_JOINTS = [0.282895, -1.594835, 1.388657, -2.292473, 1.166431, 1.561810, 1.939858]  # t=50\nAPPROACH_054_JOINTS = [0.306213, -1.541293, 1.532472, -2.330024, 1.212011, 1.707772, 1.975106]  # t=54\nAPPROACH_055_JOINTS = [0.301465, -1.526808, 1.574993, -2.334970, 1.224111, 1.756130, 1.977769]  # t=55\nAPPROACH_060_JOINTS = [0.202745, -1.459557, 1.790827, -2.318983, 1.278891, 1.990409, 1.962626]  # t=60\nAPPROACH_065_JOINTS = [-0.001898, -1.466301, 1.973518, -2.199752, 1.350482, 2.159636, 1.903761]  # t=65\nAPPROACH_070_JOINTS = [-0.179953, -1.534200, 2.071017, -2.021774, 1.458175, 2.190669, 1.853082]  # t=70\nAPPROACH_073_JOINTS = [-0.243022, -1.598345, 2.109223, -1.935446, 1.497199, 2.190528, 1.846205]  # t=73\nAPPROACH_075_JOINTS = [-0.267054, -1.650404, 2.125185, -1.886223, 1.483949, 2.196373, 1.868787]  # t=75\nAPPROACH_078_JOINTS = [-0.293778, -1.748337, 2.148434, -1.798281, 1.405843, 2.192067, 1.960496]  # t=78\nAPPROACH_079_JOINTS = [-0.301013, -1.766792, 2.154995, -1.770038, 1.360483, 2.188578, 2.003463]  # t=79\nAPPROACH_080_JOINTS = [-0.312491, -1.763837, 2.168236, -1.752759, 1.298449, 2.197622, 2.048833]  # t=80\nAPPROACH_082_JOINTS = [-0.335327, -1.763041, 2.191481, -1.725774, 1.172746, 2.215325, 2.141099]  # t=82\nAPPROACH_085_JOINTS = [-0.356484, -1.763026, 2.201494, -1.713410, 1.017284, 2.219404, 2.273290]  # t=85\nAPPROACH_086_JOINTS = [-0.359184, -1.762970, 2.203035, -1.709071, 0.979425, 2.217647, 2.309247]  # t=86\nPRESS_087_JOINTS = [-0.358629, -1.762988, 2.204102, -1.703497, 0.943812, 2.211470, 2.343842]  # t=87\nPRESS_088_JOINTS = [-0.357145, -1.762976, 2.202257, -1.700204, 0.912029, 2.202741, 2.374581]  # t=88\nPRESS_090_JOINTS = [-0.352973, -1.762946, 2.192951, -1.697926, 0.867136, 2.179334, 2.416207]  # t=90\nPRESS_091_JOINTS = [-0.349372, -1.762943, 2.186364, -1.699515, 0.849978, 2.166430, 2.428490]  # t=91\nPRESS_092_JOINTS = [-0.344671, -1.762930, 2.178744, -1.703299, 0.834913, 2.153653, 2.436573]  # t=92\nPRESS_094_JOINTS = [-0.331791, -1.762886, 2.160992, -1.718795, 0.812699, 2.132109, 2.436066]  # t=94\nPRESS_095_JOINTS = [-0.323687, -1.762885, 2.150997, -1.730200, 0.804708, 2.123126, 2.430319]  # t=95\nPRESS_096_JOINTS = [-0.315199, -1.762883, 2.140989, -1.743234, 0.797958, 2.116233, 2.422703]  # t=96\nPRESS_098_JOINTS = [-0.299449, -1.762853, 2.122057, -1.771830, 0.793600, 2.110340, 2.398913]  # t=98\nPRESS_100_JOINTS = [-0.285691, -1.762826, 2.103182, -1.802192, 0.802763, 2.109732, 2.363709]  # t=100\nPRESS_102_JOINTS = [-0.273910, -1.762817, 2.083487, -1.833611, 0.816244, 2.111489, 2.322382]  # t=102\nPRESS_104_JOINTS = [-0.264967, -1.762808, 2.063592, -1.864696, 0.830812, 2.115913, 2.278590]  # t=104\nPRESS_106_JOINTS = [-0.256821, -1.759894, 2.044776, -1.898752, 0.848509, 2.120832, 2.240434]  # t=106\nPRESS_107_JOINTS = [-0.253394, -1.757838, 2.035378, -1.916540, 0.857297, 2.124049, 2.225385]  # t=107\nPRESS_108_JOINTS = [-0.251367, -1.755744, 2.025562, -1.933478, 0.865008, 2.127144, 2.210453]  # t=108\nPRESS_110_JOINTS = [-0.253244, -1.751798, 2.003862, -1.961676, 0.875643, 2.129145, 2.178073]  # t=110\nPRESS_112_JOINTS = [-0.262020, -1.747094, 1.979397, -1.984038, 0.881110, 2.124854, 2.145968]  # t=112\nPRESS_113_JOINTS = [-0.268413, -1.744325, 1.966491, -1.994027, 0.882282, 2.121725, 2.129986]  # t=113\nPRESS_114_JOINTS = [-0.276225, -1.741849, 1.953653, -2.003169, 0.882724, 2.120899, 2.113254]  # t=114\nPRESS_116_JOINTS = [-0.294331, -1.736493, 1.929076, -2.021575, 0.883187, 2.126345, 2.075537]  # t=116\nPRESS_118_JOINTS = [-0.313998, -1.729434, 1.906513, -2.042946, 0.885096, 2.141068, 2.033769]  # t=118\nPRESS_119_JOINTS = [-0.324267, -1.725146, 1.896023, -2.055048, 0.887328, 2.151735, 2.012671]  # t=119\nPRESS_120_JOINTS = [-0.335200, -1.720573, 1.885973, -2.067459, 0.890048, 2.164351, 1.990941]  # t=120\nPRESS_122_JOINTS = [-0.359771, -1.711016, 1.868059, -2.090159, 0.897302, 2.194726, 1.946868]  # t=122\nPRESS_124_JOINTS = [-0.388143, -1.701474, 1.853290, -2.107786, 0.906656, 2.230445, 1.905065]  # t=124\nPRESS_125_JOINTS = [-0.404456, -1.697205, 1.846430, -2.113814, 0.910678, 2.249371, 1.883515]  # t=125\nPRESS_126_JOINTS = [-0.422545, -1.693347, 1.839690, -2.117475, 0.914473, 2.268468, 1.861795]  # t=126\nPRESS_128_JOINTS = [-0.464716, -1.686916, 1.825891, -2.117499, 0.922682, 2.306671, 1.819042]  # t=128\nPRESS_129_JOINTS = [-0.488155, -1.683917, 1.818542, -2.115013, 0.926971, 2.324344, 1.797636]  # t=129\nPRESS_130_JOINTS = [-0.512870, -1.680969, 1.811038, -2.111267, 0.931546, 2.341104, 1.776038]  # t=130\nPRESS_132_JOINTS = [-0.565507, -1.675100, 1.796004, -2.100700, 0.941831, 2.372295, 1.731983]  # t=132\nPRESS_134_JOINTS = [-0.622426, -1.669821, 1.781552, -2.084911, 0.953133, 2.399198, 1.690964]  # t=134\nPRESS_136_JOINTS = [-0.679995, -1.665176, 1.769407, -2.062641, 0.962606, 2.417065, 1.658498]  # t=136\nPRESS_137_JOINTS = [-0.708198, -1.663432, 1.764453, -2.049184, 0.966164, 2.423685, 1.645820]  # t=137\nPRESS_138_JOINTS = [-0.735792, -1.662103, 1.760435, -2.034554, 0.969216, 2.429241, 1.634772]  # t=138\nPRESS_140_JOINTS = [-0.783795, -1.659037, 1.753678, -2.005986, 0.973313, 2.435449, 1.615680]  # t=140\nPRESS_142_JOINTS = [-0.819369, -1.655147, 1.746769, -1.982642, 0.974163, 2.435358, 1.601085]  # t=142\nPRESS_143_JOINTS = [-0.831666, -1.652746, 1.743234, -1.973814, 0.973555, 2.433046, 1.595495]  # t=143\nPRESS_144_JOINTS = [-0.839188, -1.649743, 1.739447, -1.967651, 0.971822, 2.428230, 1.591445]  # t=144\nPRESS_146_JOINTS = [-0.845051, -1.643896, 1.732330, -1.961168, 0.966085, 2.417622, 1.587900]  # t=146\nPRESS_147_JOINTS = [-0.846555, -1.641756, 1.730150, -1.959087, 0.963359, 2.414067, 1.587639]  # t=147\nPRESS_148_JOINTS = [-0.850093, -1.641562, 1.728760, -1.956866, 0.960492, 2.415614, 1.588484]  # t=148\nPRESS_150_JOINTS = [-0.868934, -1.648273, 1.729379, -1.948142, 0.955477, 2.436336, 1.593161]  # t=150\nPRESS_152_JOINTS = [-0.895925, -1.659918, 1.731501, -1.932498, 0.950223, 2.466586, 1.601528]  # t=152\nPRESS_153_JOINTS = [-0.908357, -1.665048, 1.732365, -1.924670, 0.947734, 2.477753, 1.605634]  # t=153\nPRESS_154_JOINTS = [-0.915540, -1.668912, 1.733415, -1.911797, 0.944204, 2.486556, 1.610187]  # t=154\nPRESS_156_JOINTS = [-0.926875, -1.679003, 1.733668, -1.888019, 0.931493, 2.499187, 1.627101]  # t=156\nPRESS_157_JOINTS = [-0.932766, -1.685996, 1.733518, -1.875732, 0.923134, 2.506745, 1.639018]  # t=157\nPRESS_158_JOINTS = [-0.937681, -1.693341, 1.732879, -1.863864, 0.913785, 2.512778, 1.652832]  # t=158\nPRESS_160_JOINTS = [-0.943060, -1.704211, 1.729798, -1.846841, 0.897184, 2.512987, 1.677469]  # t=160\nPRESS_161_JOINTS = [-0.942387, -1.708348, 1.728248, -1.844535, 0.889332, 2.509895, 1.688013]  # t=161\nRETREAT_168_JOINTS = [-0.807410, -1.699978, 1.724872, -1.917710, 0.842072, 2.446105, 1.782835]  # t=168\nAPPROACH_000_JOINTS = [0.001777, -1.040713, -0.007125, -2.262362, 0.045935, 1.566951, 0.686096]  # 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_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, 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_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_073_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_078_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\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_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=1, 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_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_096_JOINTS, input_type='joint', steps=1, 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_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_114_JOINTS, input_type='joint', steps=1, 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_118_JOINTS, input_type='joint', steps=2, 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_122_JOINTS, input_type='joint', steps=2, 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_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, 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_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_130_JOINTS, input_type='joint', steps=1, 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_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_138_JOINTS, input_type='joint', steps=1, 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_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_144_JOINTS, input_type='joint', steps=1, 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_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_150_JOINTS, input_type='joint', steps=2, 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_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=1, 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_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_158_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_160_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_168_JOINTS, input_type='joint', steps=7, 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": 18832, "code_num_lines": 214, "code_num_nonblank_lines": 204, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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\":[1.1601626998865786,-2.6590371128574817,0.0],\"lang\":\"Close the oven 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}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseOven\"}", "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\":\"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_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\":[1.1601626998865786,-2.6590371128574817,0.0],\"lang\":\"Close the oven 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,-0.0010818571045710466,-9.995350677555683e-05,-0.0004694089123953888,0.0004666409323290257,2.738824097170638e-07,-5.342444596101369e-07,7.66360046709024e-07,-2.732911594358908e-07,-2.827263459856001e-09,-2.9686172251499157e-09,-2.9686172251499157e-09,-6.770281323848762e-07,0.0,0.0,0.0,0.0,0.0,-5.312502652076966e-07,2.8684694112847937e-09,-1.7830922775022816e-07,-2.70554606315748e-08,1.4509255543026324e-07,-4.577051033583227e-08,0.0,1.586612854753501e-05,-2.827232271693604e-09,-2.9685796843070595e-09,-2.9685796843070595e-09,8.056052543251464e-08,6.746235294484472e-07,-2.1729540797857146e-07,-3.046871631869397e-06,9.879674862579717e-08,9.881686247186251e-08,0.0,0.0,0.0,0.0,0.0,0.0,3.383857707058812e-07,-4.5573860825872063e-10,8.621542171912932e-07,-6.320856811557388e-07,3.828601025014317e-07,-2.4475377178593004e-07,-3.2375421439045787e-09,2.812895202076469e-09,-2.7327546082849363e-11,-1.0518486266120721e-11,1.546469533208022e-09,0.0,0.0,0.0,-1.760638734131542e-09,-6.747593875530215e-07,2.1675243216681765e-07,1.8416550117957464e-09,-3.295953677245083e-09,-1.4814858937932105e-05,-8.070024921237082e-07,2.5814101991159983e-07,1.622595593742597e-09,-3.295953637604449e-09,0.0,0.0,0.0,-1.0893000105155906e-06,-1.6972535182751468e-06,1.4310751051426663e-22,1.0830576397391191e-20,0.0,-4.040590947308794e-09,-4.040590947308794e-09,-3.8459961842544573e-07,3.724478546443687e-07,-1.0352978454825408e-08,-5.921804503475842e-07,-2.97225196081573e-09,5.803283149904648e-05,2.843396124772795e-07,-1.0352978454823559e-08,-5.921804503476175e-07,-2.97225196081573e-09,6.13015765563108e-06,-2.0533615608945566e-06,-1.93111079845826e-06,0.00011696909913236727,9.055917414772589e-05,5.499725227525998e-06,2.1532666071366157e-06,7.939314765967497e-07,-1.726902326882939e-06,7.03729097487528e-05,8.986045614032906e-06,6.193157430256974e-06,0.00020997780439541906,-0.00034151643642212846,-0.00010062173501168713,0.0010002391343376703,-0.017804413258968893,-9.524707142943552e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/CloseOven/20260324_205257_close-oven_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"CloseOven\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 78, "pretrain_task_id": 11, "retained_waypoint_count": 78, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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": "Close the oven door.", "task_name": "CloseOven", "video_available": true, "video_bytes": 315769, "video_relpath": "videos/raw_extracted/11_CloseOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseStandMixerHead\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_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': 'CloseStandMixerHead',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseStandMixerHead/20260324_205258_close-stand-mixer-head_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 62,\n    'stable_release_contact_loss_t': 62,\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 = [-0.005969, -1.013322, -0.049984, -2.295131, 0.029970, 1.507608, 0.690263]  # t=3\nAPPROACH_005_JOINTS = [-0.011617, -1.029336, -0.079765, -2.295239, 0.005196, 1.509710, 0.667928]  # t=5\nAPPROACH_006_JOINTS = [-0.015490, -1.046452, -0.102268, -2.296349, -0.011352, 1.506803, 0.649459]  # t=6\nAPPROACH_007_JOINTS = [-0.019821, -1.069481, -0.127418, -2.299073, -0.028688, 1.503338, 0.627907]  # t=7\nAPPROACH_009_JOINTS = [-0.029268, -1.122727, -0.181676, -2.311254, -0.062571, 1.500224, 0.582029]  # t=9\nAPPROACH_012_JOINTS = [-0.043476, -1.197562, -0.269403, -2.333373, -0.109245, 1.510606, 0.507300]  # t=12\nAPPROACH_014_JOINTS = [-0.049911, -1.224789, -0.337705, -2.344963, -0.123056, 1.524709, 0.456636]  # t=14\nAPPROACH_015_JOINTS = [-0.051788, -1.227085, -0.373661, -2.346609, -0.126479, 1.534496, 0.436596]  # t=15\nAPPROACH_017_JOINTS = [-0.052482, -1.216373, -0.437590, -2.336644, -0.140109, 1.554541, 0.387162]  # t=17\nAPPROACH_018_JOINTS = [-0.051217, -1.205202, -0.464848, -2.325371, -0.149703, 1.563044, 0.355517]  # t=18\nAPPROACH_021_JOINTS = [-0.041456, -1.157404, -0.543820, -2.273404, -0.169558, 1.573303, 0.240823]  # t=21\nAPPROACH_024_JOINTS = [-0.021065, -1.094009, -0.632199, -2.215739, -0.173196, 1.593974, 0.094783]  # t=24\nAPPROACH_027_JOINTS = [0.010187, -1.041294, -0.736652, -2.155124, -0.123997, 1.640020, -0.098274]  # t=27\nAPPROACH_030_JOINTS = [0.057239, -0.989588, -0.851734, -2.091674, -0.038427, 1.683549, -0.319135]  # t=30\nAPPROACH_032_JOINTS = [0.098625, -0.956165, -0.926291, -2.047295, 0.029329, 1.697803, -0.473576]  # t=32\nAPPROACH_033_JOINTS = [0.123274, -0.937699, -0.960015, -2.027831, 0.062616, 1.709142, -0.546938]  # t=33\nAPPROACH_034_JOINTS = [0.151341, -0.916683, -0.989495, -2.013058, 0.096678, 1.728378, -0.612490]  # t=34\nAPPROACH_036_JOINTS = [0.211879, -0.873501, -1.038337, -1.989986, 0.156032, 1.769889, -0.727087]  # t=36\nAPPROACH_037_JOINTS = [0.238838, -0.858289, -1.058593, -1.971162, 0.175756, 1.770767, -0.782356]  # t=37\nAPPROACH_039_JOINTS = [0.291407, -0.831085, -1.099262, -1.906223, 0.199566, 1.675624, -0.900932]  # t=39\nAPPROACH_040_JOINTS = [0.326019, -0.809259, -1.124830, -1.860327, 0.209884, 1.632796, -0.963635]  # t=40\nAPPROACH_042_JOINTS = [0.405682, -0.765699, -1.175724, -1.776919, 0.226320, 1.605402, -1.086878]  # t=42\nAPPROACH_045_JOINTS = [0.519880, -0.734512, -1.234695, -1.683898, 0.224162, 1.622105, -1.257965]  # t=45\nAPPROACH_047_JOINTS = [0.576874, -0.743655, -1.244138, -1.652504, 0.211900, 1.644898, -1.360293]  # t=47\nAPPROACH_048_JOINTS = [0.595740, -0.757337, -1.238071, -1.650905, 0.204272, 1.656402, -1.407902]  # t=48\nAPPROACH_051_JOINTS = [0.622576, -0.814187, -1.193081, -1.693307, 0.170804, 1.706492, -1.542999]  # t=51\nAPPROACH_054_JOINTS = [0.608166, -0.882508, -1.127740, -1.779431, 0.130900, 1.743338, -1.663534]  # t=54\nAPPROACH_056_JOINTS = [0.590286, -0.920769, -1.078459, -1.833390, 0.113826, 1.795523, -1.722258]  # t=56\nPRESS_060_JOINTS = [0.540054, -0.991269, -0.963761, -1.965275, 0.113578, 1.893023, -1.817052]  # t=60\nPRESS_066_JOINTS = [0.482985, -1.029879, -0.828612, -2.083692, 0.157361, 1.827377, -1.998268]  # t=66\nRETREAT_067_JOINTS = [0.474670, -1.029576, -0.806769, -2.097561, 0.163464, 1.806344, -2.029321]  # t=67\nRETREAT_068_JOINTS = [0.466906, -1.027296, -0.782030, -2.107097, 0.169098, 1.783188, -2.058731]  # t=68\nRETREAT_069_JOINTS = [0.461107, -1.020386, -0.751460, -2.107968, 0.175102, 1.761575, -2.085049]  # t=69\nRETREAT_070_JOINTS = [0.457644, -1.007343, -0.715869, -2.099754, 0.179879, 1.739562, -2.108310]  # t=70\nRETREAT_071_JOINTS = [0.455779, -0.989219, -0.678385, -2.083693, 0.183426, 1.714553, -2.129142]  # t=71\nRETREAT_072_JOINTS = [0.454653, -0.967553, -0.640615, -2.060718, 0.185705, 1.686598, -2.148965]  # t=72\nRETREAT_073_JOINTS = [0.453053, -0.944715, -0.603225, -2.031071, 0.185407, 1.655268, -2.169077]  # t=73\nRETREAT_074_JOINTS = [0.450025, -0.922664, -0.565738, -1.996166, 0.182166, 1.619854, -2.187687]  # t=74\nRETREAT_075_JOINTS = [0.445228, -0.901859, -0.526705, -1.957870, 0.175858, 1.582100, -2.201707]  # t=75\nRETREAT_076_JOINTS = [0.438192, -0.883216, -0.486418, -1.919845, 0.165362, 1.541823, -2.208955]  # t=76\nRETREAT_077_JOINTS = [0.428465, -0.869237, -0.444874, -1.886331, 0.149340, 1.498045, -2.211280]  # t=77\nRETREAT_078_JOINTS = [0.415898, -0.861362, -0.401540, -1.860843, 0.127058, 1.454616, -2.208936]  # t=78\nRETREAT_079_JOINTS = [0.401456, -0.859174, -0.355268, -1.843332, 0.102035, 1.416428, -2.204362]  # t=79\nRETREAT_080_JOINTS = [0.385822, -0.862656, -0.306810, -1.834316, 0.075652, 1.383057, -2.200131]  # t=80\nRETREAT_081_JOINTS = [0.369395, -0.872490, -0.258758, -1.833626, 0.050077, 1.356568, -2.196956]  # t=81\nRETREAT_082_JOINTS = [0.352600, -0.888678, -0.213777, -1.840881, 0.026777, 1.336350, -2.194858]  # t=82\nRETREAT_083_JOINTS = [0.335970, -0.910414, -0.172798, -1.855367, 0.006554, 1.323768, -2.194200]  # t=83\nRETREAT_084_JOINTS = [0.320059, -0.935607, -0.137351, -1.875280, -0.007282, 1.321898, -2.192736]  # t=84\nAPPROACH_000_JOINTS = [-0.004038, -1.011219, -0.044819, -2.295809, 0.035305, 1.505550, 0.693525]  # 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_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_037_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_060_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_066_JOINTS, input_type='joint', steps=6, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_084_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": 12284, "code_num_lines": 144, "code_num_nonblank_lines": 134, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 49, "pretrain_task_id": 12, "retained_waypoint_count": 49, "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": 259507, "video_relpath": "videos/raw_extracted/12_CloseStandMixerHead.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CloseToasterOvenDoor\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_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': 'CloseToasterOvenDoor',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CloseToasterOvenDoor/20260324_205259_close-toaster-oven-door_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 140,\n    'stable_release_contact_loss_t': 140,\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 = [-0.003074, -0.993536, -0.006137, -2.239994, 0.020381, 1.515249, 0.673605]  # t=3\nAPPROACH_004_JOINTS = [-0.003089, -1.010390, -0.002806, -2.241075, 0.023192, 1.503504, 0.674699]  # t=4\nAPPROACH_008_JOINTS = [-0.000294, -1.137320, 0.077144, -2.265349, 0.064592, 1.463661, 0.756177]  # t=8\nAPPROACH_009_JOINTS = [0.000778, -1.175515, 0.106853, -2.277822, 0.077036, 1.466751, 0.788747]  # t=9\nAPPROACH_011_JOINTS = [0.003567, -1.249369, 0.171550, -2.306002, 0.098990, 1.488287, 0.855919]  # t=11\nAPPROACH_012_JOINTS = [0.005332, -1.281403, 0.205221, -2.321503, 0.110023, 1.509646, 0.887642]  # t=12\nAPPROACH_013_JOINTS = [0.007374, -1.309679, 0.238571, -2.337137, 0.122230, 1.535277, 0.918598]  # t=13\nAPPROACH_016_JOINTS = [0.016176, -1.380080, 0.335009, -2.377366, 0.164178, 1.626229, 1.005941]  # t=16\nAPPROACH_019_JOINTS = [0.031440, -1.448749, 0.423979, -2.416575, 0.196423, 1.710664, 1.080635]  # t=19\nAPPROACH_020_JOINTS = [0.039285, -1.477683, 0.451297, -2.432514, 0.203609, 1.730963, 1.104327]  # t=20\nAPPROACH_023_JOINTS = [0.071578, -1.585611, 0.536382, -2.490443, 0.215828, 1.788325, 1.184105]  # t=23\nAPPROACH_024_JOINTS = [0.085977, -1.628701, 0.567984, -2.512097, 0.218051, 1.805008, 1.213968]  # t=24\nAPPROACH_027_JOINTS = [0.141214, -1.769409, 0.666755, -2.581585, 0.216453, 1.846049, 1.306452]  # t=27\nAPPROACH_028_JOINTS = [0.162931, -1.765487, 0.698959, -2.581203, 0.197349, 1.859789, 1.348478]  # t=28\nAPPROACH_031_JOINTS = [0.226862, -1.762909, 0.784022, -2.554412, 0.129847, 1.847839, 1.485764]  # t=31\nAPPROACH_032_JOINTS = [0.245493, -1.762859, 0.802225, -2.545370, 0.118710, 1.831522, 1.515505]  # t=32\nAPPROACH_033_JOINTS = [0.262215, -1.762834, 0.817516, -2.539110, 0.114544, 1.813332, 1.536433]  # t=33\nAPPROACH_036_JOINTS = [0.300210, -1.762813, 0.859808, -2.530442, 0.120046, 1.766334, 1.582044]  # t=36\nAPPROACH_040_JOINTS = [0.321095, -1.742314, 0.911559, -2.545123, 0.173403, 1.695643, 1.627256]  # t=40\nAPPROACH_041_JOINTS = [0.321350, -1.734482, 0.929497, -2.551018, 0.185995, 1.689090, 1.645305]  # t=41\nAPPROACH_043_JOINTS = [0.318830, -1.715793, 0.977717, -2.571646, 0.211945, 1.700080, 1.687742]  # t=43\nAPPROACH_044_JOINTS = [0.317211, -1.705163, 1.005889, -2.584349, 0.225290, 1.713497, 1.710931]  # t=44\nAPPROACH_047_JOINTS = [0.313882, -1.666698, 1.097634, -2.627329, 0.266159, 1.769852, 1.786176]  # t=47\nAPPROACH_048_JOINTS = [0.315168, -1.653407, 1.124388, -2.642114, 0.277304, 1.788307, 1.811531]  # t=48\nAPPROACH_052_JOINTS = [0.329782, -1.598740, 1.196492, -2.701224, 0.297003, 1.878128, 1.893390]  # t=52\nAPPROACH_056_JOINTS = [0.344097, -1.528662, 1.260124, -2.770525, 0.312803, 1.989859, 1.969366]  # t=56\nAPPROACH_060_JOINTS = [0.334956, -1.436715, 1.331907, -2.850779, 0.318226, 2.150744, 2.041412]  # t=60\nAPPROACH_064_JOINTS = [0.282329, -1.329656, 1.390892, -2.929642, 0.301577, 2.361931, 2.109128]  # t=64\nAPPROACH_066_JOINTS = [0.238213, -1.276923, 1.409539, -2.950320, 0.279070, 2.469535, 2.139682]  # t=66\nAPPROACH_067_JOINTS = [0.216208, -1.252624, 1.418122, -2.949546, 0.264177, 2.502523, 2.158349]  # t=67\nPRESS_068_JOINTS = [0.199416, -1.236136, 1.420648, -2.939767, 0.241987, 2.499437, 2.177983]  # t=68\nPRESS_069_JOINTS = [0.187052, -1.225984, 1.416153, -2.924453, 0.217394, 2.475383, 2.191876]  # t=69\nPRESS_070_JOINTS = [0.176907, -1.217519, 1.409461, -2.904355, 0.197430, 2.442225, 2.203233]  # t=70\nPRESS_071_JOINTS = [0.167776, -1.208509, 1.405662, -2.878838, 0.182582, 2.408038, 2.214812]  # t=71\nPRESS_072_JOINTS = [0.151749, -1.193426, 1.410187, -2.855114, 0.173420, 2.396039, 2.225554]  # t=72\nPRESS_073_JOINTS = [0.132197, -1.175567, 1.418787, -2.835161, 0.166451, 2.395717, 2.234815]  # t=73\nPRESS_074_JOINTS = [0.112941, -1.158386, 1.426869, -2.816164, 0.160081, 2.394941, 2.242804]  # t=74\nPRESS_075_JOINTS = [0.095268, -1.144280, 1.433353, -2.797819, 0.152193, 2.391978, 2.251030]  # t=75\nPRESS_077_JOINTS = [0.067717, -1.126179, 1.442426, -2.764750, 0.132692, 2.376917, 2.268615]  # t=77\nPRESS_079_JOINTS = [0.047130, -1.113801, 1.451251, -2.741308, 0.118486, 2.362626, 2.282583]  # t=79\nPRESS_080_JOINTS = [0.035624, -1.108288, 1.456964, -2.734987, 0.113688, 2.364125, 2.287867]  # t=80\nPRESS_081_JOINTS = [0.022577, -1.103125, 1.465030, -2.731607, 0.109798, 2.371998, 2.293097]  # t=81\nPRESS_083_JOINTS = [-0.006012, -1.093330, 1.487540, -2.730384, 0.105703, 2.399358, 2.303294]  # t=83\nPRESS_085_JOINTS = [-0.035916, -1.086660, 1.512248, -2.732288, 0.103249, 2.432479, 2.312873]  # t=85\nPRESS_087_JOINTS = [-0.062528, -1.087431, 1.534423, -2.735760, 0.097093, 2.464659, 2.325181]  # t=87\nPRESS_089_JOINTS = [-0.081558, -1.098951, 1.549514, -2.740648, 0.082950, 2.496200, 2.343226]  # t=89\nPRESS_091_JOINTS = [-0.093971, -1.118748, 1.564770, -2.749027, 0.064722, 2.536957, 2.373445]  # t=91\nPRESS_092_JOINTS = [-0.100069, -1.129243, 1.573277, -2.756043, 0.056779, 2.562585, 2.390835]  # t=92\nPRESS_093_JOINTS = [-0.104672, -1.139447, 1.578852, -2.763933, 0.050221, 2.588493, 2.406272]  # t=93\nPRESS_095_JOINTS = [-0.109666, -1.159456, 1.581296, -2.777369, 0.038551, 2.634284, 2.428563]  # t=95\nPRESS_097_JOINTS = [-0.105469, -1.182556, 1.570946, -2.787971, 0.026562, 2.665029, 2.447283]  # t=97\nPRESS_099_JOINTS = [-0.088891, -1.203287, 1.542429, -2.799747, 0.019558, 2.681342, 2.455206]  # t=99\nPRESS_100_JOINTS = [-0.080537, -1.211649, 1.523308, -2.806141, 0.017404, 2.690763, 2.453496]  # t=100\nPRESS_101_JOINTS = [-0.075350, -1.218288, 1.503012, -2.811364, 0.015719, 2.703296, 2.448699]  # t=101\nPRESS_102_JOINTS = [-0.072658, -1.224597, 1.481345, -2.815005, 0.013477, 2.716748, 2.442182]  # t=102\nPRESS_103_JOINTS = [-0.072088, -1.230303, 1.459018, -2.817496, 0.010951, 2.730406, 2.434273]  # t=103\nPRESS_105_JOINTS = [-0.077068, -1.237404, 1.415101, -2.819264, 0.007493, 2.758314, 2.415251]  # t=105\nPRESS_106_JOINTS = [-0.082431, -1.238722, 1.393876, -2.818569, 0.006789, 2.772851, 2.404750]  # t=106\nPRESS_107_JOINTS = [-0.089011, -1.238709, 1.373477, -2.817115, 0.006832, 2.787149, 2.394164]  # t=107\nPRESS_108_JOINTS = [-0.096600, -1.237290, 1.353826, -2.814967, 0.007616, 2.800924, 2.383400]  # t=108\nPRESS_109_JOINTS = [-0.104993, -1.234644, 1.334995, -2.812253, 0.009140, 2.814434, 2.372671]  # t=109\nPRESS_111_JOINTS = [-0.122813, -1.226679, 1.298986, -2.806297, 0.014679, 2.842240, 2.352181]  # t=111\nPRESS_113_JOINTS = [-0.142101, -1.213678, 1.267154, -2.799629, 0.023568, 2.872057, 2.331608]  # t=113\nPRESS_114_JOINTS = [-0.151988, -1.206010, 1.253001, -2.796233, 0.028996, 2.887593, 2.322005]  # t=114\nPRESS_115_JOINTS = [-0.162140, -1.197580, 1.239991, -2.792721, 0.034970, 2.903696, 2.312768]  # t=115\nPRESS_117_JOINTS = [-0.185076, -1.177449, 1.218260, -2.783353, 0.047679, 2.938319, 2.294519]  # t=117\nPRESS_119_JOINTS = [-0.210188, -1.154246, 1.200361, -2.771678, 0.061723, 2.974005, 2.276486]  # t=119\nPRESS_120_JOINTS = [-0.222697, -1.141593, 1.192715, -2.765641, 0.069490, 2.992297, 2.267233]  # t=120\nPRESS_121_JOINTS = [-0.234405, -1.128742, 1.186184, -2.760012, 0.077740, 3.010564, 2.257863]  # t=121\nPRESS_123_JOINTS = [-0.257556, -1.101782, 1.175403, -2.748383, 0.095187, 3.046864, 2.238654]  # t=123\nPRESS_125_JOINTS = [-0.280854, -1.072671, 1.167534, -2.735986, 0.112874, 3.082668, 2.217080]  # t=125\nPRESS_127_JOINTS = [-0.306914, -1.039608, 1.165418, -2.723208, 0.129138, 3.118181, 2.193071]  # t=127\nPRESS_129_JOINTS = [-0.338317, -1.001286, 1.168019, -2.708335, 0.143929, 3.157256, 2.168467]  # t=129\nPRESS_131_JOINTS = [-0.368973, -0.960165, 1.172910, -2.695979, 0.159045, 3.202441, 2.143590]  # t=131\nPRESS_133_JOINTS = [-0.396908, -0.915913, 1.176074, -2.685969, 0.173462, 3.251013, 2.114487]  # t=133\nPRESS_135_JOINTS = [-0.422330, -0.865680, 1.177666, -2.675971, 0.184809, 3.301694, 2.079346]  # t=135\nPRESS_137_JOINTS = [-0.444785, -0.809655, 1.178468, -2.666249, 0.191819, 3.353952, 2.040206]  # t=137\nPRESS_139_JOINTS = [-0.464456, -0.750157, 1.179068, -2.657044, 0.193836, 3.406540, 1.999077]  # t=139\nPRESS_140_JOINTS = [-0.471642, -0.721504, 1.179060, -2.654346, 0.193736, 3.433814, 1.978483]  # t=140\nPRESS_141_JOINTS = [-0.472154, -0.699686, 1.177755, -2.656320, 0.195396, 3.461415, 1.959408]  # t=141\nPRESS_142_JOINTS = [-0.467939, -0.682992, 1.174665, -2.659319, 0.198490, 3.482485, 1.941983]  # t=142\nPRESS_143_JOINTS = [-0.460721, -0.669894, 1.170085, -2.661495, 0.202523, 3.495887, 1.925924]  # t=143\nPRESS_145_JOINTS = [-0.441070, -0.649945, 1.157053, -2.663266, 0.211670, 3.504246, 1.897334]  # t=145\nPRESS_147_JOINTS = [-0.418793, -0.632252, 1.139764, -2.664337, 0.219328, 3.500111, 1.871944]  # t=147\nPRESS_149_JOINTS = [-0.393694, -0.617966, 1.120750, -2.668483, 0.225911, 3.498533, 1.849517]  # t=149\nPRESS_151_JOINTS = [-0.371066, -0.603081, 1.102143, -2.671061, 0.231109, 3.497130, 1.828356]  # t=151\nPRESS_153_JOINTS = [-0.352435, -0.589141, 1.086020, -2.672183, 0.237133, 3.496302, 1.807902]  # t=153\nPRESS_155_JOINTS = [-0.337277, -0.578851, 1.073216, -2.672875, 0.246242, 3.494769, 1.788811]  # t=155\nAPPROACH_000_JOINTS = [-0.002349, -0.976434, -0.006173, -2.241550, 0.020248, 1.530420, 0.673882]  # 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_008_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=1, 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_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, 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_033_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, 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_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_047_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=1, 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_056_JOINTS, input_type='joint', steps=4, 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_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_106_JOINTS, input_type='joint', steps=1, 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_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_142_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 19826, "code_num_lines": 220, "code_num_nonblank_lines": 211, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 91, "pretrain_task_id": 13, "retained_waypoint_count": 91, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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": "Close the toaster oven door.", "task_name": "CloseToasterOvenDoor", "video_available": true, "video_bytes": 397898, "video_relpath": "videos/raw_extracted/13_CloseToasterOvenDoor.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CoffeeServeMug\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_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': 'CoffeeServeMug',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CoffeeServeMug/20260324_205300_coffee-serve-mug_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 65,\n    'stable_release_contact_loss_t': 113,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=1.405508, y=-0.506516, z=1.030056, qw=0.951114, qx=0.000507, qy=0.000513, qz=0.308839)\nGOAL_RECEPTACLE_POSE = pose(x=1.274900, y=-0.501523, z=0.965623, qw=0.954526, qx=0.000560, qy=0.000256, qz=0.298127)\n\nAPPROACH_003_JOINTS = [-0.024720, -1.069462, -0.030289, -2.259839, 0.053143, 1.539246, 0.682968]  # t=3\nAPPROACH_006_JOINTS = [-0.024045, -1.091620, -0.031016, -2.272739, 0.052139, 1.516455, 0.683297]  # t=6\nAPPROACH_007_JOINTS = [-0.023637, -1.102839, -0.029566, -2.283390, 0.053225, 1.509804, 0.684316]  # t=7\nAPPROACH_009_JOINTS = [-0.022331, -1.128976, -0.020985, -2.318973, 0.059677, 1.506213, 0.690094]  # t=9\nAPPROACH_012_JOINTS = [-0.019663, -1.172072, 0.000865, -2.399771, 0.075594, 1.532868, 0.704468]  # t=12\nAPPROACH_015_JOINTS = [-0.016109, -1.215898, 0.026509, -2.490179, 0.094558, 1.577613, 0.719823]  # t=15\nAPPROACH_016_JOINTS = [-0.014578, -1.228872, 0.035956, -2.519701, 0.102096, 1.596437, 0.724797]  # t=16\nAPPROACH_018_JOINTS = [-0.010925, -1.246248, 0.057485, -2.579273, 0.119569, 1.647017, 0.734778]  # t=18\nAPPROACH_021_JOINTS = [-0.006792, -1.254986, 0.083189, -2.659459, 0.136237, 1.734619, 0.749941]  # t=21\nAPPROACH_024_JOINTS = [-0.004677, -1.250689, 0.092421, -2.719377, 0.140069, 1.816209, 0.756641]  # t=24\nAPPROACH_025_JOINTS = [-0.003777, -1.248674, 0.094397, -2.736212, 0.141091, 1.837976, 0.757618]  # t=25\nAPPROACH_027_JOINTS = [-0.001110, -1.250167, 0.097999, -2.771992, 0.143673, 1.871159, 0.757672]  # t=27\nAPPROACH_030_JOINTS = [0.004704, -1.260850, 0.105352, -2.845214, 0.150812, 1.921032, 0.756695]  # t=30\nAPPROACH_033_JOINTS = [0.011658, -1.281232, 0.112855, -2.916227, 0.159009, 1.978305, 0.755520]  # t=33\nAPPROACH_034_JOINTS = [0.014054, -1.290072, 0.114867, -2.935647, 0.161208, 1.995338, 0.755425]  # t=34\nAPPROACH_036_JOINTS = [0.019021, -1.308418, 0.117460, -2.967698, 0.165009, 2.021506, 0.752957]  # t=36\nAPPROACH_038_JOINTS = [0.024161, -1.324292, 0.116684, -2.989543, 0.168527, 2.040611, 0.741243]  # t=38\nAPPROACH_039_JOINTS = [0.026347, -1.327069, 0.115783, -2.998988, 0.169974, 2.054717, 0.732802]  # t=39\nAPPROACH_042_JOINTS = [0.032195, -1.310576, 0.114063, -3.020180, 0.170924, 2.098084, 0.694183]  # t=42\nAPPROACH_045_JOINTS = [0.037420, -1.292471, 0.105694, -3.019245, 0.169048, 2.103290, 0.640673]  # t=45\nAPPROACH_048_JOINTS = [0.041107, -1.283760, 0.090639, -3.013708, 0.171215, 2.100264, 0.594931]  # t=48\nAPPROACH_051_JOINTS = [0.042889, -1.276451, 0.081258, -3.011526, 0.172274, 2.103709, 0.570843]  # t=51\nAPPROACH_053_JOINTS = [0.044531, -1.268340, 0.082078, -3.011083, 0.175466, 2.112893, 0.567777]  # t=53\nDESCEND_054_JOINTS = [0.045730, -1.263898, 0.084189, -3.010468, 0.177923, 2.117144, 0.568231]  # t=54\nDESCEND_055_JOINTS = [0.047099, -1.259411, 0.087099, -3.009572, 0.180711, 2.121254, 0.569311]  # t=55\nDESCEND_056_JOINTS = [0.048764, -1.254009, 0.091068, -3.008847, 0.184274, 2.127243, 0.570798]  # t=56\nDESCEND_057_JOINTS = [0.050859, -1.246392, 0.096435, -3.008647, 0.189225, 2.137656, 0.572643]  # t=57\nDESCEND_058_JOINTS = [0.053179, -1.236479, 0.102744, -3.008585, 0.194972, 2.151141, 0.574705]  # t=58\nDESCEND_059_JOINTS = [0.055325, -1.223493, 0.109340, -3.008648, 0.200737, 2.169358, 0.576655]  # t=59\nDESCEND_060_JOINTS = [0.056852, -1.207711, 0.115056, -3.008487, 0.205478, 2.190319, 0.577920]  # t=60\nDESCEND_061_JOINTS = [0.057299, -1.190291, 0.118571, -3.007606, 0.208089, 2.211640, 0.578094]  # t=61\nDESCEND_062_JOINTS = [0.057021, -1.170893, 0.120155, -3.005973, 0.209490, 2.234182, 0.577147]  # t=62\nGRASP_HOLD_065_JOINTS = [0.054927, -1.097832, 0.120373, -2.994496, 0.212718, 2.309447, 0.569823]  # t=65\nLIFT_066_JOINTS = [0.054025, -1.077764, 0.119024, -2.986179, 0.212113, 2.319920, 0.567931]  # t=66\nLIFT_067_JOINTS = [0.052824, -1.062786, 0.116753, -2.977773, 0.209994, 2.322094, 0.566436]  # t=67\nLIFT_068_JOINTS = [0.051655, -1.052469, 0.114112, -2.970695, 0.207362, 2.320401, 0.564899]  # t=68\nLIFT_069_JOINTS = [0.050961, -1.046887, 0.111922, -2.965135, 0.205153, 2.314988, 0.563707]  # t=69\nLIFT_070_JOINTS = [0.051105, -1.044272, 0.111411, -2.961285, 0.204491, 2.309157, 0.563554]  # t=70\nLIFT_071_JOINTS = [0.052631, -1.048784, 0.113045, -2.958193, 0.205552, 2.293949, 0.565326]  # t=71\nLIFT_072_JOINTS = [0.055981, -1.064210, 0.117825, -2.954991, 0.208304, 2.264551, 0.570604]  # t=72\nLIFT_073_JOINTS = [0.060960, -1.089237, 0.126010, -2.952567, 0.212730, 2.225912, 0.579703]  # t=73\nLIFT_074_JOINTS = [0.067786, -1.123620, 0.137894, -2.951469, 0.219563, 2.180976, 0.592027]  # t=74\nLIFT_075_JOINTS = [0.076926, -1.164319, 0.154749, -2.952794, 0.230766, 2.136098, 0.607078]  # t=75\nTRANSPORT_076_JOINTS = [0.088876, -1.208170, 0.178155, -2.956132, 0.247865, 2.097934, 0.623557]  # t=76\nTRANSPORT_077_JOINTS = [0.103369, -1.251436, 0.209177, -2.962017, 0.271088, 2.072632, 0.642218]  # t=77\nTRANSPORT_078_JOINTS = [0.119677, -1.290298, 0.247358, -2.970742, 0.299677, 2.061896, 0.663293]  # t=78\nTRANSPORT_079_JOINTS = [0.136866, -1.321259, 0.291590, -2.981604, 0.333065, 2.066745, 0.686279]  # t=79\nTRANSPORT_080_JOINTS = [0.153998, -1.341986, 0.339513, -2.993535, 0.369778, 2.086154, 0.709439]  # t=80\nTRANSPORT_081_JOINTS = [0.170641, -1.353630, 0.388572, -3.003898, 0.407269, 2.111732, 0.731691]  # t=81\nTRANSPORT_082_JOINTS = [0.186505, -1.357485, 0.437506, -3.011208, 0.444535, 2.141115, 0.753371]  # t=82\nTRANSPORT_083_JOINTS = [0.200876, -1.353554, 0.485501, -3.016223, 0.480594, 2.175564, 0.774343]  # t=83\nTRANSPORT_084_JOINTS = [0.212733, -1.341358, 0.531104, -3.020318, 0.514344, 2.215896, 0.793550]  # t=84\nTRANSPORT_085_JOINTS = [0.219559, -1.319580, 0.570982, -3.025724, 0.543584, 2.266270, 0.808305]  # t=85\nTRANSPORT_086_JOINTS = [0.220577, -1.293951, 0.595946, -3.034281, 0.563323, 2.315883, 0.814318]  # t=86\nTRANSPORT_087_JOINTS = [0.218027, -1.267254, 0.606012, -3.042249, 0.576242, 2.356992, 0.811330]  # t=87\nTRANSPORT_088_JOINTS = [0.213283, -1.237682, 0.607766, -3.047138, 0.585683, 2.393126, 0.802977]  # t=88\nTRANSPORT_089_JOINTS = [0.207124, -1.206210, 0.604390, -3.048446, 0.591867, 2.423871, 0.792113]  # t=89\nTRANSPORT_090_JOINTS = [0.199884, -1.173343, 0.597566, -3.046494, 0.595086, 2.449741, 0.780401]  # t=90\nTRANSPORT_091_JOINTS = [0.191710, -1.139247, 0.588360, -3.041581, 0.595701, 2.471775, 0.768498]  # t=91\nTRANSPORT_092_JOINTS = [0.183248, -1.106141, 0.577372, -3.034118, 0.593635, 2.488665, 0.757102]  # t=92\nTRANSPORT_093_JOINTS = [0.175324, -1.076851, 0.565331, -3.024861, 0.588654, 2.499109, 0.747242]  # t=93\nTRANSPORT_094_JOINTS = [0.169002, -1.054750, 0.553007, -3.014887, 0.580804, 2.501250, 0.740067]  # t=94\nTRANSPORT_095_JOINTS = [0.164781, -1.041135, 0.541635, -3.005356, 0.570661, 2.496874, 0.736470]  # t=95\nTRANSPORT_096_JOINTS = [0.162148, -1.032636, 0.532402, -2.997025, 0.560019, 2.490820, 0.736008]  # t=96\nTRANSPORT_097_JOINTS = [0.160652, -1.026720, 0.525159, -2.990058, 0.550254, 2.484871, 0.737213]  # t=97\nTRANSPORT_098_JOINTS = [0.159958, -1.022373, 0.519427, -2.984383, 0.541728, 2.479689, 0.739299]  # t=98\nPLACE_099_JOINTS = [0.159792, -1.018923, 0.514838, -2.979859, 0.534467, 2.475639, 0.741693]  # t=99\nPLACE_100_JOINTS = [0.159958, -1.016126, 0.511102, -2.976310, 0.528356, 2.472583, 0.744056]  # t=100\nPLACE_101_JOINTS = [0.160352, -1.014831, 0.507421, -2.973181, 0.522809, 2.469449, 0.746257]  # t=101\nPLACE_102_JOINTS = [0.160877, -1.017322, 0.502882, -2.969592, 0.516250, 2.465482, 0.748592]  # t=102\nPLACE_103_JOINTS = [0.162457, -1.030227, 0.496738, -2.965026, 0.506304, 2.455904, 0.752357]  # t=103\nPLACE_104_JOINTS = [0.165847, -1.055886, 0.490049, -2.960257, 0.492839, 2.438909, 0.759067]  # t=104\nPLACE_105_JOINTS = [0.171122, -1.094104, 0.483246, -2.955179, 0.476262, 2.415475, 0.769123]  # t=105\nPLACE_106_JOINTS = [0.178453, -1.144459, 0.476486, -2.949576, 0.457073, 2.384528, 0.782409]  # t=106\nPLACE_107_JOINTS = [0.188144, -1.204837, 0.470403, -2.943901, 0.437314, 2.345709, 0.798376]  # t=107\nPLACE_108_JOINTS = [0.199987, -1.274933, 0.464203, -2.939006, 0.416995, 2.299035, 0.816378]  # t=108\nPLACE_109_JOINTS = [0.212657, -1.350900, 0.458677, -2.935856, 0.395466, 2.251889, 0.835790]  # t=109\nPLACE_110_JOINTS = [0.225505, -1.428486, 0.455443, -2.934184, 0.373495, 2.209819, 0.855217]  # t=110\nPLACE_111_JOINTS = [0.238206, -1.506629, 0.453641, -2.933674, 0.350940, 2.171682, 0.873869]  # t=111\nPLACE_112_JOINTS = [0.250628, -1.584371, 0.452072, -2.933610, 0.328529, 2.136352, 0.890832]  # t=112\nPLACE_113_JOINTS = [0.262655, -1.660402, 0.451184, -2.933258, 0.306624, 2.104549, 0.905282]  # t=113\nRELEASE_POSE_113_JOINTS = [0.262655, -1.660402, 0.451184, -2.933258, 0.306624, 2.104549, 0.905282]  # t=113\nRETRACT_114_JOINTS = [0.274083, -1.733796, 0.451221, -2.932223, 0.285289, 2.076259, 0.917247]  # t=114\nRETRACT_115_JOINTS = [0.284002, -1.771926, 0.450218, -2.917298, 0.259610, 2.056600, 0.929538]  # t=115\nRETRACT_116_JOINTS = [0.289603, -1.764929, 0.439372, -2.869791, 0.214297, 2.032440, 0.949980]  # t=116\nRETRACT_117_JOINTS = [0.293321, -1.763245, 0.425922, -2.815879, 0.169262, 1.998645, 0.969225]  # t=117\nRETRACT_118_JOINTS = [0.295654, -1.763009, 0.413947, -2.762034, 0.131672, 1.965797, 0.983988]  # t=118\nRETRACT_119_JOINTS = [0.296196, -1.762997, 0.402140, -2.709026, 0.098715, 1.936886, 0.995887]  # t=119\nRETRACT_120_JOINTS = [0.295125, -1.762982, 0.389827, -2.657282, 0.069511, 1.910414, 1.005122]  # t=120\nRETRACT_121_JOINTS = [0.292466, -1.762953, 0.378735, -2.607118, 0.044512, 1.886887, 1.011488]  # t=121\nRETRACT_122_JOINTS = [0.287543, -1.762880, 0.371098, -2.561008, 0.023850, 1.869746, 1.016510]  # t=122\nRETRACT_123_JOINTS = [0.279821, -1.762719, 0.366477, -2.521208, 0.006262, 1.860264, 1.020821]  # t=123\nRETRACT_124_JOINTS = [0.269839, -1.762918, 0.361880, -2.484866, -0.010884, 1.855607, 1.025370]  # t=124\nRETRACT_125_JOINTS = [0.258560, -1.762882, 0.356313, -2.448259, -0.028540, 1.853081, 1.031322]  # t=125\nRETRACT_126_JOINTS = [0.246135, -1.762799, 0.348901, -2.413907, -0.045151, 1.853348, 1.040043]  # t=126\nRETRACT_127_JOINTS = [0.232863, -1.762370, 0.342374, -2.382181, -0.059472, 1.858006, 1.047903]  # t=127\nRETRACT_128_JOINTS = [0.218936, -1.761234, 0.337104, -2.352066, -0.072461, 1.865730, 1.054864]  # t=128\nAPPROACH_000_JOINTS = [-0.025185, -1.063129, -0.029761, -2.261026, 0.053602, 1.548416, 0.682920]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_058_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_059_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_065_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_065_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_113_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_113_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_113_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 22622, "code_num_lines": 265, "code_num_nonblank_lines": 250, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 97, "pretrain_task_id": 14, "retained_waypoint_count": 97, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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 mug from under the coffee machine dispenser and place it on the counter.", "task_name": "CoffeeServeMug", "video_available": true, "video_bytes": 242586, "video_relpath": "videos/raw_extracted/14_CoffeeServeMug.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: CoffeeSetupMug\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_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': 'CoffeeSetupMug',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/CoffeeSetupMug/20260324_205301_coffee-setup-mug_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 103,\n    'stable_release_contact_loss_t': 206,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.925722, y=-0.567339, z=0.964644, qw=0.886038, qx=-0.000472, qy=0.000443, qz=0.463611)\nGOAL_RECEPTACLE_POSE = pose(x=3.997765, y=-0.419605, z=1.016747, qw=0.971317, qx=0.000371, qy=-0.000336, qz=0.237789)\n\nAPPROACH_003_JOINTS = [-0.059347, -0.995843, -0.015158, -2.287002, 0.062668, 1.542841, 0.718200]  # t=3\nAPPROACH_006_JOINTS = [-0.053743, -0.994617, -0.085110, -2.287340, 0.070446, 1.570111, 0.650914]  # t=6\nAPPROACH_009_JOINTS = [-0.045314, -1.017874, -0.222411, -2.319976, 0.128676, 1.649697, 0.477227]  # t=9\nAPPROACH_012_JOINTS = [-0.037257, -1.060328, -0.379496, -2.395058, 0.196191, 1.713961, 0.245052]  # t=12\nAPPROACH_013_JOINTS = [-0.034695, -1.072807, -0.430109, -2.423748, 0.217039, 1.726667, 0.166379]  # t=13\nAPPROACH_015_JOINTS = [-0.029611, -1.103292, -0.515930, -2.485943, 0.256257, 1.727298, 0.000528]  # t=15\nAPPROACH_018_JOINTS = [-0.020624, -1.137094, -0.604946, -2.584632, 0.291776, 1.720729, -0.242422]  # t=18\nAPPROACH_019_JOINTS = [-0.016158, -1.139386, -0.629179, -2.609171, 0.300570, 1.715410, -0.314226]  # t=19\nAPPROACH_021_JOINTS = [-0.004766, -1.132704, -0.672362, -2.636175, 0.315183, 1.695491, -0.446042]  # t=21\nAPPROACH_024_JOINTS = [0.015640, -1.100638, -0.722477, -2.652806, 0.317408, 1.652890, -0.610294]  # t=24\nAPPROACH_027_JOINTS = [0.023820, -1.072313, -0.767203, -2.666487, 0.321276, 1.652577, -0.710537]  # t=27\nAPPROACH_030_JOINTS = [0.015173, -1.068387, -0.783741, -2.727522, 0.335183, 1.704997, -0.740141]  # t=30\nAPPROACH_033_JOINTS = [-0.009960, -1.080890, -0.790775, -2.808147, 0.328314, 1.773717, -0.733923]  # t=33\nAPPROACH_035_JOINTS = [-0.033628, -1.092659, -0.796598, -2.859222, 0.312585, 1.815042, -0.713538]  # t=35\nAPPROACH_036_JOINTS = [-0.045705, -1.097998, -0.799787, -2.880955, 0.302148, 1.829908, -0.703253]  # t=36\nAPPROACH_039_JOINTS = [-0.075511, -1.108587, -0.806296, -2.930093, 0.274933, 1.856056, -0.684193]  # t=39\nAPPROACH_041_JOINTS = [-0.088606, -1.106479, -0.808606, -2.956567, 0.260186, 1.873604, -0.676313]  # t=41\nAPPROACH_042_JOINTS = [-0.095148, -1.102816, -0.812833, -2.969505, 0.249295, 1.879280, -0.674638]  # t=42\nAPPROACH_045_JOINTS = [-0.114947, -1.088537, -0.831663, -3.013173, 0.215160, 1.898127, -0.678212]  # t=45\nDESCEND_046_JOINTS = [-0.119984, -1.080585, -0.838771, -3.028956, 0.204820, 1.913466, -0.682475]  # t=46\nDESCEND_047_JOINTS = [-0.123839, -1.071783, -0.845944, -3.043289, 0.196379, 1.928721, -0.689919]  # t=47\nGRASP_050_JOINTS = [-0.126293, -1.045773, -0.863170, -3.052250, 0.187256, 1.946622, -0.733060]  # t=50\nGRASP_055_JOINTS = [-0.095485, -0.991317, -0.873232, -3.019140, 0.200195, 1.918846, -0.848055]  # t=55\nGRASP_065_JOINTS = [-0.018042, -0.916074, -0.813937, -2.965428, 0.283325, 1.884022, -0.879478]  # t=65\nGRASP_073_JOINTS = [-0.014608, -0.902216, -0.803110, -2.942368, 0.288129, 1.845971, -0.886704]  # t=73\nGRASP_075_JOINTS = [-0.019293, -0.905609, -0.803667, -2.941166, 0.280324, 1.820884, -0.890095]  # t=75\nGRASP_077_JOINTS = [-0.025068, -0.916705, -0.797722, -2.948859, 0.276928, 1.795204, -0.890903]  # t=77\nGRASP_081_JOINTS = [-0.031422, -0.944234, -0.767446, -2.986277, 0.281763, 1.782015, -0.896704]  # t=81\nGRASP_084_JOINTS = [-0.031553, -0.957965, -0.742273, -3.004480, 0.290249, 1.782944, -0.901067]  # t=84\nGRASP_092_JOINTS = [-0.033602, -0.941478, -0.733272, -3.028401, 0.281266, 1.800850, -0.936500]  # t=92\nGRASP_093_JOINTS = [-0.032716, -0.938575, -0.732093, -3.028385, 0.282059, 1.800330, -0.941049]  # t=93\nGRASP_094_JOINTS = [-0.031586, -0.935610, -0.730536, -3.028645, 0.283101, 1.800171, -0.945046]  # t=94\nGRASP_103_JOINTS = [-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.968070]  # t=103\nGRASP_HOLD_103_JOINTS = [-0.024705, -0.912876, -0.723316, -3.016679, 0.288104, 1.788745, -0.968070]  # t=103\nLIFT_104_JOINTS = [-0.026198, -0.910656, -0.728642, -3.012351, 0.288775, 1.782714, -0.970027]  # t=104\nLIFT_105_JOINTS = [-0.029488, -0.908794, -0.740238, -3.003500, 0.292231, 1.769707, -0.971982]  # t=105\nLIFT_106_JOINTS = [-0.033680, -0.908222, -0.755496, -2.991664, 0.300495, 1.751860, -0.973664]  # t=106\nLIFT_107_JOINTS = [-0.038064, -0.909769, -0.771734, -2.977678, 0.313526, 1.729359, -0.975292]  # t=107\nLIFT_108_JOINTS = [-0.042988, -0.912366, -0.788935, -2.962445, 0.328189, 1.705875, -0.975101]  # t=108\nLIFT_109_JOINTS = [-0.048751, -0.914914, -0.807959, -2.946941, 0.341914, 1.683920, -0.972946]  # t=109\nTRANSPORT_111_JOINTS = [-0.062193, -0.918500, -0.849528, -2.917467, 0.364942, 1.650743, -0.957308]  # t=111\nTRANSPORT_113_JOINTS = [-0.073325, -0.919802, -0.885071, -2.895870, 0.387480, 1.652330, -0.933556]  # t=113\nTRANSPORT_115_JOINTS = [-0.080551, -0.920846, -0.909356, -2.884409, 0.408441, 1.681917, -0.908431]  # t=115\nTRANSPORT_117_JOINTS = [-0.083724, -0.924469, -0.919320, -2.884694, 0.433850, 1.733647, -0.882951]  # t=117\nTRANSPORT_119_JOINTS = [-0.080212, -0.931300, -0.911249, -2.897489, 0.471301, 1.797188, -0.860528]  # t=119\nTRANSPORT_121_JOINTS = [-0.073923, -0.938344, -0.895139, -2.907524, 0.509729, 1.860261, -0.833388]  # t=121\nTRANSPORT_123_JOINTS = [-0.065890, -0.943690, -0.874407, -2.908787, 0.539513, 1.907201, -0.799712]  # t=123\nTRANSPORT_125_JOINTS = [-0.055819, -0.943320, -0.854221, -2.910178, 0.557869, 1.942715, -0.767974]  # t=125\nTRANSPORT_127_JOINTS = [-0.044568, -0.937437, -0.835195, -2.910984, 0.564165, 1.964479, -0.735508]  # t=127\nTRANSPORT_129_JOINTS = [-0.035234, -0.929755, -0.819659, -2.907969, 0.559079, 1.981343, -0.712036]  # t=129\nTRANSPORT_131_JOINTS = [-0.025049, -0.918595, -0.806700, -2.909564, 0.556750, 2.010452, -0.701833]  # t=131\nTRANSPORT_133_JOINTS = [-0.008028, -0.902481, -0.787083, -2.914541, 0.569053, 2.062916, -0.706413]  # t=133\nTRANSPORT_135_JOINTS = [0.013443, -0.881775, -0.760485, -2.918139, 0.586250, 2.127170, -0.714816]  # t=135\nTRANSPORT_137_JOINTS = [0.033815, -0.860964, -0.730420, -2.916780, 0.597645, 2.187951, -0.719595]  # t=137\nTRANSPORT_138_JOINTS = [0.042860, -0.851342, -0.714599, -2.915156, 0.601138, 2.215992, -0.719412]  # t=138\nPLACE_139_JOINTS = [0.051377, -0.842480, -0.698461, -2.912805, 0.604853, 2.241887, -0.717715]  # t=139\nPLACE_140_JOINTS = [0.059258, -0.834969, -0.682906, -2.908774, 0.609459, 2.262541, -0.714372]  # t=140\nPLACE_142_JOINTS = [0.074384, -0.818959, -0.656214, -2.898974, 0.622122, 2.293351, -0.706039]  # t=142\nPLACE_144_JOINTS = [0.089235, -0.800298, -0.639001, -2.889624, 0.644325, 2.317895, -0.703868]  # t=144\nPLACE_146_JOINTS = [0.098715, -0.782554, -0.633471, -2.881525, 0.661597, 2.331899, -0.704301]  # t=146\nPLACE_148_JOINTS = [0.101553, -0.771309, -0.635027, -2.875550, 0.668265, 2.332812, -0.709368]  # t=148\nPLACE_150_JOINTS = [0.101095, -0.763837, -0.636041, -2.870389, 0.667496, 2.326343, -0.711281]  # t=150\nPLACE_152_JOINTS = [0.100340, -0.755788, -0.634179, -2.864027, 0.664213, 2.318836, -0.706921]  # t=152\nPLACE_154_JOINTS = [0.099484, -0.746248, -0.631189, -2.856235, 0.658544, 2.310194, -0.697786]  # t=154\nPLACE_156_JOINTS = [0.097909, -0.738550, -0.629320, -2.848660, 0.652564, 2.299142, -0.691380]  # t=156\nPLACE_158_JOINTS = [0.095205, -0.736000, -0.630468, -2.846333, 0.650912, 2.291344, -0.697406]  # t=158\nPLACE_160_JOINTS = [0.091928, -0.736619, -0.630493, -2.846758, 0.650420, 2.285718, -0.703741]  # t=160\nPLACE_162_JOINTS = [0.088466, -0.738761, -0.629831, -2.848591, 0.649946, 2.282058, -0.709075]  # t=162\nPLACE_164_JOINTS = [0.077842, -0.749669, -0.637999, -2.851529, 0.636806, 2.268675, -0.712448]  # t=164\nPLACE_166_JOINTS = [0.063728, -0.770034, -0.648730, -2.851847, 0.620504, 2.250389, -0.716944]  # t=166\nPLACE_168_JOINTS = [0.047707, -0.797634, -0.660554, -2.846788, 0.603974, 2.228424, -0.717507]  # t=168\nPLACE_170_JOINTS = [0.033891, -0.823255, -0.673322, -2.832683, 0.593582, 2.195058, -0.700917]  # t=170\nPLACE_172_JOINTS = [0.020191, -0.848450, -0.691790, -2.810832, 0.582242, 2.147446, -0.679111]  # t=172\nPLACE_174_JOINTS = [0.003354, -0.873709, -0.723370, -2.785655, 0.564001, 2.087751, -0.656266]  # t=174\nPLACE_176_JOINTS = [-0.014842, -0.893697, -0.773182, -2.756822, 0.541833, 2.022244, -0.637222]  # t=176\nPLACE_178_JOINTS = [-0.029510, -0.906665, -0.831672, -2.724239, 0.521365, 1.954629, -0.623786]  # t=178\nPLACE_180_JOINTS = [-0.039611, -0.913447, -0.899367, -2.686654, 0.506916, 1.883817, -0.613964]  # t=180\nPLACE_182_JOINTS = [-0.042969, -0.915506, -0.970463, -2.645388, 0.501635, 1.812902, -0.608826]  # t=182\nPLACE_184_JOINTS = [-0.039582, -0.915013, -1.044425, -2.603991, 0.500303, 1.741947, -0.614622]  # t=184\nPLACE_186_JOINTS = [-0.027405, -0.911298, -1.111662, -2.569224, 0.496270, 1.682984, -0.629630]  # t=186\nPLACE_188_JOINTS = [-0.006750, -0.906086, -1.161250, -2.541053, 0.489765, 1.642729, -0.642458]  # t=188\nPLACE_190_JOINTS = [0.017415, -0.903180, -1.188249, -2.520849, 0.479869, 1.622888, -0.646671]  # t=190\nPLACE_192_JOINTS = [0.040288, -0.904382, -1.206140, -2.506185, 0.472538, 1.615379, -0.644675]  # t=192\nPLACE_194_JOINTS = [0.060168, -0.909106, -1.220715, -2.494746, 0.464615, 1.611101, -0.640062]  # t=194\nPLACE_196_JOINTS = [0.077293, -0.916310, -1.232857, -2.485850, 0.456239, 1.609026, -0.633952]  # t=196\nPLACE_198_JOINTS = [0.091984, -0.925139, -1.242952, -2.479003, 0.447688, 1.608559, -0.626953]  # t=198\nPLACE_200_JOINTS = [0.104556, -0.934849, -1.251346, -2.473648, 0.439188, 1.608853, -0.619480]  # t=200\nPLACE_202_JOINTS = [0.115333, -0.944892, -1.258312, -2.469473, 0.430942, 1.609815, -0.611876]  # t=202\nPLACE_204_JOINTS = [0.124551, -0.954941, -1.264075, -2.466279, 0.423069, 1.611266, -0.604376]  # t=204\nPLACE_206_JOINTS = [0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025]  # t=206\nRELEASE_POSE_206_JOINTS = [0.127491, -0.967917, -1.272631, -2.460421, 0.408043, 1.599186, -0.601025]  # t=206\nRETRACT_207_JOINTS = [0.126173, -0.974863, -1.276358, -2.456615, 0.391752, 1.592569, -0.602919]  # t=207\nRETRACT_208_JOINTS = [0.123579, -0.981766, -1.276897, -2.452548, 0.369607, 1.588026, -0.606860]  # t=208\nRETRACT_209_JOINTS = [0.118840, -0.989278, -1.272662, -2.446457, 0.339786, 1.583282, -0.613993]  # t=209\nRETRACT_210_JOINTS = [0.111745, -0.997759, -1.260865, -2.438918, 0.302175, 1.580314, -0.625821]  # t=210\nRETRACT_211_JOINTS = [0.102520, -1.007233, -1.243839, -2.432189, 0.262741, 1.580208, -0.638606]  # t=211\nRETRACT_212_JOINTS = [0.091085, -1.017958, -1.224735, -2.427046, 0.223794, 1.580688, -0.651755]  # t=212\nRETRACT_213_JOINTS = [0.077683, -1.029711, -1.204704, -2.424079, 0.185704, 1.581908, -0.664451]  # t=213\nRETRACT_214_JOINTS = [0.062684, -1.042295, -1.183585, -2.423421, 0.147807, 1.584181, -0.676820]  # t=214\nRETRACT_215_JOINTS = [0.046217, -1.055714, -1.162553, -2.423655, 0.109913, 1.587432, -0.689245]  # t=215\nRETRACT_216_JOINTS = [0.028531, -1.070221, -1.141642, -2.425016, 0.072163, 1.590389, -0.702926]  # t=216\nRETRACT_217_JOINTS = [0.010480, -1.085366, -1.120931, -2.428667, 0.036106, 1.596062, -0.716915]  # t=217\nRETRACT_218_JOINTS = [-0.007031, -1.100437, -1.100729, -2.435306, 0.002539, 1.605222, -0.729990]  # t=218\nRETRACT_219_JOINTS = [-0.023870, -1.115371, -1.081292, -2.444435, -0.028291, 1.616359, -0.741604]  # t=219\nRETRACT_220_JOINTS = [-0.040227, -1.130330, -1.062975, -2.455186, -0.056489, 1.627533, -0.751574]  # t=220\nRETRACT_221_JOINTS = [-0.055901, -1.145359, -1.046141, -2.467550, -0.080678, 1.638650, -0.759663]  # t=221\nAPPROACH_000_JOINTS = [-0.062465, -0.994317, -0.008781, -2.287270, 0.069160, 1.545456, 0.718407]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, 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_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_047_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    moveJoint(GRASP_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_065_JOINTS, input_type='joint', steps=10, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_073_JOINTS, input_type='joint', steps=8, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_081_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_084_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_092_JOINTS, input_type='joint', steps=8, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_103_JOINTS, input_type='joint', steps=9, settle_steps=0, gripper=1.000)\n    wait(duration=0.05, hold_target=GRASP_HOLD_103_JOINTS, input_type='joint', gripper=-0.3)\n    grasp(hold_target=GRASP_HOLD_103_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_103_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_142_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_144_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_146_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_148_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_154_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_156_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_158_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_160_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_162_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_166_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_170_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_206_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_206_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_206_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_209_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_211_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_214_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_217_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_219_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_221_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 24647, "code_num_lines": 284, "code_num_nonblank_lines": 269, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 105, "pretrain_task_id": 15, "retained_waypoint_count": 105, "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": 415596, "video_relpath": "videos/raw_extracted/15_CoffeeSetupMug.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: LowerHeat\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_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': 'LowerHeat',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/LowerHeat/20260324_205302_lower-heat_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 157,\n    'stable_release_contact_loss_t': 157,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.525455, y=-1.961975, z=1.013542, qw=0.609356, qx=-0.000391, qy=-0.000352, qz=0.792896)\nGOAL_RECEPTACLE_POSE = pose(x=0.525419, y=-1.961981, z=1.013544, qw=0.609311, qx=-0.000508, qy=-0.000489, qz=0.792931)\n\nAPPROACH_005_JOINTS = [-0.033092, -1.018771, -0.016149, -2.299141, 0.067873, 1.495782, 0.697465]  # t=5\nAPPROACH_008_JOINTS = [-0.029848, -1.033173, -0.018133, -2.299797, 0.066294, 1.483881, 0.698592]  # t=8\nAPPROACH_010_JOINTS = [-0.025563, -1.041684, 0.007886, -2.310662, 0.064887, 1.487179, 0.706509]  # t=10\nAPPROACH_012_JOINTS = [-0.017817, -1.050469, 0.062885, -2.324404, 0.069248, 1.509431, 0.713638]  # t=12\nAPPROACH_015_JOINTS = [-0.004768, -1.038146, 0.170980, -2.334784, 0.064257, 1.557130, 0.714402]  # t=15\nAPPROACH_020_JOINTS = [0.007267, -0.966399, 0.367069, -2.299990, 0.004286, 1.608868, 0.719379]  # t=20\nAPPROACH_021_JOINTS = [0.007193, -0.946830, 0.404156, -2.286438, -0.014351, 1.612022, 0.721116]  # t=21\nAPPROACH_023_JOINTS = [0.006227, -0.916028, 0.453800, -2.263410, -0.037207, 1.604243, 0.724712]  # t=23\nAPPROACH_025_JOINTS = [0.003124, -0.894840, 0.469083, -2.257028, -0.043711, 1.606024, 0.734959]  # t=25\nAPPROACH_027_JOINTS = [-0.001257, -0.874181, 0.474023, -2.258674, -0.049452, 1.628366, 0.739107]  # t=27\nAPPROACH_030_JOINTS = [-0.011816, -0.830102, 0.475891, -2.255275, -0.061927, 1.682494, 0.740182]  # t=30\nAPPROACH_035_JOINTS = [-0.032988, -0.722429, 0.490535, -2.217223, -0.085160, 1.780657, 0.730313]  # t=35\nAPPROACH_038_JOINTS = [-0.045467, -0.649394, 0.505597, -2.181256, -0.116717, 1.820334, 0.714280]  # t=38\nAPPROACH_040_JOINTS = [-0.051619, -0.605273, 0.512518, -2.153699, -0.142063, 1.831186, 0.686356]  # t=40\nAPPROACH_045_JOINTS = [-0.060223, -0.511479, 0.507487, -2.096507, -0.185460, 1.881542, 0.607996]  # t=45\nAPPROACH_048_JOINTS = [-0.063682, -0.448759, 0.500802, -2.064158, -0.215307, 1.929643, 0.555696]  # t=48\nAPPROACH_050_JOINTS = [-0.065014, -0.401567, 0.498615, -2.039549, -0.238638, 1.964188, 0.525215]  # t=50\nAPPROACH_052_JOINTS = [-0.065148, -0.350590, 0.500378, -2.013330, -0.268465, 1.995436, 0.502462]  # t=52\nAPPROACH_055_JOINTS = [-0.062966, -0.267450, 0.508778, -1.972447, -0.328718, 2.035289, 0.486884]  # t=55\nAPPROACH_060_JOINTS = [-0.048286, -0.153609, 0.526341, -1.888247, -0.473604, 2.011421, 0.513820]  # t=60\nAPPROACH_065_JOINTS = [-0.016218, -0.038062, 0.550655, -1.799884, -0.669517, 1.919237, 0.562392]  # t=65\nAPPROACH_068_JOINTS = [0.003949, -0.020551, 0.529150, -1.786115, -0.745725, 1.919933, 0.555763]  # t=68\nAPPROACH_070_JOINTS = [0.017421, -0.008886, 0.510219, -1.790941, -0.788020, 1.928515, 0.548647]  # t=70\nAPPROACH_071_JOINTS = [0.024220, -0.001943, 0.501466, -1.792363, -0.808035, 1.931791, 0.547848]  # t=71\nAPPROACH_075_JOINTS = [0.051252, 0.039412, 0.472067, -1.790011, -0.877486, 1.942138, 0.560427]  # t=75\nAPPROACH_080_JOINTS = [0.084555, 0.104804, 0.440632, -1.773276, -0.944519, 1.948940, 0.592217]  # t=80\nAPPROACH_085_JOINTS = [0.115158, 0.156924, 0.406267, -1.742950, -0.974954, 1.969414, 0.600701]  # t=85\nAPPROACH_090_JOINTS = [0.139936, 0.198988, 0.368424, -1.705836, -0.992375, 2.006620, 0.578660]  # t=90\nAPPROACH_095_JOINTS = [0.162807, 0.245446, 0.338653, -1.655402, -1.008036, 2.037116, 0.560498]  # t=95\nAPPROACH_100_JOINTS = [0.185685, 0.289813, 0.315092, -1.611626, -1.040323, 2.059201, 0.572110]  # t=100\nAPPROACH_105_JOINTS = [0.206330, 0.327242, 0.289406, -1.584099, -1.105164, 2.101310, 0.621867]  # t=105\nAPPROACH_109_JOINTS = [0.218477, 0.350535, 0.265593, -1.579817, -1.169127, 2.148564, 0.678561]  # t=109\nPRESS_111_JOINTS = [0.223211, 0.350222, 0.255481, -1.584209, -1.200974, 2.165878, 0.712712]  # t=111\nPRESS_113_JOINTS = [0.226793, 0.347410, 0.246529, -1.595426, -1.235307, 2.185701, 0.751029]  # t=113\nPRESS_115_JOINTS = [0.229173, 0.342961, 0.238772, -1.611886, -1.273333, 2.207333, 0.793382]  # t=115\nPRESS_117_JOINTS = [0.229967, 0.339246, 0.232384, -1.626271, -1.307496, 2.228506, 0.830972]  # t=117\nPRESS_119_JOINTS = [0.229359, 0.336845, 0.227287, -1.634041, -1.334242, 2.247158, 0.859242]  # t=119\nPRESS_121_JOINTS = [0.228026, 0.334725, 0.224004, -1.640389, -1.355165, 2.262521, 0.881499]  # t=121\nPRESS_122_JOINTS = [0.227175, 0.333631, 0.222968, -1.643679, -1.364038, 2.269217, 0.891199]  # t=122\nPRESS_123_JOINTS = [0.226238, 0.332420, 0.222156, -1.647077, -1.372872, 2.275506, 0.900598]  # t=123\nPRESS_125_JOINTS = [0.223952, 0.331490, 0.220716, -1.649801, -1.387874, 2.287214, 0.916482]  # t=125\nPRESS_127_JOINTS = [0.221399, 0.331402, 0.219447, -1.645807, -1.399926, 2.296047, 0.927964]  # t=127\nPRESS_129_JOINTS = [0.218785, 0.329779, 0.218980, -1.645583, -1.408892, 2.304733, 0.933231]  # t=129\nPRESS_131_JOINTS = [0.215841, 0.326841, 0.218943, -1.650954, -1.412398, 2.316488, 0.930333]  # t=131\nPRESS_133_JOINTS = [0.212853, 0.323781, 0.218620, -1.654529, -1.414995, 2.327277, 0.929533]  # t=133\nPRESS_135_JOINTS = [0.210820, 0.322798, 0.219336, -1.655917, -1.415766, 2.331630, 0.929538]  # t=135\nPRESS_136_JOINTS = [0.210022, 0.322533, 0.219792, -1.656329, -1.416081, 2.332960, 0.929492]  # t=136\nPRESS_137_JOINTS = [0.209262, 0.322227, 0.220151, -1.656793, -1.416433, 2.334459, 0.929453]  # t=137\nPRESS_139_JOINTS = [0.207990, 0.321755, 0.220653, -1.657314, -1.418076, 2.336979, 0.931669]  # t=139\nPRESS_141_JOINTS = [0.206227, 0.320090, 0.219818, -1.659548, -1.422214, 2.345007, 0.945982]  # t=141\nPRESS_143_JOINTS = [0.202359, 0.316160, 0.217389, -1.665305, -1.413384, 2.364394, 0.964510]  # t=143\nPRESS_145_JOINTS = [0.196692, 0.312037, 0.214416, -1.669053, -1.382671, 2.388706, 0.988720]  # t=145\nPRESS_147_JOINTS = [0.190558, 0.309160, 0.212220, -1.668480, -1.332704, 2.409007, 1.016144]  # t=147\nPRESS_149_JOINTS = [0.184594, 0.306681, 0.210425, -1.666204, -1.272507, 2.425322, 1.043595]  # t=149\nPRESS_151_JOINTS = [0.179074, 0.304266, 0.208210, -1.663660, -1.209934, 2.439478, 1.069563]  # t=151\nPRESS_153_JOINTS = [0.174018, 0.301530, 0.205163, -1.662280, -1.148503, 2.453419, 1.093909]  # t=153\nPRESS_155_JOINTS = [0.169406, 0.298461, 0.201403, -1.662748, -1.088763, 2.468181, 1.117890]  # t=155\nPRESS_157_JOINTS = [0.165490, 0.295292, 0.197538, -1.664773, -1.031823, 2.482105, 1.142520]  # t=157\nPRESS_159_JOINTS = [0.162120, 0.291951, 0.193684, -1.668342, -0.977027, 2.495779, 1.168830]  # t=159\nPRESS_161_JOINTS = [0.158932, 0.288300, 0.189645, -1.673654, -0.923345, 2.511002, 1.196155]  # t=161\nPRESS_163_JOINTS = [0.155531, 0.283830, 0.185228, -1.681533, -0.869576, 2.529745, 1.223207]  # t=163\nPRESS_165_JOINTS = [0.151907, 0.278852, 0.180499, -1.691637, -0.816341, 2.552072, 1.249221]  # t=165\nPRESS_167_JOINTS = [0.148033, 0.273578, 0.175619, -1.703803, -0.763162, 2.577923, 1.274124]  # t=167\nPRESS_169_JOINTS = [0.144015, 0.268357, 0.170984, -1.717820, -0.709905, 2.607392, 1.297419]  # t=169\nPRESS_171_JOINTS = [0.139665, 0.263541, 0.166793, -1.733948, -0.655296, 2.642600, 1.315721]  # t=171\nPRESS_172_JOINTS = [0.137230, 0.261274, 0.164851, -1.742961, -0.626639, 2.662993, 1.321607]  # t=172\nAPPROACH_000_JOINTS = [-0.037254, -1.017783, -0.011157, -2.299278, 0.065523, 1.496358, 0.695959]  # 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_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_109_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_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 15385, "code_num_lines": 176, "code_num_nonblank_lines": 167, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"}", "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\":\"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}},\"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": false, "motion_primitive_count": 67, "pretrain_task_id": 16, "retained_waypoint_count": 67, "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": 312887, "video_relpath": "videos/raw_extracted/16_LowerHeat.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: MakeIcedCoffee\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_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': 'MakeIcedCoffee',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 171,\n    'stable_release_contact_loss_t': 332,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.578962, y=-1.317488, z=0.956734, qw=0.991023, qx=-0.103263, qy=-0.081838, qz=0.022637)\nGOAL_RECEPTACLE_POSE = pose(x=2.558060, y=-1.299864, z=0.959405, qw=0.764615, qx=0.000188, qy=0.000232, qz=-0.644488)\n\nAPPROACH_005_JOINTS = [-0.046303, -1.057529, 0.006573, -2.280279, 0.043476, 1.525279, 0.707780]  # t=5\nAPPROACH_010_JOINTS = [-0.034778, -1.081408, 0.018384, -2.282853, 0.051554, 1.497743, 0.724151]  # t=10\nAPPROACH_015_JOINTS = [-0.020682, -1.127891, 0.078146, -2.303527, 0.097181, 1.477258, 0.776091]  # t=15\nAPPROACH_020_JOINTS = [-0.006084, -1.138721, 0.181234, -2.327741, 0.171947, 1.506486, 0.859328]  # t=20\nAPPROACH_025_JOINTS = [0.007048, -1.136273, 0.278160, -2.347399, 0.248697, 1.545520, 0.942373]  # t=25\nAPPROACH_030_JOINTS = [0.016051, -1.136497, 0.323049, -2.371872, 0.288276, 1.580548, 0.985900]  # t=30\nAPPROACH_035_JOINTS = [0.020659, -1.135705, 0.329483, -2.397479, 0.288136, 1.604390, 0.987557]  # t=35\nAPPROACH_037_JOINTS = [0.021698, -1.131104, 0.333562, -2.416707, 0.289951, 1.625881, 0.986610]  # t=37\nAPPROACH_040_JOINTS = [0.021312, -1.111596, 0.340676, -2.450292, 0.293739, 1.674766, 0.981825]  # t=40\nAPPROACH_043_JOINTS = [0.019930, -1.077028, 0.348081, -2.482367, 0.301323, 1.720008, 0.972429]  # t=43\nAPPROACH_045_JOINTS = [0.018293, -1.047955, 0.352742, -2.499986, 0.303152, 1.744225, 0.964675]  # t=45\nAPPROACH_047_JOINTS = [0.016375, -1.015804, 0.361611, -2.512909, 0.300233, 1.765688, 0.958705]  # t=47\nAPPROACH_050_JOINTS = [0.014197, -0.965828, 0.376126, -2.524300, 0.298010, 1.788810, 0.951768]  # t=50\nAPPROACH_051_JOINTS = [0.014062, -0.950868, 0.380571, -2.527124, 0.298161, 1.793733, 0.949182]  # t=51\nAPPROACH_055_JOINTS = [0.015322, -0.897967, 0.400126, -2.542384, 0.299419, 1.815296, 0.936462]  # t=55\nAPPROACH_060_JOINTS = [0.021743, -0.862862, 0.412576, -2.566616, 0.304418, 1.844746, 0.903435]  # t=60\nAPPROACH_065_JOINTS = [0.031862, -0.847579, 0.424888, -2.610167, 0.310289, 1.893464, 0.853008]  # t=65\nAPPROACH_070_JOINTS = [0.043265, -0.835227, 0.440404, -2.654752, 0.311555, 1.945922, 0.786697]  # t=70\nAPPROACH_071_JOINTS = [0.045092, -0.831175, 0.444108, -2.664193, 0.311265, 1.959527, 0.773666]  # t=71\nAPPROACH_075_JOINTS = [0.046775, -0.793900, 0.454746, -2.698505, 0.312732, 2.039278, 0.722854]  # t=75\nAPPROACH_080_JOINTS = [0.038317, -0.709581, 0.448890, -2.704645, 0.307614, 2.119355, 0.665724]  # t=80\nAPPROACH_083_JOINTS = [0.030643, -0.651888, 0.440497, -2.688826, 0.295102, 2.148913, 0.642113]  # t=83\nDESCEND_085_JOINTS = [0.025568, -0.614131, 0.434187, -2.672921, 0.283655, 2.162244, 0.632599]  # t=85\nDESCEND_087_JOINTS = [0.021270, -0.578673, 0.428570, -2.655942, 0.270879, 2.173478, 0.627518]  # t=87\nDESCEND_089_JOINTS = [0.018252, -0.546610, 0.424384, -2.640931, 0.258086, 2.185323, 0.625527]  # t=89\nDESCEND_091_JOINTS = [0.016915, -0.519723, 0.421400, -2.629328, 0.246462, 2.194697, 0.624777]  # t=91\nDESCEND_092_JOINTS = [0.017172, -0.509714, 0.420279, -2.624786, 0.241915, 2.196298, 0.623819]  # t=92\nDESCEND_093_JOINTS = [0.017957, -0.501511, 0.419438, -2.621583, 0.238473, 2.197166, 0.621709]  # t=93\nDESCEND_095_JOINTS = [0.020107, -0.485929, 0.418513, -2.620017, 0.233929, 2.203114, 0.615010]  # t=95\nDESCEND_097_JOINTS = [0.022452, -0.471391, 0.417983, -2.621975, 0.230548, 2.213807, 0.607371]  # t=97\nDESCEND_099_JOINTS = [0.025104, -0.461764, 0.416800, -2.623826, 0.227551, 2.222333, 0.600425]  # t=99\nDESCEND_101_JOINTS = [0.027845, -0.454850, 0.415307, -2.625767, 0.225226, 2.229276, 0.594147]  # t=101\nDESCEND_103_JOINTS = [0.030503, -0.449180, 0.413789, -2.627873, 0.223380, 2.235621, 0.588224]  # t=103\nDESCEND_105_JOINTS = [0.033252, -0.442377, 0.413067, -2.630786, 0.221977, 2.243973, 0.577462]  # t=105\nDESCEND_107_JOINTS = [0.036843, -0.437581, 0.411553, -2.631837, 0.221090, 2.248714, 0.548799]  # t=107\nDESCEND_109_JOINTS = [0.040584, -0.437242, 0.408394, -2.631429, 0.219459, 2.252304, 0.512065]  # t=109\nDESCEND_111_JOINTS = [0.044084, -0.441239, 0.405256, -2.632353, 0.216870, 2.258677, 0.481000]  # t=111\nDESCEND_113_JOINTS = [0.048325, -0.452005, 0.403607, -2.634586, 0.213403, 2.268585, 0.450345]  # t=113\nDESCEND_114_JOINTS = [0.050678, -0.457409, 0.403188, -2.637087, 0.211292, 2.273420, 0.429989]  # t=114\nDESCEND_115_JOINTS = [0.052809, -0.461901, 0.403176, -2.640371, 0.207086, 2.276269, 0.408812]  # t=115\nDESCEND_117_JOINTS = [0.055935, -0.466819, 0.404782, -2.645620, 0.190887, 2.277234, 0.369688]  # t=117\nDESCEND_119_JOINTS = [0.057886, -0.467087, 0.410420, -2.647535, 0.165429, 2.276562, 0.339946]  # t=119\nDESCEND_121_JOINTS = [0.059513, -0.465029, 0.418547, -2.646187, 0.136876, 2.273843, 0.314455]  # t=121\nDESCEND_122_JOINTS = [0.060106, -0.463287, 0.421618, -2.644766, 0.123538, 2.272549, 0.300085]  # t=122\nDESCEND_123_JOINTS = [0.060500, -0.460893, 0.424059, -2.642996, 0.110555, 2.271891, 0.284649]  # t=123\nDESCEND_125_JOINTS = [0.061499, -0.455149, 0.427156, -2.638389, 0.091348, 2.271693, 0.252119]  # t=125\nDESCEND_127_JOINTS = [0.062715, -0.450523, 0.427206, -2.634055, 0.082675, 2.271228, 0.222795]  # t=127\nDESCEND_128_JOINTS = [0.063365, -0.449467, 0.426888, -2.632716, 0.080290, 2.270566, 0.210606]  # t=128\nDESCEND_129_JOINTS = [0.063870, -0.448756, 0.426661, -2.631956, 0.077281, 2.270336, 0.199696]  # t=129\nDESCEND_131_JOINTS = [0.064197, -0.445101, 0.426398, -2.630416, 0.068740, 2.272982, 0.177844]  # t=131\nDESCEND_133_JOINTS = [0.064466, -0.440269, 0.426144, -2.627776, 0.060275, 2.272986, 0.153535]  # t=133\nDESCEND_135_JOINTS = [0.064926, -0.435156, 0.426209, -2.624696, 0.051759, 2.269518, 0.128299]  # t=135\nDESCEND_137_JOINTS = [0.065448, -0.425955, 0.429002, -2.622680, 0.040256, 2.264745, 0.104454]  # t=137\nDESCEND_139_JOINTS = [0.065225, -0.409920, 0.434590, -2.620925, 0.022269, 2.258728, 0.084850]  # t=139\nDESCEND_141_JOINTS = [0.064912, -0.392651, 0.440532, -2.615331, 0.002233, 2.250379, 0.068270]  # t=141\nDESCEND_143_JOINTS = [0.064911, -0.376227, 0.445791, -2.607460, -0.015787, 2.241148, 0.052223]  # t=143\nDESCEND_145_JOINTS = [0.064941, -0.362897, 0.451092, -2.597435, -0.034894, 2.234846, 0.040754]  # t=145\nDESCEND_147_JOINTS = [0.064854, -0.352070, 0.454210, -2.587180, -0.052235, 2.232291, 0.029863]  # t=147\nDESCEND_149_JOINTS = [0.064112, -0.340720, 0.454699, -2.577918, -0.069343, 2.233197, 0.018643]  # t=149\nDESCEND_151_JOINTS = [0.062644, -0.327905, 0.453173, -2.568416, -0.086281, 2.236810, 0.006649]  # t=151\nDESCEND_153_JOINTS = [0.061847, -0.316494, 0.452573, -2.560209, -0.101759, 2.237753, -0.006171]  # t=153\nDESCEND_155_JOINTS = [0.061855, -0.304839, 0.455257, -2.558093, -0.120277, 2.236834, -0.016590]  # t=155\nDESCEND_157_JOINTS = [0.061883, -0.290880, 0.459423, -2.557451, -0.141702, 2.237570, -0.023962]  # t=157\nDESCEND_159_JOINTS = [0.062190, -0.278023, 0.463359, -2.555824, -0.161526, 2.238102, -0.031060]  # t=159\nDESCEND_161_JOINTS = [0.062767, -0.267480, 0.466270, -2.551576, -0.179107, 2.235261, -0.039825]  # t=161\nDESCEND_162_JOINTS = [0.063184, -0.263056, 0.467365, -2.548105, -0.186771, 2.231390, -0.045473]  # t=162\nDESCEND_163_JOINTS = [0.063678, -0.259471, 0.468541, -2.544261, -0.194785, 2.226896, -0.050777]  # t=163\nDESCEND_164_JOINTS = [0.064249, -0.256534, 0.469969, -2.540597, -0.203218, 2.222297, -0.055072]  # t=164\nDESCEND_165_JOINTS = [0.064822, -0.253873, 0.471609, -2.536991, -0.212408, 2.218284, -0.058293]  # t=165\nDESCEND_167_JOINTS = [0.065897, -0.247601, 0.473753, -2.531475, -0.224658, 2.214987, -0.062059]  # t=167\nDESCEND_169_JOINTS = [0.066798, -0.243813, 0.473650, -2.528139, -0.227720, 2.212767, -0.061199]  # t=169\nDESCEND_170_JOINTS = [0.067220, -0.242701, 0.473517, -2.527079, -0.228322, 2.211918, -0.060579]  # t=170\nGRASP_HOLD_171_JOINTS = [0.067659, -0.242199, 0.473386, -2.526155, -0.228554, 2.210900, -0.060233]  # t=171\nLIFT_172_JOINTS = [0.068032, -0.241897, 0.473104, -2.525477, -0.228699, 2.210196, -0.060171]  # t=172\nLIFT_173_JOINTS = [0.068379, -0.241729, 0.472813, -2.525074, -0.228742, 2.209762, -0.060168]  # t=173\nLIFT_174_JOINTS = [0.069133, -0.242817, 0.473271, -2.525259, -0.228009, 2.207767, -0.060679]  # t=174\nLIFT_175_JOINTS = [0.070946, -0.248993, 0.475575, -2.525813, -0.225961, 2.201356, -0.060841]  # t=175\nLIFT_176_JOINTS = [0.073710, -0.261899, 0.479362, -2.526502, -0.223469, 2.192246, -0.059548]  # t=176\nLIFT_177_JOINTS = [0.077016, -0.280527, 0.483655, -2.527634, -0.220907, 2.182407, -0.057106]  # t=177\nLIFT_178_JOINTS = [0.080648, -0.304598, 0.487800, -2.528602, -0.218257, 2.171586, -0.054115]  # t=178\nLIFT_179_JOINTS = [0.084439, -0.333375, 0.491241, -2.528799, -0.215265, 2.159559, -0.051898]  # t=179\nLIFT_180_JOINTS = [0.088375, -0.366244, 0.493816, -2.527877, -0.211552, 2.145540, -0.051413]  # t=180\nLIFT_181_JOINTS = [0.092327, -0.401859, 0.495605, -2.526253, -0.207728, 2.131044, -0.052160]  # t=181\nPLACE_183_JOINTS = [0.099842, -0.475583, 0.497525, -2.523844, -0.200049, 2.103831, -0.055179]  # t=183\nPLACE_185_JOINTS = [0.107126, -0.550762, 0.498876, -2.522270, -0.193044, 2.077938, -0.057703]  # t=185\nPLACE_187_JOINTS = [0.113914, -0.623226, 0.498472, -2.520413, -0.183877, 2.050383, -0.062527]  # t=187\nPLACE_189_JOINTS = [0.118249, -0.689517, 0.493013, -2.516202, -0.171799, 2.008747, -0.061952]  # t=189\nPLACE_191_JOINTS = [0.120637, -0.753310, 0.480099, -2.509821, -0.153328, 1.952639, -0.050809]  # t=191\nPLACE_193_JOINTS = [0.121553, -0.815155, 0.456944, -2.500799, -0.127401, 1.893206, -0.033957]  # t=193\nPLACE_195_JOINTS = [0.120723, -0.873445, 0.418317, -2.492069, -0.091421, 1.830672, -0.017670]  # t=195\nPLACE_197_JOINTS = [0.117070, -0.925757, 0.368782, -2.484238, -0.056795, 1.775356, 0.001123]  # t=197\nPLACE_199_JOINTS = [0.111652, -0.975538, 0.313498, -2.478620, -0.023604, 1.721967, 0.027491]  # t=199\nPLACE_201_JOINTS = [0.104894, -1.024418, 0.254123, -2.479577, 0.007097, 1.674096, 0.059764]  # t=201\nPLACE_203_JOINTS = [0.096541, -1.072510, 0.193461, -2.486941, 0.031184, 1.639037, 0.098030]  # t=203\nPLACE_205_JOINTS = [0.086979, -1.119904, 0.134402, -2.502729, 0.050226, 1.617763, 0.141367]  # t=205\nPLACE_207_JOINTS = [0.077084, -1.162760, 0.086299, -2.525535, 0.062541, 1.615576, 0.185455]  # t=207\nPLACE_209_JOINTS = [0.067348, -1.200832, 0.061124, -2.549887, 0.057323, 1.630710, 0.229472]  # t=209\nPLACE_211_JOINTS = [0.059359, -1.228404, 0.057787, -2.577357, 0.049402, 1.652422, 0.271777]  # t=211\nPLACE_213_JOINTS = [0.052515, -1.246708, 0.063196, -2.595752, 0.042105, 1.664938, 0.312532]  # t=213\nPLACE_215_JOINTS = [0.043156, -1.256989, 0.067707, -2.607679, 0.024921, 1.673700, 0.371707]  # t=215\nPLACE_217_JOINTS = [0.034847, -1.262501, 0.071874, -2.613881, 0.017180, 1.676790, 0.435133]  # t=217\nPLACE_219_JOINTS = [0.027788, -1.265634, 0.067489, -2.616866, 0.023138, 1.676640, 0.494307]  # t=219\nPLACE_221_JOINTS = [0.021031, -1.265600, 0.050775, -2.618235, 0.040028, 1.672250, 0.548837]  # t=221\nPLACE_223_JOINTS = [0.013930, -1.263487, 0.027457, -2.617999, 0.060273, 1.666835, 0.602688]  # t=223\nPLACE_225_JOINTS = [0.006908, -1.261048, 0.005197, -2.616950, 0.080688, 1.663686, 0.656539]  # t=225\nPLACE_227_JOINTS = [-0.000024, -1.259739, -0.012966, -2.616869, 0.097303, 1.661993, 0.709093]  # t=227\nPLACE_229_JOINTS = [-0.007339, -1.257712, -0.027000, -2.616848, 0.109314, 1.658182, 0.765642]  # t=229\nPLACE_231_JOINTS = [-0.014465, -1.256086, -0.037142, -2.616074, 0.118079, 1.656911, 0.820683]  # t=231\nPLACE_233_JOINTS = [-0.019267, -1.256475, -0.036850, -2.615715, 0.119509, 1.658074, 0.854752]  # t=233\nPLACE_235_JOINTS = [-0.021142, -1.257059, -0.033995, -2.615802, 0.120570, 1.658112, 0.860076]  # t=235\nPLACE_237_JOINTS = [-0.022411, -1.255950, -0.032831, -2.616360, 0.121493, 1.660920, 0.859824]  # t=237\nPLACE_239_JOINTS = [-0.023268, -1.251181, -0.031878, -2.618628, 0.122509, 1.669811, 0.859018]  # t=239\nPLACE_241_JOINTS = [-0.023734, -1.241646, -0.030774, -2.622651, 0.123792, 1.686014, 0.857675]  # t=241\nPLACE_243_JOINTS = [-0.023917, -1.228697, -0.029753, -2.626954, 0.125043, 1.705422, 0.855958]  # t=243\nPLACE_245_JOINTS = [-0.024073, -1.213259, -0.029656, -2.630016, 0.125416, 1.726227, 0.853684]  # t=245\nPLACE_247_JOINTS = [-0.024188, -1.196171, -0.030009, -2.631205, 0.125595, 1.746058, 0.851008]  # t=247\nPLACE_249_JOINTS = [-0.024615, -1.181681, -0.031793, -2.629517, 0.124562, 1.757560, 0.848196]  # t=249\nPLACE_251_JOINTS = [-0.025311, -1.172286, -0.034708, -2.627800, 0.122717, 1.761060, 0.845254]  # t=251\nPLACE_253_JOINTS = [-0.025812, -1.164717, -0.036079, -2.631242, 0.121593, 1.767290, 0.842801]  # t=253\nPLACE_255_JOINTS = [-0.026431, -1.156995, -0.036531, -2.638614, 0.118589, 1.779640, 0.840184]  # t=255\nPLACE_257_JOINTS = [-0.026915, -1.151054, -0.035106, -2.647293, 0.113730, 1.791849, 0.837860]  # t=257\nPLACE_259_JOINTS = [-0.027263, -1.147356, -0.029439, -2.657875, 0.104450, 1.803504, 0.837164]  # t=259\nPLACE_261_JOINTS = [-0.027566, -1.145820, -0.021333, -2.670755, 0.093056, 1.815718, 0.837485]  # t=261\nPLACE_263_JOINTS = [-0.027761, -1.145019, -0.012754, -2.687404, 0.082132, 1.831151, 0.838355]  # t=263\nPLACE_265_JOINTS = [-0.027749, -1.146712, -0.006167, -2.703045, 0.075022, 1.844147, 0.839476]  # t=265\nPLACE_267_JOINTS = [-0.027719, -1.149150, -0.002923, -2.715838, 0.072368, 1.855128, 0.839912]  # t=267\nPLACE_269_JOINTS = [-0.027706, -1.151222, -0.000878, -2.726837, 0.070529, 1.864630, 0.839928]  # t=269\nPLACE_271_JOINTS = [-0.027517, -1.150838, 0.000040, -2.737541, 0.070463, 1.877347, 0.839922]  # t=271\nPLACE_273_JOINTS = [-0.027169, -1.147133, 0.000664, -2.747580, 0.070450, 1.893988, 0.839911]  # t=273\nPLACE_275_JOINTS = [-0.026767, -1.136423, 0.002422, -2.758187, 0.069879, 1.920440, 0.839901]  # t=275\nPLACE_277_JOINTS = [-0.026333, -1.120550, 0.004680, -2.766933, 0.069213, 1.949569, 0.839894]  # t=277\nPLACE_279_JOINTS = [-0.026190, -1.101639, 0.008658, -2.774082, 0.065065, 1.978273, 0.840148]  # t=279\nPLACE_281_JOINTS = [-0.026320, -1.083613, 0.015713, -2.780222, 0.055490, 2.002462, 0.842361]  # t=281\nPLACE_283_JOINTS = [-0.026377, -1.065913, 0.024272, -2.786980, 0.044473, 2.026814, 0.846476]  # t=283\nPLACE_285_JOINTS = [-0.026382, -1.051812, 0.031577, -2.792298, 0.035142, 2.044349, 0.850898]  # t=285\nPLACE_287_JOINTS = [-0.026354, -1.043226, 0.037388, -2.796737, 0.027360, 2.054541, 0.854949]  # t=287\nPLACE_289_JOINTS = [-0.026305, -1.036568, 0.041842, -2.801290, 0.021342, 2.064402, 0.858251]  # t=289\nPLACE_291_JOINTS = [-0.026120, -1.030612, 0.044823, -2.806122, 0.017715, 2.074321, 0.860587]  # t=291\nPLACE_293_JOINTS = [-0.025747, -1.026549, 0.045618, -2.811395, 0.017223, 2.081629, 0.861369]  # t=293\nPLACE_295_JOINTS = [-0.025395, -1.024145, 0.045648, -2.817470, 0.017217, 2.088365, 0.861444]  # t=295\nPLACE_297_JOINTS = [-0.025073, -1.021731, 0.045649, -2.824288, 0.017216, 2.097064, 0.861453]  # t=297\nPLACE_299_JOINTS = [-0.024808, -1.017059, 0.045652, -2.831552, 0.017214, 2.109835, 0.861462]  # t=299\nPLACE_301_JOINTS = [-0.024592, -1.010061, 0.045657, -2.839033, 0.017211, 2.125469, 0.861470]  # t=301\nPLACE_303_JOINTS = [-0.024457, -1.000913, 0.045662, -2.845441, 0.017207, 2.142715, 0.861479]  # t=303\nPLACE_305_JOINTS = [-0.024426, -0.989533, 0.045667, -2.850059, 0.017200, 2.160992, 0.861486]  # t=305\nPLACE_307_JOINTS = [-0.024427, -0.976145, 0.045669, -2.852692, 0.017152, 2.178893, 0.861496]  # t=307\nPLACE_309_JOINTS = [-0.024427, -0.964725, 0.045671, -2.853542, 0.017074, 2.190577, 0.861505]  # t=309\nPLACE_311_JOINTS = [-0.024427, -0.954668, 0.045674, -2.854450, 0.017045, 2.200543, 0.861513]  # t=311\nPLACE_313_JOINTS = [-0.024428, -0.943466, 0.045676, -2.855797, 0.017016, 2.213348, 0.861522]  # t=313\nPLACE_315_JOINTS = [-0.024468, -0.928711, 0.045679, -2.856955, 0.016911, 2.231019, 0.861532]  # t=315\nPLACE_317_JOINTS = [-0.024530, -0.913064, 0.045681, -2.857144, 0.016734, 2.247304, 0.861543]  # t=317\nPLACE_319_JOINTS = [-0.024542, -0.901836, 0.045680, -2.856070, 0.016569, 2.256232, 0.861554]  # t=319\nPLACE_321_JOINTS = [-0.024543, -0.894550, 0.045678, -2.854189, 0.016467, 2.260443, 0.861561]  # t=321\nPLACE_323_JOINTS = [-0.024544, -0.890180, 0.045675, -2.852335, 0.016438, 2.261721, 0.861567]  # t=323\nPLACE_325_JOINTS = [-0.024543, -0.888736, 0.045673, -2.851063, 0.016433, 2.260990, 0.861570]  # t=325\nPLACE_326_JOINTS = [-0.024543, -0.887721, 0.045672, -2.850830, 0.016432, 2.261945, 0.861571]  # t=326\nPLACE_327_JOINTS = [-0.024544, -0.885717, 0.045671, -2.850650, 0.016429, 2.264484, 0.861573]  # t=327\nPLACE_329_JOINTS = [-0.024606, -0.877153, 0.045671, -2.850011, 0.016388, 2.275417, 0.861579]  # t=329\nPLACE_331_JOINTS = [-0.024766, -0.864939, 0.045669, -2.847376, 0.016218, 2.287696, 0.861586]  # t=331\nPLACE_332_JOINTS = [-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.861590]  # t=332\nRELEASE_POSE_332_JOINTS = [-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.861590]  # t=332\nRETRACT_334_JOINTS = [-0.024931, -0.852038, 0.045664, -2.841036, 0.015985, 2.293705, 0.861597]  # t=334\nRETRACT_336_JOINTS = [-0.024976, -0.846563, 0.045660, -2.837240, 0.015899, 2.294033, 0.861603]  # t=336\nRETRACT_338_JOINTS = [-0.024976, -0.844633, 0.045658, -2.834827, 0.015890, 2.292146, 0.861607]  # t=338\nRETRACT_340_JOINTS = [-0.024975, -0.843872, 0.045656, -2.833807, 0.015887, 2.291338, 0.861609]  # t=340\nRETRACT_342_JOINTS = [-0.024973, -0.843724, 0.045654, -2.833651, 0.015885, 2.291258, 0.861611]  # t=342\nRETRACT_344_JOINTS = [-0.024851, -0.848777, 0.045636, -2.834031, 0.015888, 2.282574, 0.861611]  # t=344\nRETRACT_345_JOINTS = [-0.023986, -0.872180, 0.044697, -2.835431, 0.018114, 2.251244, 0.860667]  # t=345\nRETRACT_346_JOINTS = [-0.022608, -0.913887, 0.042266, -2.835083, 0.022243, 2.199348, 0.858572]  # t=346\nRETRACT_348_JOINTS = [-0.020235, -1.026135, 0.035238, -2.825457, 0.028529, 2.081480, 0.854514]  # t=348\nRETRACT_350_JOINTS = [-0.018685, -1.152963, 0.028689, -2.813270, 0.030508, 1.970756, 0.852847]  # t=350\nRETRACT_352_JOINTS = [-0.017741, -1.279350, 0.023852, -2.801133, 0.030187, 1.871940, 0.852726]  # t=352\nRETRACT_354_JOINTS = [-0.017403, -1.398655, 0.020548, -2.784518, 0.028909, 1.779793, 0.852746]  # t=354\nRETRACT_356_JOINTS = [-0.017441, -1.510855, 0.017564, -2.759208, 0.028018, 1.707817, 0.852757]  # t=356\nRETRACT_358_JOINTS = [-0.017657, -1.616409, 0.014582, -2.731435, 0.027468, 1.650512, 0.852765]  # t=358\nRETRACT_360_JOINTS = [-0.018096, -1.710816, 0.011589, -2.697921, 0.027195, 1.608807, 0.852770]  # t=360\nRETRACT_362_JOINTS = [-0.018727, -1.766714, 0.008693, -2.649508, 0.026899, 1.572692, 0.852770]  # t=362\nRETRACT_364_JOINTS = [-0.019500, -1.762968, 0.005951, -2.556390, 0.025996, 1.523833, 0.852770]  # t=364\nAPPROACH_000_JOINTS = [-0.053261, -1.057428, 0.009055, -2.280279, 0.047029, 1.525328, 0.703820]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_037_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_083_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_164_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_170_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_171_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_171_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_175_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_176_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_255_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_261_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_267_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_269_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_271_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_273_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_275_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_277_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_279_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_281_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_283_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_285_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_287_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_289_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_291_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_293_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_295_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_297_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_299_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_301_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_303_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_305_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_307_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_311_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_315_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_317_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_319_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_321_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_323_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_325_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_326_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_327_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_329_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_331_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_332_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_332_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_332_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_332_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_334_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_336_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_338_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_340_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_342_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_344_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_345_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_346_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_348_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_350_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_352_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_354_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_356_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_358_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_360_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_362_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_364_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 38341, "code_num_lines": 423, "code_num_nonblank_lines": 409, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 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}},\"initial_state\":[0.5000000000000003,-11.491444205561864,-7.7900201823058355,-1.7763341504400022e-07,3.079859062263394e-08,-0.05467824863390569,-1.0573117367228357,0.009518298636089325,-2.2802798889847185,0.04768707547064764,1.5255167506254979,0.7030869981912187,0.020525503270913206,-0.020541055937520942,-1.2907268549749692e-05,1.1618967052767736e-08,1.7131980827655098e-08,5.167675797280435e-09,2.421054432940899e-09,1.1187867119105402e-12,-9.599833045276126e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,7.506871369658371e-09,9.227062515667189e-07,0.0,0.0,0.0,-1.8445746167183038e-15,-1.8445746167183038e-15,0.0,0.0,-1.8445746167183038e-15,-1.8445746167183038e-15,0.0,0.0,0.0,0.0,-7.154467797659065e-16,-7.154467797658875e-16,0.0,0.0,-7.154467797659065e-16,-7.154467797659065e-16,-1.303981788698333e-05,-0.005507899206458018,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.00027110642745012826,0.0,-1.990863508964314e-10,-1.990864432924992e-10,0.0,0.0,-0.007052449715270131,-4.049236866536643e-09,-0.0002562469625242554,-2.8198868573688668e-15,-2.8198868573688668e-15,-2.8198868573695602e-15,-2.699519173552274e-15,-2.699519173552274e-15,-2.8198868573695602e-15,-2.8198868573695602e-15,2.559417551547301,-1.2910160437971274,0.9594393140181633,0.6914795781304234,-0.00016241071276798302,0.000762823590534559,-0.7223955874391135,2.5789623694160793,-1.3174884412137187,0.9567344224262724,0.9910231567640382,-0.10326311467649554,-0.08183759325371252,0.02263714282298764,2.5763865752613717,-1.2651751413436805,0.9524350835425406,0.9793118941607175,0.10435603933563845,-0.012440085732593018,-0.1729256351050727,2.5347131659127196,-1.4855210267511774,0.9715796113890885,0.7767936336100794,2.8673306899187295e-05,0.00010693402847313743,-0.6297552211183366,5.835203314356139e-07,4.6532378317946796e-07,2.5646029653968528e-06,7.30431955827784e-08,9.140455724692437e-06,0.000546351076884152,0.0006151609721083635,-2.8927987389288342e-05,0.0007608978555821552,0.00013498394230364495,0.00010599727299501061,-0.00045038504487622224,0.0004856649331973344,-2.346232630711829e-07,2.3642507242130423e-08,3.486049826548533e-08,1.0515290378856734e-08,4.926410127891335e-09,2.2765296423321016e-12,-1.7338186732392298e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.527519916255893e-08,1.877549384798601e-06,0.0,0.0,0.0,-5.820516527133531e-17,-5.820516527133531e-17,0.0,0.0,-5.820516527133531e-17,-5.820516527133531e-17,0.0,0.0,0.0,0.0,-2.136683953517983e-17,-2.136683953517926e-17,0.0,0.0,-2.136683953517983e-17,-2.136683953517983e-17,-2.3027856663020538e-07,-4.0394449975329273e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.3260374010017181e-06,-7.093940469277323e-07,-3.5957066576965847e-12,-3.595708310071698e-12,0.0,0.0,-5.19324280063493e-07,-7.313343050671651e-11,-1.1557319873545429e-06,-1.5082602714932372e-16,-1.5082602714932372e-16,-1.508260271493612e-16,-1.1027729886395056e-16,-1.1027729886395056e-16,-1.508260271493612e-16,-1.508260271493612e-16,0.0001328868818638702,6.421766430359682e-05,0.00022317369994367007,-0.003907387158129557,-0.0012429490188222915,5.6603771506646905e-05,0.00010252552343552179,-0.000197365990178279,0.0009622582745676022,0.023348603406027665,0.01323321600067713,-0.0008974702570681474,0.002726478136181886,-3.256957694985343e-05,0.0034230217334820217,-0.05108709664754331,-0.16169964478357474,-0.0005267095650420273,4.693418000493885e-05,-1.304725154952888e-05,1.7596025757038286e-05,-0.0008439234453256649,0.00043530108988793116,1.0379211374279715e-07],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 177, "pretrain_task_id": 17, "retained_waypoint_count": 177, "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 up an ice cube and place it in the glass of coffee.", "task_name": "MakeIcedCoffee", "video_available": true, "video_bytes": 625556, "video_relpath": "videos/raw_extracted/17_MakeIcedCoffee.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: NavigateKitchen\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_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': 'NavigateKitchen',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 0,\n    'stable_release_contact_loss_t': 155,\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_BODY_004 = pose(x=0.456689, y=-0.002129, z=1.275943, qx=0.666830, qy=0.737268, qz=0.087300, qw=0.064440)  # body-frame t=4\nAPPROACH_BODY_008 = pose(x=0.459121, y=0.018053, z=1.275786, qx=0.658451, qy=0.745357, qz=0.083734, qw=0.062249)  # body-frame t=8\nAPPROACH_BODY_010 = pose(x=0.457169, y=0.030054, z=1.277618, qx=0.655235, qy=0.748371, qz=0.081844, qw=0.062520)  # body-frame t=10\nAPPROACH_BODY_012 = pose(x=0.452691, y=0.038395, z=1.278661, qx=0.651293, qy=0.751523, qz=0.082661, qw=0.064799)  # body-frame t=12\nAPPROACH_BODY_016 = pose(x=0.448367, y=0.043759, z=1.275912, qx=0.646413, qy=0.754980, qz=0.086134, qw=0.068822)  # body-frame t=16\nAPPROACH_BODY_019 = pose(x=0.447626, y=0.044120, z=1.274626, qx=0.644388, qy=0.756470, qz=0.087400, qw=0.069849)  # body-frame t=19\nAPPROACH_BODY_020 = pose(x=0.447606, y=0.043935, z=1.274522, qx=0.644069, qy=0.756732, qz=0.087479, qw=0.069852)  # body-frame t=20\nAPPROACH_BODY_024 = pose(x=0.448221, y=0.042790, z=1.274787, qx=0.643791, qy=0.757096, qz=0.086987, qw=0.069082)  # body-frame t=24\nAPPROACH_BODY_028 = pose(x=0.449057, y=0.041357, z=1.275436, qx=0.644719, qy=0.756510, qz=0.086060, qw=0.067990)  # body-frame t=28\nAPPROACH_BODY_032 = pose(x=0.449861, y=0.038972, z=1.275835, qx=0.646835, qy=0.754815, qz=0.085699, qw=0.067186)  # body-frame t=32\nAPPROACH_BODY_036 = pose(x=0.451270, y=0.032555, z=1.275812, qx=0.651465, qy=0.750833, qz=0.086278, qw=0.066329)  # body-frame t=36\nAPPROACH_BODY_040 = pose(x=0.452996, y=0.025404, z=1.275717, qx=0.656238, qy=0.746647, qz=0.087031, qw=0.065533)  # body-frame t=40\nAPPROACH_BODY_043 = pose(x=0.453714, y=0.023839, z=1.275792, qx=0.657603, qy=0.745478, qz=0.086981, qw=0.065238)  # body-frame t=43\nAPPROACH_BODY_044 = pose(x=0.453896, y=0.023169, z=1.275824, qx=0.658288, qy=0.744883, qz=0.086919, qw=0.065199)  # body-frame t=44\nAPPROACH_BODY_048 = pose(x=0.454106, y=0.024907, z=1.275907, qx=0.657541, qy=0.745578, qz=0.086581, qw=0.065250)  # body-frame t=48\nAPPROACH_BODY_052 = pose(x=0.452792, y=0.034535, z=1.276068, qx=0.652402, qy=0.750129, qz=0.085645, qw=0.065904)  # body-frame t=52\nAPPROACH_BODY_056 = pose(x=0.451015, y=0.039252, z=1.276221, qx=0.649429, qy=0.752686, qz=0.085143, qw=0.066750)  # body-frame t=56\nAPPROACH_BODY_060 = pose(x=0.450455, y=0.038925, z=1.276075, qx=0.648647, qy=0.753302, qz=0.085518, qw=0.066927)  # body-frame t=60\nAPPROACH_BODY_063 = pose(x=0.450351, y=0.039010, z=1.276045, qx=0.648134, qy=0.753732, qz=0.085603, qw=0.066947)  # body-frame t=63\nAPPROACH_BODY_064 = pose(x=0.450358, y=0.038929, z=1.276046, qx=0.648125, qy=0.753739, qz=0.085618, qw=0.066935)  # body-frame t=64\nAPPROACH_BODY_068 = pose(x=0.450968, y=0.036937, z=1.275872, qx=0.650163, qy=0.752037, qz=0.085184, qw=0.066871)  # body-frame t=68\nAPPROACH_BODY_072 = pose(x=0.452687, y=0.032637, z=1.276017, qx=0.655473, qy=0.747562, qz=0.083961, qw=0.066756)  # body-frame t=72\nAPPROACH_BODY_076 = pose(x=0.453163, y=0.029434, z=1.276343, qx=0.657192, qy=0.746018, qz=0.085400, qw=0.065292)  # body-frame t=76\nAPPROACH_BODY_080 = pose(x=0.453470, y=0.026293, z=1.276336, qx=0.658747, qy=0.744570, qz=0.086489, qw=0.064717)  # body-frame t=80\nAPPROACH_BODY_084 = pose(x=0.453773, y=0.025208, z=1.276232, qx=0.658950, qy=0.744352, qz=0.086835, qw=0.064680)  # body-frame t=84\nAPPROACH_BODY_088 = pose(x=0.453912, y=0.025706, z=1.276129, qx=0.658094, qy=0.745128, qz=0.086981, qw=0.064264)  # body-frame t=88\nAPPROACH_BODY_092 = pose(x=0.453276, y=0.026375, z=1.276272, qx=0.657889, qy=0.745216, qz=0.087038, qw=0.065269)  # body-frame t=92\nAPPROACH_BODY_093 = pose(x=0.452954, y=0.026416, z=1.276267, qx=0.657554, qy=0.745456, qz=0.087440, qw=0.065365)  # body-frame t=93\nAPPROACH_BODY_096 = pose(x=0.452472, y=0.028638, z=1.275790, qx=0.656486, qy=0.746318, qz=0.087242, qw=0.066517)  # body-frame t=96\nAPPROACH_BODY_100 = pose(x=0.452195, y=0.031246, z=1.275592, qx=0.655800, qy=0.746948, qz=0.086327, qw=0.067407)  # body-frame t=100\nAPPROACH_BODY_104 = pose(x=0.451833, y=0.032223, z=1.275618, qx=0.656016, qy=0.746781, qz=0.085931, qw=0.067647)  # body-frame t=104\nAPPROACH_BODY_108 = pose(x=0.451091, y=0.031638, z=1.275644, qx=0.656009, qy=0.746697, qz=0.086725, qw=0.067637)  # body-frame t=108\nAPPROACH_BODY_112 = pose(x=0.450862, y=0.030659, z=1.275211, qx=0.656430, qy=0.746306, qz=0.087104, qw=0.067379)  # body-frame t=112\nAPPROACH_BODY_115 = pose(x=0.451268, y=0.028762, z=1.275049, qx=0.657066, qy=0.745801, qz=0.087202, qw=0.066647)  # body-frame t=115\nAPPROACH_BODY_116 = pose(x=0.451453, y=0.027726, z=1.275029, qx=0.657600, qy=0.745347, qz=0.087223, qw=0.066432)  # body-frame t=116\nAPPROACH_BODY_120 = pose(x=0.452606, y=0.020705, z=1.274997, qx=0.661038, qy=0.742352, qz=0.087466, qw=0.065508)  # body-frame t=120\nAPPROACH_BODY_124 = pose(x=0.454077, y=0.007749, z=1.275006, qx=0.665447, qy=0.738408, qz=0.088124, qw=0.064562)  # body-frame t=124\nAPPROACH_BODY_128 = pose(x=0.454763, y=-0.000222, z=1.275078, qx=0.666435, qy=0.737541, qz=0.088190, qw=0.064186)  # body-frame t=128\nAPPROACH_BODY_132 = pose(x=0.455000, y=-0.002008, z=1.275148, qx=0.666403, qy=0.737598, qz=0.087936, qw=0.064220)  # body-frame t=132\nAPPROACH_BODY_133 = pose(x=0.455009, y=-0.002048, z=1.275152, qx=0.666377, qy=0.737627, qz=0.087838, qw=0.064291)  # body-frame t=133\nAPPROACH_BODY_136 = pose(x=0.455034, y=-0.000951, z=1.275160, qx=0.665932, qy=0.738043, qz=0.087569, qw=0.064490)  # body-frame t=136\nAPPROACH_BODY_140 = pose(x=0.455227, y=0.000473, z=1.275100, qx=0.666335, qy=0.737709, qz=0.087327, qw=0.064471)  # body-frame t=140\nAPPROACH_BODY_144 = pose(x=0.457956, y=0.000267, z=1.274943, qx=0.666772, qy=0.737701, qz=0.085556, qw=0.062382)  # body-frame t=144\nAPPROACH_BODY_146 = pose(x=0.460615, y=-0.000124, z=1.275768, qx=0.667135, qy=0.737872, qz=0.083318, qw=0.059450)  # body-frame t=146\nAPPROACH_BODY_148 = pose(x=0.460533, y=-0.000412, z=1.277975, qx=0.667303, qy=0.737987, qz=0.082021, qw=0.057922)  # body-frame t=148\nAPPROACH_BODY_152 = pose(x=0.458672, y=-0.000864, z=1.278833, qx=0.667345, qy=0.737714, qz=0.083109, qw=0.059335)  # body-frame t=152\nAPPROACH_BODY_155 = pose(x=0.457511, y=-0.001436, z=1.277556, qx=0.667310, qy=0.737303, qz=0.085231, qw=0.061794)  # body-frame t=155\nAPPROACH_000_JOINTS = [0.015075, -0.996273, -0.029384, -2.296258, 0.018990, 1.513406, 0.685200]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveWholeBodyPath(body_waypoints=[APPROACH_BODY_004, APPROACH_BODY_008, APPROACH_BODY_010, APPROACH_BODY_012, APPROACH_BODY_016, APPROACH_BODY_019, APPROACH_BODY_020, APPROACH_BODY_024, APPROACH_BODY_028, APPROACH_BODY_032, APPROACH_BODY_036, APPROACH_BODY_040, APPROACH_BODY_043, APPROACH_BODY_044, APPROACH_BODY_048, APPROACH_BODY_052, APPROACH_BODY_056, APPROACH_BODY_060, APPROACH_BODY_063, APPROACH_BODY_064, APPROACH_BODY_068, APPROACH_BODY_072, APPROACH_BODY_076, APPROACH_BODY_080, APPROACH_BODY_084, APPROACH_BODY_088, APPROACH_BODY_092, APPROACH_BODY_093, APPROACH_BODY_096, APPROACH_BODY_100, APPROACH_BODY_104, APPROACH_BODY_108, APPROACH_BODY_112, APPROACH_BODY_115, APPROACH_BODY_116, APPROACH_BODY_120, APPROACH_BODY_124, APPROACH_BODY_128, APPROACH_BODY_132, APPROACH_BODY_133, APPROACH_BODY_136, APPROACH_BODY_140, APPROACH_BODY_144, APPROACH_BODY_146, APPROACH_BODY_148, APPROACH_BODY_152, APPROACH_BODY_155], base_waypoints=[[1.4592330626076453, -3.0683627683817, -0.0008463087822161494], [1.41436004531587, -3.0680485985563757, -0.11170643580413317], [1.3748562924236134, -3.068521825796153, -0.20903693886577987], [1.3574297525630092, -3.0690188048119267, -0.3204423437252729], [1.352025591911506, -3.070337206283342, -0.5453445395802327], [1.3507840701943714, -3.0715011545546327, -0.7129456682652241], [1.3503888826729966, -3.0719815116324094, -0.7679696011182746], [1.3487239925925614, -3.0734228897167806, -0.9833790706641691], [1.3469066792623305, -3.0744536473150412, -1.1907130203060783], [1.3449376149184875, -3.07519258571397, -1.3859225627672966], [1.342775541717968, -3.076222061384499, -1.5447986398012301], [1.3413982744986006, -3.0772497080247705, -1.6673783364328727], [1.3403536533377367, -3.0779356742142174, -1.7584659554245634], [1.33970134473665, -3.07811995146908, -1.7862522252626987], [1.3332814260640593, -3.0783602172543434, -1.9146789011841776], [1.3315777397632722, -3.0779141467665383, -2.1003684153506548], [1.3299310615436484, -3.0767813106497615, -2.302815188698643], [1.3286029229708092, -3.0754052714875373, -2.4972043355830875], [1.3277293880648653, -3.074038435274407, -2.6448432790949723], [1.327458197879958, -3.0734718206688694, -2.693485788687126], [1.3262233340679426, -3.061299416016203, -2.8716925099751487], [1.3215084581943586, -2.9766191203746506, -3.005705953597846], [1.3206833663015594, -2.8742296951615853, -3.1377236425153803], [1.3200108862616455, -2.774513409961743, -3.2593388216078956], [1.3194468275611029, -2.684668646791493, -3.37942473480258], [1.3188220174128986, -2.613352690354202, -3.5102799613122277], [1.3087804818996962, -2.5529254363261953, -3.6425755893022354], [1.3017490700864345, -2.5388300898941596, -3.678274026244059], [1.2783826406112637, -2.4903784664776065, -3.787644280276661], [1.253651789388614, -2.4099644022270326, -3.9387267884993706], [1.2481533900104111, -2.3033393038983507, -4.087963149866809], [1.2439271085375927, -2.1770301370966036, -4.236270776586997], [1.244529470918852, -2.0293249160509714, -4.381431452291997], [1.2453084606562401, -1.9168685018993712, -4.484094378713598], [1.2456344142395652, -1.8793548257697645, -4.51527680741255], [1.2461937705632722, -1.730728434172686, -4.615483374895755], [1.2458845688970028, -1.5838216439856851, -4.647561769645957], [1.2476501961620274, -1.4351634368043709, -4.647983261122416], [1.2479645870420257, -1.2863119903697735, -4.648402110176564], [1.2480125947228975, -1.24909974479549, -4.64872044149239], [1.2487114968791502, -1.137494267593619, -4.655943481865352], [1.2493620981127804, -0.99007008349281, -4.672014933531273], [1.251303229509119, -0.8791228157323143, -4.683228690055104], [1.2521025717516032, -0.8672471586839305, -4.688400228009121], [1.2524819331772827, -0.8671518517264177, -4.692494999659667], [1.2527096740424672, -0.8671401328808602, -4.698455375000908], [1.2527279624415764, -0.8671265293331932, -4.699679642686005]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[9.74040505910843e-08, -7.484345295470741e-07, 3.333563116819915e-06, 9.032487384350646e-06, 8.238509128453108e-06, 5.000374054029338e-06, 4.110924870018588e-06, 2.796032804472202e-06, 2.9308491642836552e-06, 3.6678437616780318e-06, 3.78929024913625e-06, 3.708858991021955e-06, 3.8693617608536025e-06, 3.940748467344849e-06, 4.390248438441219e-06, 5.073475327956834e-06, 5.321970473481941e-06, 5.086415482995112e-06, 4.9084551734318864e-06, 4.921446414844495e-06, 4.597074577615898e-06, 4.3988166479106935e-06, 5.9080124788853525e-06, 6.542471104388845e-06, 6.96057374650104e-06, 7.3437347784759404e-06, 8.32426698134855e-06, 8.591588590081664e-06, 7.857042136423975e-06, 6.6662777654810196e-06, 5.873232981420118e-06, 4.75105140245284e-06, 1.0270981885700278e-06, -7.010891391794347e-07, -8.30626277849626e-07, -1.0385270198316919e-06, -1.0156598187249113e-06, -9.994449444868816e-07, -9.750989004129582e-07, -9.819536222503905e-07, -1.0358696586978035e-06, -1.1561929239729303e-06, -1.7365722668917641e-06, -1.202768803823639e-06, 2.3937342445755506e-06, 8.124058737004208e-06, 8.834550728985243e-06], segment_steps=[4, 4, 2, 2, 4, 3, 1, 4, 4, 4, 4, 4, 3, 1, 4, 4, 4, 4, 3, 1, 4, 4, 4, 4, 4, 4, 4, 1, 3, 4, 4, 4, 4, 3, 1, 4, 4, 4, 4, 1, 3, 4, 4, 2, 2, 4, 4], settle_steps=0, gripper=-1.000, gripper_cmds=[], body_motion_priority=1.000000, base_xy_priority=1.000000, base_yaw_priority=1.000000, base_position_gain=5.500000, base_yaw_gain=4.800000, base_position_ff_gain=24.000000, base_yaw_ff_gain=24.000000, base_ee_anchor_mix=0.350000)\n\nmove_to_pregrasp()\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": 14338, "code_num_lines": 88, "code_num_nonblank_lines": 80, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 2, "pretrain_task_id": 18, "retained_waypoint_count": 48, "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": 900205, "video_relpath": "videos/raw_extracted/18_NavigateKitchen.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenBlenderLid\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-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': 'OpenBlenderLid',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 184,\n    'stable_release_contact_loss_t': 184,\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_002_JOINTS = [-0.027424, -1.006821, -0.024081, -2.289278, 0.056275, 1.496599, 0.702953]  # t=2\nAPPROACH_004_JOINTS = [-0.027539, -1.031969, -0.025112, -2.272116, 0.054913, 1.502667, 0.712925]  # t=4\nAPPROACH_007_JOINTS = [-0.028267, -1.079952, -0.023592, -2.230292, 0.050976, 1.511310, 0.741823]  # t=7\nAPPROACH_008_JOINTS = [-0.028804, -1.095468, -0.022389, -2.213064, 0.048222, 1.510479, 0.755080]  # t=8\nAPPROACH_012_JOINTS = [-0.033094, -1.126811, -0.019522, -2.127240, 0.026717, 1.499260, 0.823600]  # t=12\nAPPROACH_013_JOINTS = [-0.034772, -1.121247, -0.020439, -2.101667, 0.018576, 1.497497, 0.844308]  # t=13\nAPPROACH_016_JOINTS = [-0.041471, -1.078536, -0.029886, -2.009443, -0.015564, 1.478447, 0.912881]  # t=16\nAPPROACH_018_JOINTS = [-0.046404, -1.037361, -0.040681, -1.942336, -0.042330, 1.459595, 0.957739]  # t=18\nAPPROACH_020_JOINTS = [-0.051000, -0.989077, -0.053601, -1.878730, -0.068276, 1.434736, 0.999497]  # t=20\nAPPROACH_022_JOINTS = [-0.054404, -0.934981, -0.070250, -1.821669, -0.088633, 1.397905, 1.033142]  # t=22\nAPPROACH_024_JOINTS = [-0.056388, -0.878354, -0.087759, -1.769669, -0.106626, 1.357369, 1.054177]  # t=24\nAPPROACH_025_JOINTS = [-0.056796, -0.850978, -0.094549, -1.745014, -0.116047, 1.339049, 1.058386]  # t=25\nAPPROACH_028_JOINTS = [-0.055376, -0.787263, -0.108673, -1.677130, -0.128169, 1.280997, 1.047806]  # t=28\nAPPROACH_032_JOINTS = [-0.053854, -0.736089, -0.111253, -1.630367, -0.141051, 1.199144, 1.044747]  # t=32\nAPPROACH_035_JOINTS = [-0.053056, -0.715732, -0.118572, -1.627060, -0.151740, 1.166130, 1.038904]  # t=35\nAPPROACH_036_JOINTS = [-0.052785, -0.711943, -0.121679, -1.630664, -0.154817, 1.159125, 1.035792]  # t=36\nAPPROACH_040_JOINTS = [-0.051709, -0.705614, -0.137075, -1.665248, -0.163407, 1.157446, 1.024021]  # t=40\nAPPROACH_042_JOINTS = [-0.050972, -0.702713, -0.146009, -1.684459, -0.164163, 1.172065, 1.020099]  # t=42\nAPPROACH_044_JOINTS = [-0.049908, -0.695216, -0.155217, -1.696107, -0.163988, 1.192239, 1.016715]  # t=44\nAPPROACH_048_JOINTS = [-0.047399, -0.669397, -0.170108, -1.709949, -0.167561, 1.227270, 1.009576]  # t=48\nAPPROACH_052_JOINTS = [-0.045047, -0.639191, -0.184540, -1.724474, -0.172132, 1.255088, 1.001153]  # t=52\nAPPROACH_056_JOINTS = [-0.042240, -0.607719, -0.190649, -1.734271, -0.170846, 1.284050, 1.000452]  # t=56\nAPPROACH_060_JOINTS = [-0.039168, -0.571301, -0.190730, -1.732483, -0.165710, 1.316625, 1.005649]  # t=60\nAPPROACH_064_JOINTS = [-0.036546, -0.531118, -0.190665, -1.717121, -0.160385, 1.337229, 1.009406]  # t=64\nAPPROACH_065_JOINTS = [-0.036242, -0.523225, -0.190735, -1.712943, -0.159644, 1.336673, 1.009533]  # t=65\nPRESS_066_JOINTS = [-0.036169, -0.517927, -0.190881, -1.708900, -0.159142, 1.333091, 1.009157]  # t=66\nPRESS_067_JOINTS = [-0.036197, -0.514422, -0.191153, -1.706199, -0.158873, 1.328559, 1.008467]  # t=67\nPRESS_069_JOINTS = [-0.036303, -0.510566, -0.191632, -1.703924, -0.158061, 1.321984, 1.007994]  # t=69\nPRESS_070_JOINTS = [-0.036356, -0.509562, -0.191872, -1.703465, -0.157660, 1.320340, 1.007899]  # t=70\nPRESS_071_JOINTS = [-0.036401, -0.509014, -0.191970, -1.703088, -0.157458, 1.319416, 1.007869]  # t=71\nPRESS_073_JOINTS = [-0.036486, -0.508675, -0.192247, -1.702709, -0.156712, 1.318705, 1.007862]  # t=73\nPRESS_075_JOINTS = [-0.036559, -0.508632, -0.192916, -1.702642, -0.155189, 1.318592, 1.007853]  # t=75\nPRESS_076_JOINTS = [-0.036578, -0.508602, -0.193252, -1.702520, -0.154522, 1.318589, 1.007816]  # t=76\nPRESS_077_JOINTS = [-0.036595, -0.508719, -0.193336, -1.702381, -0.154367, 1.318344, 1.007809]  # t=77\nPRESS_078_JOINTS = [-0.036650, -0.509113, -0.193390, -1.702060, -0.154541, 1.317711, 1.007578]  # t=78\nPRESS_079_JOINTS = [-0.036751, -0.509897, -0.193443, -1.701023, -0.154842, 1.316450, 1.007125]  # t=79\nPRESS_081_JOINTS = [-0.036789, -0.510236, -0.193154, -1.696859, -0.154902, 1.314735, 1.006765]  # t=81\nPRESS_083_JOINTS = [-0.036776, -0.509481, -0.192984, -1.695297, -0.154742, 1.313553, 1.006772]  # t=83\nPRESS_085_JOINTS = [-0.036732, -0.509074, -0.192636, -1.694605, -0.154448, 1.313409, 1.006890]  # t=85\nPRESS_087_JOINTS = [-0.036734, -0.508939, -0.192512, -1.694687, -0.154390, 1.313354, 1.006972]  # t=87\nPRESS_089_JOINTS = [-0.036735, -0.508951, -0.192493, -1.694691, -0.154309, 1.313342, 1.006976]  # t=89\nPRESS_091_JOINTS = [-0.036736, -0.508960, -0.192467, -1.694694, -0.154221, 1.313332, 1.006981]  # t=91\nPRESS_093_JOINTS = [-0.036736, -0.508971, -0.192446, -1.694698, -0.154135, 1.313322, 1.006985]  # t=93\nPRESS_094_JOINTS = [-0.036736, -0.508976, -0.192438, -1.694700, -0.154094, 1.313316, 1.006987]  # t=94\nPRESS_095_JOINTS = [-0.036736, -0.508996, -0.192379, -1.694049, -0.154087, 1.313335, 1.006986]  # t=95\nPRESS_096_JOINTS = [-0.036733, -0.509047, -0.192255, -1.691019, -0.153654, 1.313139, 1.006985]  # t=96\nPRESS_097_JOINTS = [-0.036706, -0.509375, -0.191978, -1.682417, -0.152275, 1.314366, 1.007004]  # t=97\nPRESS_098_JOINTS = [-0.036655, -0.509626, -0.191677, -1.669114, -0.150140, 1.315652, 1.007003]  # t=98\nPRESS_099_JOINTS = [-0.036547, -0.509389, -0.191573, -1.651201, -0.146635, 1.316460, 1.007025]  # t=99\nPRESS_101_JOINTS = [-0.036149, -0.505148, -0.191581, -1.605902, -0.139553, 1.313845, 1.006505]  # t=101\nPRESS_103_JOINTS = [-0.035439, -0.495642, -0.192191, -1.552269, -0.130153, 1.304765, 1.006270]  # t=103\nPRESS_105_JOINTS = [-0.034479, -0.483224, -0.192345, -1.499012, -0.119345, 1.284695, 1.006610]  # t=105\nPRESS_106_JOINTS = [-0.033968, -0.477785, -0.191700, -1.476111, -0.113980, 1.269419, 1.007442]  # t=106\nPRESS_107_JOINTS = [-0.033454, -0.474118, -0.190034, -1.458217, -0.108990, 1.252672, 1.009258]  # t=107\nPRESS_109_JOINTS = [-0.032377, -0.475109, -0.182193, -1.437173, -0.098088, 1.223580, 1.018149]  # t=109\nPRESS_111_JOINTS = [-0.031298, -0.490109, -0.165969, -1.432545, -0.085782, 1.204259, 1.036296]  # t=111\nPRESS_113_JOINTS = [-0.030268, -0.516855, -0.140789, -1.450129, -0.072704, 1.192528, 1.064418]  # t=113\nPRESS_115_JOINTS = [-0.029510, -0.555354, -0.107138, -1.489818, -0.059706, 1.192091, 1.101291]  # t=115\nPRESS_116_JOINTS = [-0.029294, -0.579321, -0.087749, -1.517029, -0.052670, 1.197009, 1.122499]  # t=116\nPRESS_117_JOINTS = [-0.029182, -0.606617, -0.066871, -1.549187, -0.044759, 1.205156, 1.145318]  # t=117\nPRESS_119_JOINTS = [-0.029264, -0.671371, -0.022522, -1.626893, -0.026956, 1.231036, 1.194001]  # t=119\nPRESS_121_JOINTS = [-0.029494, -0.747618, 0.022885, -1.720061, -0.006444, 1.268896, 1.242892]  # t=121\nPRESS_123_JOINTS = [-0.029468, -0.828586, 0.068864, -1.824718, 0.017861, 1.321181, 1.288946]  # t=123\nPRESS_125_JOINTS = [-0.029094, -0.906916, 0.115333, -1.932284, 0.045295, 1.388180, 1.331944]  # t=125\nPRESS_127_JOINTS = [-0.028602, -0.974346, 0.159121, -2.035333, 0.072091, 1.466657, 1.369711]  # t=127\nPRESS_129_JOINTS = [-0.027437, -1.032041, 0.198586, -2.127695, 0.097680, 1.539342, 1.399885]  # t=129\nPRESS_131_JOINTS = [-0.025490, -1.079536, 0.233385, -2.208537, 0.122282, 1.599457, 1.422968]  # t=131\nPRESS_133_JOINTS = [-0.022754, -1.116801, 0.265588, -2.280807, 0.146733, 1.649604, 1.441174]  # t=133\nPRESS_135_JOINTS = [-0.019143, -1.146949, 0.296146, -2.346072, 0.170381, 1.694706, 1.456348]  # t=135\nPRESS_137_JOINTS = [-0.014255, -1.173811, 0.324959, -2.406334, 0.193147, 1.734206, 1.468950]  # t=137\nPRESS_139_JOINTS = [-0.008183, -1.197075, 0.353106, -2.463766, 0.216157, 1.773673, 1.478959]  # t=139\nPRESS_141_JOINTS = [-0.001432, -1.215246, 0.381045, -2.517940, 0.239316, 1.816103, 1.487059]  # t=141\nPRESS_143_JOINTS = [0.005397, -1.226997, 0.408481, -2.567884, 0.261842, 1.862001, 1.493676]  # t=143\nPRESS_145_JOINTS = [0.012389, -1.233336, 0.435209, -2.612570, 0.283532, 1.907352, 1.499418]  # t=145\nPRESS_147_JOINTS = [0.020239, -1.235370, 0.462720, -2.653588, 0.306359, 1.949290, 1.504120]  # t=147\nPRESS_149_JOINTS = [0.029433, -1.234482, 0.491795, -2.693438, 0.331626, 1.986206, 1.508221]  # t=149\nPRESS_151_JOINTS = [0.039640, -1.232257, 0.519898, -2.731730, 0.357267, 2.018143, 1.511547]  # t=151\nPRESS_153_JOINTS = [0.050536, -1.228374, 0.546979, -2.768622, 0.383083, 2.047194, 1.514584]  # t=153\nPRESS_155_JOINTS = [0.061697, -1.223572, 0.572001, -2.803238, 0.407237, 2.076216, 1.516769]  # t=155\nPRESS_157_JOINTS = [0.073262, -1.217700, 0.596148, -2.836561, 0.430705, 2.107694, 1.517888]  # t=157\nPRESS_159_JOINTS = [0.084340, -1.207388, 0.621477, -2.868713, 0.454997, 2.145963, 1.519195]  # t=159\nPRESS_161_JOINTS = [0.093702, -1.191021, 0.647179, -2.899212, 0.478667, 2.191638, 1.521443]  # t=161\nPRESS_163_JOINTS = [0.099917, -1.164681, 0.672734, -2.928318, 0.502356, 2.247485, 1.522349]  # t=163\nPRESS_165_JOINTS = [0.100861, -1.121468, 0.696918, -2.955826, 0.527798, 2.314989, 1.518147]  # t=165\nPRESS_167_JOINTS = [0.097609, -1.064372, 0.720061, -2.977579, 0.552349, 2.388385, 1.511247]  # t=167\nPRESS_169_JOINTS = [0.090756, -0.995459, 0.744162, -2.993028, 0.574120, 2.465266, 1.505287]  # t=169\nPRESS_170_JOINTS = [0.085694, -0.956590, 0.756333, -2.998628, 0.583546, 2.505618, 1.502775]  # t=170\nPRESS_171_JOINTS = [0.079259, -0.914609, 0.768628, -3.002762, 0.591435, 2.547858, 1.500681]  # t=171\nPRESS_172_JOINTS = [0.070792, -0.869040, 0.780832, -3.004388, 0.596860, 2.593391, 1.499168]  # t=172\nPRESS_173_JOINTS = [0.060039, -0.820656, 0.792185, -3.001243, 0.598372, 2.640281, 1.498702]  # t=173\nPRESS_174_JOINTS = [0.048807, -0.774258, 0.802429, -2.991574, 0.595668, 2.680093, 1.502622]  # t=174\nPRESS_175_JOINTS = [0.038234, -0.736564, 0.809391, -2.976739, 0.587043, 2.707415, 1.512245]  # t=175\nPRESS_176_JOINTS = [0.029198, -0.710980, 0.812380, -2.959751, 0.572342, 2.719901, 1.526806]  # t=176\nPRESS_177_JOINTS = [0.021239, -0.695086, 0.811639, -2.942545, 0.553060, 2.720843, 1.543765]  # t=177\nPRESS_178_JOINTS = [0.013532, -0.683701, 0.808633, -2.926074, 0.531264, 2.715904, 1.560682]  # t=178\nPRESS_179_JOINTS = [0.005766, -0.673930, 0.803817, -2.911644, 0.508553, 2.708592, 1.575334]  # t=179\nPRESS_181_JOINTS = [-0.007668, -0.656807, 0.791287, -2.885712, 0.466583, 2.691901, 1.596450]  # t=181\nPRESS_182_JOINTS = [-0.012132, -0.651414, 0.784296, -2.874075, 0.448659, 2.682267, 1.604284]  # t=182\nPRESS_183_JOINTS = [-0.013449, -0.652609, 0.775877, -2.863612, 0.433632, 2.667671, 1.610352]  # t=183\nPRESS_185_JOINTS = [-0.006146, -0.678287, 0.752128, -2.843240, 0.413319, 2.618274, 1.616803]  # t=185\nPRESS_187_JOINTS = [0.006751, -0.722432, 0.719372, -2.820443, 0.399429, 2.551949, 1.616982]  # t=187\nPRESS_188_JOINTS = [0.015423, -0.753640, 0.700666, -2.807948, 0.393043, 2.508602, 1.617616]  # t=188\nRETREAT_190_JOINTS = [0.035786, -0.829332, 0.664181, -2.782892, 0.380638, 2.411422, 1.623495]  # t=190\nRETREAT_192_JOINTS = [0.055909, -0.910419, 0.633335, -2.759990, 0.367120, 2.319296, 1.635824]  # t=192\nRETREAT_193_JOINTS = [0.065931, -0.953281, 0.619123, -2.749570, 0.359796, 2.273872, 1.643237]  # t=193\nRETREAT_194_JOINTS = [0.075989, -0.998607, 0.604535, -2.740040, 0.351563, 2.227952, 1.650591]  # t=194\nRETREAT_196_JOINTS = [0.095713, -1.092834, 0.574173, -2.723415, 0.334380, 2.138302, 1.661744]  # t=196\nRETREAT_198_JOINTS = [0.115425, -1.196248, 0.538643, -2.707863, 0.312295, 2.041313, 1.668242]  # t=198\nRETREAT_200_JOINTS = [0.134315, -1.314131, 0.490419, -2.695413, 0.282258, 1.941135, 1.673272]  # t=200\nRETREAT_202_JOINTS = [0.149568, -1.439636, 0.428108, -2.689113, 0.245884, 1.856511, 1.672667]  # t=202\nRETREAT_204_JOINTS = [0.160191, -1.565111, 0.359479, -2.684661, 0.206330, 1.789104, 1.662434]  # t=204\nRETREAT_206_JOINTS = [0.164393, -1.684533, 0.287090, -2.676690, 0.165532, 1.738032, 1.644552]  # t=206\nRETREAT_208_JOINTS = [0.161300, -1.769768, 0.212410, -2.651327, 0.122686, 1.707068, 1.623955]  # t=208\nRETREAT_209_JOINTS = [0.157149, -1.764405, 0.173115, -2.604810, 0.097236, 1.688123, 1.617657]  # t=209\nAPPROACH_000_JOINTS = [-0.027772, -1.002051, -0.023663, -2.292466, 0.056263, 1.495511, 0.703285]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=3, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=4, 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_056_JOINTS, input_type='joint', steps=4, 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_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_106_JOINTS, input_type='joint', steps=1, 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_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, 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_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_170_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_176_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_182_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_194_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_196_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_208_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_209_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": 25024, "code_num_lines": 276, "code_num_nonblank_lines": 266, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 the blender by taking off the lid and placing it on the counter.\",\"layout_id\":41,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10423562675714493,\"qx\":0.9937549829483032,\"qy\":0.024735480546951294,\"qz\":0.031209439039230347,\"x\":2.9188199866750395,\"y\":-2.518379049047391,\"z\":1.2773287478902955},\"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/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenBlenderLid\"}", "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\":\"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 the blender by taking off the lid and placing it on the counter.\",\"layout_id\":41,\"object_cfgs\":[],\"style_id\":35},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.10423562675714493,\"qx\":0.9937549829483032,\"qy\":0.024735480546951294,\"qz\":0.031209439039230347,\"x\":2.9188199866750395,\"y\":-2.518379049047391,\"z\":1.2773287478902955},\"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,-7.077840210733378,12.266446818466928,-2.366655989100862e-07,3.5626320485990434e-08,-0.02813943063271325,-1.001980507142881,-0.02356271768521735,-2.2925086262707586,0.05631857214996075,1.4952265212290474,0.7032694470269855,0.020540627450384836,-0.020525933464484173,-1.0068962333141445e-09,4.6508279711192654e-08,0.0,0.0,0.0,0.0,0.0,-2.7019501739299283e-16,0.0,0.0,-1.1188786244392753e-05,-0.002088599994254826,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.73276621248672e-05,-1.2907268085688223e-05,1.1618966923001617e-08,1.7131980636301792e-08,5.167675739561425e-09,2.421054405898575e-09,1.1187866942416773e-12,-9.599832520157799e-14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.6716557889189026e-15,0.0,0.0,-6.571996332952652e-16,0.0,-1.0228314018793992e-12,-0.0015956507163577241,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00018297975239889947,0.0,-0.00033919863725658737,2.787334208739087,-2.6006789040434044,1.3554882624889169,-2.352615656475187e-07,0.00011820868284565256,0.00011295116035834422,0.9999999866343444,7.990421680874563e-07,-1.4387641813876757e-07,3.4236217583288102e-06,3.124966248852119e-07,9.731225682819592e-06,-1.692082636852267e-07,0.0006996041068153658,0.0010258962278976132,0.0007235943841876064,-0.0008752857149817662,0.00011855445686522403,-0.000421038140996119,0.0005150130313228665,-2.048861214316288e-09,9.463637592061548e-08,0.0,0.0,0.0,0.0,0.0,-1.2516858966469433e-17,0.0,0.0,-1.5122974235844286e-06,1.8298913219534719e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0246540924878165e-06,-2.346263930513469e-07,2.364250724213206e-08,3.486049826546841e-08,1.0515290378846636e-08,4.9264101278744015e-09,2.276529634502463e-12,-1.7338747692450584e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.630835806460035e-16,0.0,0.0,-5.998555736749003e-17,0.0,-2.065636436788526e-14,-7.309126205690487e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00038132853620326165,0.0,-5.052254215563314e-07,3.3177727776887802e-09,2.901271904735234e-09,3.1871693127239917e-09,9.782307651823226e-10,-6.738135645468533e-10,-4.752844525426599e-09],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenBlenderLid\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 115, "pretrain_task_id": 19, "retained_waypoint_count": 115, "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": 394113, "video_relpath": "videos/raw_extracted/19_OpenBlenderLid.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenCabinet\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_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': 'OpenCabinet',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 153,\n    'stable_release_contact_loss_t': 153,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=4.142230, y=-0.159201, z=1.468906, qw=0.979021, qx=0.003244, qy=-0.002526, qz=-0.203720)\nGOAL_RECEPTACLE_POSE = pose(x=4.207728, y=-0.141042, z=0.995802, qw=0.954381, qx=0.000008, qy=-0.000067, qz=0.298593)\n\nAPPROACH_002_JOINTS = [-0.048921, -1.048176, -0.014562, -2.268905, 0.040960, 1.495932, 0.688895]  # t=2\nAPPROACH_003_JOINTS = [-0.047250, -1.068785, -0.009491, -2.265927, 0.036785, 1.491696, 0.689521]  # t=3\nAPPROACH_006_JOINTS = [-0.039864, -1.195132, 0.022485, -2.273344, 0.042790, 1.509222, 0.707758]  # t=6\nAPPROACH_007_JOINTS = [-0.037200, -1.235815, 0.034133, -2.270967, 0.052018, 1.521127, 0.718289]  # t=7\nAPPROACH_009_JOINTS = [-0.032850, -1.283537, 0.057883, -2.254886, 0.073594, 1.559877, 0.744535]  # t=9\nAPPROACH_012_JOINTS = [-0.027196, -1.293587, 0.086717, -2.225698, 0.126497, 1.653085, 0.801036]  # t=12\nAPPROACH_015_JOINTS = [-0.023098, -1.250462, 0.097847, -2.182616, 0.185626, 1.746556, 0.860768]  # t=15\nAPPROACH_016_JOINTS = [-0.022257, -1.227418, 0.095622, -2.163716, 0.202929, 1.773284, 0.878179]  # t=16\nAPPROACH_018_JOINTS = [-0.020870, -1.173673, 0.085505, -2.120463, 0.230103, 1.813074, 0.901935]  # t=18\nAPPROACH_021_JOINTS = [-0.020907, -1.093340, 0.085650, -2.058312, 0.230902, 1.845715, 0.906835]  # t=21\nAPPROACH_024_JOINTS = [-0.021959, -1.032491, 0.113374, -2.000745, 0.212801, 1.906659, 0.900958]  # t=24\nAPPROACH_027_JOINTS = [-0.025261, -0.997900, 0.141129, -1.979875, 0.177619, 1.997390, 0.893064]  # t=27\nAPPROACH_028_JOINTS = [-0.026511, -0.988054, 0.148472, -1.981541, 0.166764, 2.033463, 0.890864]  # t=28\nAPPROACH_030_JOINTS = [-0.029290, -0.966934, 0.158561, -1.994471, 0.146806, 2.108206, 0.886997]  # t=30\nAPPROACH_033_JOINTS = [-0.033265, -0.930586, 0.168844, -2.019860, 0.122916, 2.221426, 0.883128]  # t=33\nAPPROACH_036_JOINTS = [-0.038547, -0.877174, 0.177162, -2.040268, 0.101344, 2.341580, 0.883029]  # t=36\nAPPROACH_039_JOINTS = [-0.042692, -0.818978, 0.183132, -2.049614, 0.086841, 2.454939, 0.883912]  # t=39\nAPPROACH_042_JOINTS = [-0.046011, -0.764195, 0.189914, -2.054189, 0.073154, 2.567213, 0.886572]  # t=42\nAPPROACH_043_JOINTS = [-0.047581, -0.744829, 0.193035, -2.055084, 0.066936, 2.609220, 0.888888]  # t=43\nAPPROACH_044_JOINTS = [-0.049464, -0.724380, 0.196722, -2.056274, 0.059775, 2.653111, 0.892119]  # t=44\nAPPROACH_045_JOINTS = [-0.051652, -0.703832, 0.200053, -2.056997, 0.051945, 2.696670, 0.896221]  # t=45\nPRESS_047_JOINTS = [-0.055484, -0.681913, 0.204389, -2.064299, 0.038533, 2.764703, 0.914884]  # t=47\nPRESS_049_JOINTS = [-0.060177, -0.682016, 0.207988, -2.083444, 0.024040, 2.821111, 0.947818]  # t=49\nPRESS_051_JOINTS = [-0.066854, -0.684002, 0.212437, -2.105495, 0.006864, 2.882813, 0.984459]  # t=51\nPRESS_052_JOINTS = [-0.070337, -0.686342, 0.214620, -2.115381, -0.001310, 2.907991, 1.001832]  # t=52\nPRESS_053_JOINTS = [-0.073096, -0.691518, 0.216012, -2.123850, -0.007970, 2.922954, 1.016081]  # t=53\nPRESS_055_JOINTS = [-0.075906, -0.706924, 0.217171, -2.137928, -0.016326, 2.932648, 1.033550]  # t=55\nPRESS_057_JOINTS = [-0.080911, -0.758944, 0.216353, -2.171416, -0.031144, 2.922339, 1.051523]  # t=57\nPRESS_059_JOINTS = [-0.094348, -0.835910, 0.217108, -2.218983, -0.059973, 2.911208, 1.085757]  # t=59\nPRESS_060_JOINTS = [-0.101635, -0.872823, 0.217852, -2.241547, -0.074036, 2.908183, 1.104178]  # t=60\nPRESS_061_JOINTS = [-0.107701, -0.908489, 0.218287, -2.262547, -0.085491, 2.904607, 1.120553]  # t=61\nPRESS_063_JOINTS = [-0.112917, -0.978213, 0.216539, -2.299867, -0.096563, 2.889331, 1.141515]  # t=63\nPRESS_065_JOINTS = [-0.109476, -1.047753, 0.207330, -2.333396, -0.094978, 2.864968, 1.143145]  # t=65\nPRESS_067_JOINTS = [-0.100527, -1.114410, 0.192162, -2.361652, -0.086862, 2.833015, 1.130424]  # t=67\nPRESS_069_JOINTS = [-0.089904, -1.179850, 0.172417, -2.385539, -0.077902, 2.795138, 1.109450]  # t=69\nPRESS_071_JOINTS = [-0.080349, -1.243725, 0.150632, -2.404900, -0.071681, 2.753725, 1.085889]  # t=71\nPRESS_073_JOINTS = [-0.071928, -1.305469, 0.127634, -2.419819, -0.067400, 2.710030, 1.061248]  # t=73\nPRESS_075_JOINTS = [-0.062900, -1.365520, 0.101284, -2.430771, -0.061796, 2.664457, 1.031346]  # t=75\nPRESS_077_JOINTS = [-0.060342, -1.424833, 0.076855, -2.436515, -0.067972, 2.614684, 1.008878]  # t=77\nPRESS_078_JOINTS = [-0.059062, -1.451114, 0.066866, -2.437068, -0.069406, 2.590980, 0.998566]  # t=78\nPRESS_079_JOINTS = [-0.056558, -1.468732, 0.058058, -2.435468, -0.067081, 2.570313, 0.986194]  # t=79\nPRESS_080_JOINTS = [-0.053792, -1.476308, 0.051495, -2.432302, -0.063547, 2.554863, 0.972574]  # t=80\nPRESS_081_JOINTS = [-0.051424, -1.480485, 0.047062, -2.430044, -0.060825, 2.544989, 0.959356]  # t=81\nPRESS_083_JOINTS = [-0.053501, -1.501647, 0.036291, -2.429671, -0.069394, 2.526524, 0.949382]  # t=83\nPRESS_084_JOINTS = [-0.056669, -1.524058, 0.030134, -2.431706, -0.080674, 2.515624, 0.945366]  # t=84\nPRESS_085_JOINTS = [-0.058942, -1.543091, 0.024165, -2.434616, -0.090680, 2.509723, 0.938576]  # t=85\nPRESS_087_JOINTS = [-0.060634, -1.572070, 0.009291, -2.444694, -0.106030, 2.511752, 0.913944]  # t=87\nPRESS_089_JOINTS = [-0.058780, -1.596957, -0.004481, -2.454420, -0.112932, 2.515275, 0.877843]  # t=89\nPRESS_090_JOINTS = [-0.055220, -1.607795, -0.010990, -2.457761, -0.111158, 2.513751, 0.850330]  # t=90\nPRESS_091_JOINTS = [-0.050391, -1.620543, -0.004769, -2.458938, -0.105397, 2.508734, 0.821732]  # t=91\nPRESS_092_JOINTS = [-0.046615, -1.630972, 0.009123, -2.455104, -0.099890, 2.502282, 0.800132]  # t=92\nPRESS_093_JOINTS = [-0.043588, -1.635436, 0.024781, -2.447890, -0.095363, 2.495728, 0.782079]  # t=93\nPRESS_095_JOINTS = [-0.038329, -1.630301, 0.064409, -2.429027, -0.083973, 2.485225, 0.759280]  # t=95\nPRESS_096_JOINTS = [-0.036068, -1.624740, 0.086914, -2.418593, -0.077372, 2.482058, 0.755130]  # t=96\nPRESS_097_JOINTS = [-0.035083, -1.621006, 0.107845, -2.406247, -0.073979, 2.476904, 0.756309]  # t=97\nPRESS_099_JOINTS = [-0.034346, -1.622490, 0.148679, -2.373695, -0.071769, 2.457465, 0.767204]  # t=99\nPRESS_100_JOINTS = [-0.035569, -1.618308, 0.171740, -2.359313, -0.074858, 2.443583, 0.774590]  # t=100\nPRESS_101_JOINTS = [-0.039974, -1.606692, 0.196755, -2.347340, -0.087526, 2.428141, 0.781296]  # t=101\nPRESS_103_JOINTS = [-0.058566, -1.558511, 0.251062, -2.319866, -0.137103, 2.398161, 0.802043]  # t=103\nPRESS_105_JOINTS = [-0.085471, -1.496753, 0.305823, -2.285822, -0.208168, 2.370626, 0.839624]  # t=105\nPRESS_107_JOINTS = [-0.117305, -1.438407, 0.357815, -2.257463, -0.301627, 2.347087, 0.888062]  # t=107\nPRESS_109_JOINTS = [-0.150679, -1.384728, 0.413529, -2.237603, -0.406520, 2.329186, 0.946683]  # t=109\nPRESS_110_JOINTS = [-0.167397, -1.358519, 0.438571, -2.230464, -0.460666, 2.318700, 0.978284]  # t=110\nPRESS_111_JOINTS = [-0.183596, -1.332715, 0.460065, -2.225494, -0.514362, 2.306203, 1.010155]  # t=111\nPRESS_113_JOINTS = [-0.211584, -1.287630, 0.495088, -2.220258, -0.614299, 2.273792, 1.076161]  # t=113\nPRESS_115_JOINTS = [-0.232667, -1.249431, 0.517256, -2.223790, -0.701271, 2.241018, 1.146553]  # t=115\nPRESS_117_JOINTS = [-0.246159, -1.211685, 0.526277, -2.231983, -0.769917, 2.215513, 1.209766]  # t=117\nPRESS_119_JOINTS = [-0.250562, -1.184994, 0.524228, -2.242024, -0.826852, 2.190700, 1.258061]  # t=119\nPRESS_121_JOINTS = [-0.247628, -1.170509, 0.512446, -2.253866, -0.876205, 2.161381, 1.289873]  # t=121\nPRESS_123_JOINTS = [-0.241456, -1.162262, 0.490476, -2.264823, -0.924405, 2.128906, 1.309304]  # t=123\nPRESS_125_JOINTS = [-0.231938, -1.165107, 0.462862, -2.279355, -0.971242, 2.086098, 1.320359]  # t=125\nPRESS_126_JOINTS = [-0.224871, -1.174455, 0.448816, -2.288778, -0.991925, 2.058674, 1.321681]  # t=126\nPRESS_127_JOINTS = [-0.216096, -1.190078, 0.434934, -2.299611, -1.010568, 2.027229, 1.320565]  # t=127\nPRESS_129_JOINTS = [-0.196186, -1.230582, 0.404813, -2.324464, -1.046988, 1.963995, 1.313027]  # t=129\nPRESS_131_JOINTS = [-0.176474, -1.274865, 0.370328, -2.350933, -1.088263, 1.906583, 1.303910]  # t=131\nPRESS_133_JOINTS = [-0.158587, -1.318543, 0.332257, -2.378269, -1.135017, 1.855580, 1.293256]  # t=133\nPRESS_135_JOINTS = [-0.144125, -1.350456, 0.288032, -2.402522, -1.186839, 1.818273, 1.277449]  # t=135\nPRESS_137_JOINTS = [-0.134538, -1.363624, 0.238186, -2.420226, -1.242074, 1.795367, 1.270392]  # t=137\nPRESS_139_JOINTS = [-0.128379, -1.366680, 0.187013, -2.430009, -1.293482, 1.776841, 1.270472]  # t=139\nPRESS_141_JOINTS = [-0.124181, -1.364124, 0.134701, -2.432890, -1.340773, 1.765138, 1.270637]  # t=141\nPRESS_143_JOINTS = [-0.121330, -1.355884, 0.079746, -2.430363, -1.387345, 1.764743, 1.270997]  # t=143\nPRESS_145_JOINTS = [-0.119501, -1.344577, 0.022961, -2.423110, -1.434087, 1.774020, 1.276873]  # t=145\nPRESS_147_JOINTS = [-0.118422, -1.333459, -0.034596, -2.413740, -1.480601, 1.791453, 1.291406]  # t=147\nPRESS_149_JOINTS = [-0.117654, -1.319830, -0.092977, -2.403186, -1.528325, 1.818981, 1.314298]  # t=149\nPRESS_151_JOINTS = [-0.117248, -1.305431, -0.146603, -2.392450, -1.574730, 1.851267, 1.348679]  # t=151\nPRESS_153_JOINTS = [-0.117224, -1.291535, -0.194379, -2.381712, -1.617294, 1.882560, 1.389888]  # t=153\nPRESS_155_JOINTS = [-0.117053, -1.278263, -0.236503, -2.370397, -1.654372, 1.913457, 1.436251]  # t=155\nPRESS_157_JOINTS = [-0.116549, -1.265354, -0.274357, -2.358517, -1.686751, 1.943757, 1.483916]  # t=157\nPRESS_159_JOINTS = [-0.115968, -1.253934, -0.306279, -2.347728, -1.714339, 1.970800, 1.529659]  # t=159\nPRESS_161_JOINTS = [-0.115742, -1.245823, -0.324371, -2.339275, -1.734811, 1.990268, 1.572439]  # t=161\nPRESS_163_JOINTS = [-0.115865, -1.240649, -0.330993, -2.334254, -1.746169, 1.998601, 1.612073]  # t=163\nPRESS_165_JOINTS = [-0.116102, -1.237564, -0.334476, -2.332587, -1.752728, 2.001588, 1.644224]  # t=165\nPRESS_166_JOINTS = [-0.116287, -1.237015, -0.334581, -2.332544, -1.754833, 2.001965, 1.658174]  # t=166\nRETREAT_168_JOINTS = [-0.116596, -1.236701, -0.333833, -2.332690, -1.757382, 2.001913, 1.684631]  # t=168\nAPPROACH_000_JOINTS = [-0.050354, -1.040944, -0.016365, -2.271171, 0.041964, 1.499065, 0.688404]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_049_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_051_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_052_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, 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_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_166_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_168_JOINTS, input_type='joint', steps=2, 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": 21005, "code_num_lines": 236, "code_num_nonblank_lines": 226, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[4.109413133790297,-0.8435010447534568,0.0],\"lang\":\"Open the cabinet 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}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenCabinet\"}", "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\":\"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_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\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[4.109413133790297,-0.8435010447534568,0.0],\"lang\":\"Open the cabinet 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,-0.15920095195004974,1.4689056228423558,0.9790205563496989,0.003243723216602897,-0.002526319770017954,-0.20372001917543558,4.2077277288509425,-0.1410422337752087,0.9958020444013466,0.9543806059737266,7.655262480646055e-06,-6.703832387309079e-05,0.29859279024866087,4.418432614559248,-0.17850332435675803,0.9495531264759215,0.902339440075452,-0.01627269786547831,0.3921897092662138,-0.1780616919333915,3.997628615247374,-0.4542580977155078,0.9362291216464053,0.9977447040699611,0.0004131503924273769,-0.0006178657257432012,0.06711894701978281,-7.730830672802823e-07,4.5423594454631187e-07,-3.11860047289768e-06,7.937867353810685e-08,-9.309796734402925e-06,0.0006064912992104357,-0.0006650380909198394,-2.3812988954951353e-05,-0.0007280078634949842,9.689271786544971e-05,-0.00011439101547178078,-0.00046364676988760686,0.00047240406255298704,-2.919671554661734e-07,-1.231610132950526e-13,-1.0102250064234547e-11,-1.7492465767284714e-11,-9.611871682055308e-12,-4.441438689454285e-12,3.215873519639007e-10,-6.843128479101014e-11,0.0,0.0,-8.548272669741877e-18,-8.548272669741877e-18,-8.548272669741877e-18,-8.548272669741877e-18,0.0,0.0,-8.446363969090184e-18,-8.446363969090184e-18,-8.446363969090184e-18,-8.446363969090184e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0014367983176677493,-1.0242998074460369e-06,-5.432701364814558e-07,1.8180350704107242e-08,-3.4165536347263805e-07,-5.432701364814558e-07,2.038943079049025e-08,-3.4165731058297735e-07,7.070714595805447e-09,6.77742554278323e-07,0.0,0.0,0.0,0.0,0.0,-1.5122855520266851e-06,1.8307341906673892e-07,0.0,0.0,-3.091845949675383e-18,-3.091845949675383e-18,-2.8240667585973204e-18,-2.8240667585973204e-18,0.0,-2.322117744010905e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.978158250453075e-06,1.9044392811834003e-09,2.2325591175217386e-09,7.992032167642912e-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,-6.743434709153861e-17,0.0,0.0,0.0,-3.6016821870109053e-17,0.0,-3.6016821870109053e-17,0.0,-8.024014215706196e-17,0.0,-8.024014215706196e-17,0.0,0.0,0.0,-8.024014215706196e-17,-2.466632612440817e-05,9.965111356154678e-06,-2.407495950549827e-05,3.718460199093963e-05,-0.0014061082504652903,9.86943755282402e-06,1.7155841168582774e-07,7.614587696355331e-07,2.086712851865901e-06,-6.792763930733754e-06,7.421421136338912e-06,6.885050851978381e-08,-0.0004306210412873025,0.0007113351225224598,0.000469257421572121,-0.010347813110021595,-0.021795609223761385,-0.01574409337572863,-0.000489836173397332,-0.00033457484394288907,0.001839070727593976,0.016314577509098444,-0.03226744336876849,-4.539627477420704e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenCabinet\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 95, "pretrain_task_id": 20, "retained_waypoint_count": 95, "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": 501999, "video_relpath": "videos/raw_extracted/20_OpenCabinet.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenDishwasher\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_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': 'OpenDishwasher',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 121,\n    'stable_release_contact_loss_t': 121,\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=4.221945, y=-3.110296, z=0.931740, qw=0.517221, qx=0.038190, qy=-0.048621, qz=-0.853616)\n\nAPPROACH_003_JOINTS = [-0.027034, -1.018439, -0.030158, -2.282368, 0.025567, 1.508517, 0.684073]  # t=3\nAPPROACH_004_JOINTS = [-0.028102, -1.026856, -0.041813, -2.282194, 0.024886, 1.502573, 0.686155]  # t=4\nAPPROACH_005_JOINTS = [-0.030146, -1.039005, -0.059558, -2.282905, 0.023252, 1.494231, 0.690990]  # t=5\nAPPROACH_006_JOINTS = [-0.033028, -1.055650, -0.083334, -2.284681, 0.021130, 1.484457, 0.696247]  # t=6\nAPPROACH_009_JOINTS = [-0.046539, -1.135648, -0.178865, -2.305670, 0.008251, 1.460641, 0.708309]  # t=9\nAPPROACH_010_JOINTS = [-0.052639, -1.168740, -0.213754, -2.318428, 0.000042, 1.458075, 0.712092]  # t=10\nAPPROACH_012_JOINTS = [-0.067456, -1.238991, -0.283479, -2.348773, -0.022339, 1.461163, 0.722426]  # t=12\nAPPROACH_014_JOINTS = [-0.086203, -1.312185, -0.352609, -2.384914, -0.050840, 1.476028, 0.737266]  # t=14\nAPPROACH_015_JOINTS = [-0.097556, -1.350075, -0.387199, -2.405951, -0.068204, 1.486345, 0.746944]  # t=15\nAPPROACH_017_JOINTS = [-0.124709, -1.427820, -0.459006, -2.451413, -0.108067, 1.509971, 0.769402]  # t=17\nAPPROACH_020_JOINTS = [-0.176103, -1.541526, -0.584380, -2.520028, -0.177167, 1.553121, 0.802133]  # t=20\nAPPROACH_025_JOINTS = [-0.287436, -1.687196, -0.862448, -2.618124, -0.308767, 1.661909, 0.838900]  # t=25\nAPPROACH_030_JOINTS = [-0.410960, -1.708228, -1.185988, -2.686740, -0.423549, 1.846807, 0.863688]  # t=30\nAPPROACH_033_JOINTS = [-0.465751, -1.642821, -1.362317, -2.712100, -0.458399, 2.000414, 0.857593]  # t=33\nAPPROACH_035_JOINTS = [-0.476645, -1.572836, -1.460229, -2.728403, -0.460071, 2.117059, 0.833730]  # t=35\nAPPROACH_039_JOINTS = [-0.398888, -1.405714, -1.597047, -2.732960, -0.395386, 2.333899, 0.761699]  # t=39\nAPPROACH_040_JOINTS = [-0.364659, -1.367215, -1.621183, -2.722693, -0.364288, 2.375208, 0.742183]  # t=40\nAPPROACH_042_JOINTS = [-0.287125, -1.302213, -1.659826, -2.692411, -0.288038, 2.438893, 0.703883]  # t=42\nAPPROACH_045_JOINTS = [-0.163343, -1.239101, -1.705586, -2.626531, -0.156190, 2.487898, 0.648480]  # t=45\nAPPROACH_050_JOINTS = [0.015920, -1.219368, -1.788464, -2.495051, 0.038995, 2.477833, 0.543682]  # t=50\nAPPROACH_055_JOINTS = [0.156714, -1.260053, -1.866913, -2.386007, 0.127696, 2.460593, 0.475503]  # t=55\nAPPROACH_060_JOINTS = [0.245195, -1.328818, -1.921421, -2.330518, 0.137901, 2.471849, 0.429797]  # t=60\nAPPROACH_065_JOINTS = [0.330138, -1.403482, -1.961351, -2.303327, 0.099147, 2.542675, 0.425844]  # t=65\nAPPROACH_070_JOINTS = [0.426092, -1.490983, -2.003427, -2.271173, 0.049192, 2.637048, 0.425306]  # t=70\nAPPROACH_075_JOINTS = [0.526212, -1.589293, -2.048051, -2.215600, -0.001708, 2.722130, 0.416464]  # t=75\nAPPROACH_080_JOINTS = [0.623456, -1.694490, -2.083426, -2.135628, -0.050631, 2.784968, 0.403317]  # t=80\nAPPROACH_081_JOINTS = [0.640802, -1.714544, -2.088034, -2.118763, -0.060046, 2.793951, 0.400851]  # t=81\nPRESS_082_JOINTS = [0.642176, -1.719749, -2.087917, -2.118194, -0.067512, 2.798581, 0.398734]  # t=82\nPRESS_083_JOINTS = [0.638772, -1.722085, -2.088644, -2.123061, -0.074156, 2.807851, 0.397419]  # t=83\nPRESS_084_JOINTS = [0.634786, -1.726006, -2.089378, -2.129027, -0.081207, 2.821166, 0.396265]  # t=84\nPRESS_085_JOINTS = [0.631407, -1.731059, -2.090025, -2.134887, -0.088783, 2.836560, 0.395287]  # t=85\nPRESS_086_JOINTS = [0.628517, -1.736177, -2.090721, -2.140649, -0.096366, 2.852729, 0.394344]  # t=86\nPRESS_087_JOINTS = [0.625963, -1.740997, -2.091494, -2.146348, -0.103457, 2.869125, 0.393183]  # t=87\nPRESS_089_JOINTS = [0.621776, -1.749657, -2.093167, -2.157414, -0.115252, 2.901926, 0.389397]  # t=89\nPRESS_091_JOINTS = [0.620495, -1.753891, -2.095264, -2.168354, -0.124198, 2.935675, 0.384992]  # t=91\nPRESS_093_JOINTS = [0.624676, -1.749355, -2.097750, -2.179395, -0.128516, 2.970761, 0.390728]  # t=93\nPRESS_094_JOINTS = [0.628234, -1.744615, -2.098688, -2.184624, -0.126710, 2.987302, 0.399627]  # t=94\nPRESS_095_JOINTS = [0.632382, -1.738919, -2.099276, -2.189468, -0.121966, 3.002519, 0.412567]  # t=95\nPRESS_097_JOINTS = [0.643904, -1.721570, -2.100213, -2.198417, -0.107587, 3.030445, 0.449514]  # t=97\nPRESS_098_JOINTS = [0.651462, -1.710369, -2.100610, -2.202887, -0.098370, 3.045154, 0.472755]  # t=98\nPRESS_099_JOINTS = [0.659467, -1.697094, -2.101074, -2.207718, -0.087699, 3.059954, 0.498832]  # t=99\nPRESS_100_JOINTS = [0.667662, -1.681666, -2.101435, -2.211946, -0.074935, 3.071335, 0.528696]  # t=100\nPRESS_101_JOINTS = [0.674791, -1.664940, -2.102650, -2.213965, -0.059632, 3.076426, 0.560978]  # t=101\nPRESS_103_JOINTS = [0.683902, -1.640588, -2.111393, -2.203877, -0.023436, 3.073229, 0.617250]  # t=103\nPRESS_105_JOINTS = [0.682862, -1.631084, -2.118957, -2.191884, 0.015500, 3.075705, 0.657037]  # t=105\nPRESS_106_JOINTS = [0.677929, -1.631455, -2.121771, -2.187824, 0.034855, 3.080056, 0.669281]  # t=106\nPRESS_107_JOINTS = [0.668180, -1.634806, -2.122730, -2.188125, 0.053547, 3.081785, 0.673546]  # t=107\nPRESS_109_JOINTS = [0.630874, -1.647266, -2.121167, -2.190078, 0.088037, 3.052113, 0.654629]  # t=109\nPRESS_110_JOINTS = [0.603372, -1.656184, -2.122729, -2.184637, 0.105929, 3.014238, 0.633764]  # t=110\nPRESS_111_JOINTS = [0.571090, -1.666409, -2.125887, -2.171609, 0.125298, 2.955784, 0.606802]  # t=111\nPRESS_113_JOINTS = [0.499738, -1.699823, -2.138313, -2.107814, 0.172227, 2.774576, 0.524983]  # t=113\nPRESS_114_JOINTS = [0.463927, -1.724139, -2.151717, -2.058089, 0.200744, 2.651253, 0.463409]  # t=114\nPRESS_115_JOINTS = [0.431460, -1.752148, -2.171395, -1.993349, 0.231047, 2.506225, 0.388373]  # t=115\nPRESS_116_JOINTS = [0.408122, -1.766097, -2.198176, -1.915644, 0.268900, 2.347079, 0.306990]  # t=116\nPRESS_117_JOINTS = [0.399923, -1.763706, -2.234607, -1.828944, 0.324459, 2.196367, 0.221510]  # t=117\nPRESS_118_JOINTS = [0.400495, -1.763247, -2.276786, -1.742189, 0.386732, 2.069649, 0.132478]  # t=118\nPRESS_119_JOINTS = [0.403025, -1.763235, -2.319838, -1.668565, 0.454238, 1.977344, 0.043587]  # t=119\nPRESS_120_JOINTS = [0.401692, -1.763196, -2.359157, -1.613899, 0.522749, 1.922131, -0.042029]  # t=120\nPRESS_121_JOINTS = [0.394902, -1.763192, -2.390232, -1.579863, 0.584312, 1.901654, -0.123160]  # t=121\nPRESS_122_JOINTS = [0.381103, -1.763172, -2.414407, -1.564980, 0.642576, 1.902289, -0.201753]  # t=122\nPRESS_123_JOINTS = [0.359276, -1.763146, -2.432257, -1.565221, 0.699233, 1.914557, -0.280079]  # t=123\nPRESS_124_JOINTS = [0.331632, -1.763154, -2.445202, -1.576532, 0.754847, 1.936978, -0.359541]  # t=124\nPRESS_125_JOINTS = [0.300735, -1.763137, -2.448942, -1.606458, 0.811754, 1.965129, -0.443862]  # t=125\nRETREAT_132_JOINTS = [0.080320, -1.763213, -2.400594, -1.880467, 1.431053, 2.268292, -1.175191]  # t=132\nRETREAT_137_JOINTS = [0.041866, -1.763096, -2.393352, -1.961349, 2.002592, 2.211798, -1.685826]  # t=137\nAPPROACH_000_JOINTS = [-0.026551, -1.011721, -0.020807, -2.283420, 0.026653, 1.515840, 0.683065]  # 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_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, 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_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_106_JOINTS, input_type='joint', steps=1, 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_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_132_JOINTS, input_type='joint', steps=7, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_137_JOINTS, input_type='joint', steps=5, 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": 15422, "code_num_lines": 178, "code_num_nonblank_lines": 168, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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}},\"initial_state\":[0.5000000000000003,-12.686869384007027,-6.367043274141011,-2.151492205917412e-07,2.55075276889335e-08,-0.026820362419110587,-1.011527555846358,-0.020594480911137,-2.2834240381401,0.02686561395529896,1.5161921953324617,0.6830570303570863,0.020527828409395526,-0.02053873093463263,0.0,0.0,0.0,0.0,0.0,-2.9949953149089686e-15,0.0,0.0,0.0,0.0,-3.6032950546550454e-15,1.3590735805051875e-14,-1.594855567072482e-14,0.0,-3.603295663614847e-15,1.359073904174223e-14,-8.543756216250058e-15,1.2516025306470057e-13,-1.5862602353114982e-16,0.0,0.0,3.376905413952021e-17,-1.9925248816857952e-09,9.252996703844078e-07,0.0,1.6919008132003314e-15,-1.146039109588925e-14,-7.546299477111673e-15,-7.546299477111673e-15,-7.494972799848315e-15,-4.902308695296001e-15,1.7684068516613194e-15,-4.27572824218871e-16,-3.045124059794235e-14,0.0,-0.007137240708983049,-3.259679993055066e-05,0.0,0.0,0.0,0.0,0.0,0.0,-8.807914034384662e-05,-1.8958867410536876e-09,-0.0024720807683070614,-8.807732061403135e-05,-1.6617744109420062e-09,-0.0024720807737934358,-5.9555502920544275e-05,1.7489242901398235e-08,-6.596058339381312e-10,-3.1200705565738396e-10,2.838888540566491e-09,-6.50401483139448e-11,-3.395163220763091e-11,-4.13505002526118e-10,2.9182527219913393e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.1265669545467943e-16,0.0,0.0,0.0,-1.3049371424367086e-09,-6.114356695828167e-10,-3.0842477114454663e-11,7.115468276065227e-17,7.117807404045185e-17,-8.572974166311882e-16,-8.572974166311882e-16,-8.498237437038196e-16,-8.572974166311882e-16,-8.572974166311882e-16,-8.498237437038196e-16,-1.6967069494830311e-15,0.0,2.935153597826149e-16,4.221945354210935,-3.1102959012057756,0.9317395697109337,0.5172206316888938,0.038189861364667364,-0.048621154438805714,-0.8536160354546569,4.081110327004111,-3.234843757762294,1.0334484889040623,0.5413253420083121,0.0003796787577273207,-0.0006629569690340938,-0.8408128748013339,4.150162868599636,-3.385225901322576,1.0381047452655388,0.883131988968015,0.002101393128061478,0.000463969999331173,-0.46911966377477504,6.422204938180594e-07,4.803710395733292e-07,2.9300242670961157e-06,6.952189721601621e-08,8.648435387172645e-06,0.0005770651824784606,0.0006442930276576307,-2.573546722747847e-05,0.0007711198386101989,0.00012547461991391676,0.00011143317629089818,-0.0004464663949580086,0.0004895836411330582,0.0,0.0,0.0,0.0,0.0,-1.382359797129856e-16,0.0,0.0,0.0,0.0,-1.8669923918029288e-84,-1.9048517320442122e-15,1.795952129773153e-16,0.0,-1.8670520603573438e-84,-1.9048517892897134e-15,3.916796001977856e-24,-6.991108246118232e-13,-4.4302510197150394e-39,0.0,0.0,6.973865290398453e-17,-4.0544471327336136e-09,1.882826466955936e-06,0.0,4.5413079164194514e-43,-3.9432209913994463e-16,-2.5072639420398427e-16,-2.5072639420398427e-16,-2.40781605695463e-16,-1.2604156977122156e-71,-9.524554809286356e-112,-4.925128121850743e-16,8.160824052441121e-16,0.0,-5.247724196159752e-07,-5.80582328023204e-07,0.0,0.0,0.0,0.0,0.0,0.0,-1.7269307010672487e-06,-1.82115240510694e-15,-1.2020979393351431e-06,-1.7269010355287855e-06,-1.5962688769636493e-15,-1.2020990893490657e-06,-9.023949168959184e-07,3.558746273792408e-08,-1.1913369497517792e-11,-5.635267530596543e-12,5.776627423158765e-09,-1.1747126492705174e-12,-6.132121859804223e-13,-7.46845711148517e-12,5.938119253601683e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.6086400426546928e-68,0.0,0.0,-1.8125398876992206e-06,-2.3568921472382097e-11,-1.1043351286649078e-11,-5.57056659697426e-13,1.4478837973118488e-16,1.448359460358221e-16,-4.0515782198294105e-17,-4.0515782198294105e-17,-3.7911591958189215e-17,-4.0515782198294105e-17,-4.0515782198294105e-17,-3.7911591958189215e-17,-8.067118029846212e-17,0.0,1.1550017529059075e-45,1.68211372104345e-07,-7.108168566315644e-08,1.6487577726237143e-06,-1.571758728777449e-05,-1.6927478499541309e-06,-7.563992774821742e-08,-0.0005811916332128831,0.00025028369919219596,0.00019192706137832234,0.005566396590012416,0.00010715765383063664,-1.2852665504350421e-05,-0.001845559590744957,0.0012670154828013148,-0.00016905309210924006,0.006946431984550841,-0.017618049576399432,-4.39379205960047e-05],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 66, "pretrain_task_id": 21, "retained_waypoint_count": 66, "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": 221962, "video_relpath": "videos/raw_extracted/21_OpenDishwasher.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_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': 'OpenDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 169,\n    'stable_release_contact_loss_t': 169,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.684349, y=-3.743318, z=0.788661, qw=0.753573, qx=0.000013, qy=0.000013, qz=-0.657365)\nGOAL_RECEPTACLE_POSE = pose(x=2.796999, y=-3.860064, z=0.965589, qw=0.588126, qx=0.000095, qy=-0.000189, qz=-0.808770)\n\nAPPROACH_003_JOINTS = [-0.020991, -1.050439, -0.028689, -2.278176, 0.036951, 1.514700, 0.702371]  # t=3\nAPPROACH_004_JOINTS = [-0.019260, -1.054923, -0.015751, -2.278350, 0.044666, 1.507864, 0.706313]  # t=4\nAPPROACH_005_JOINTS = [-0.016266, -1.062769, 0.000866, -2.279059, 0.057566, 1.495748, 0.704534]  # t=5\nAPPROACH_006_JOINTS = [-0.012149, -1.074542, 0.020553, -2.280868, 0.074122, 1.479179, 0.696818]  # t=6\nAPPROACH_008_JOINTS = [-0.001613, -1.105907, 0.062438, -2.292860, 0.118698, 1.445404, 0.669954]  # t=8\nAPPROACH_010_JOINTS = [0.010615, -1.145550, 0.104028, -2.315771, 0.172548, 1.417257, 0.637071]  # t=10\nAPPROACH_012_JOINTS = [0.023700, -1.188244, 0.146910, -2.343306, 0.230173, 1.398406, 0.605408]  # t=12\nAPPROACH_015_JOINTS = [0.044306, -1.245113, 0.216769, -2.389026, 0.321740, 1.392238, 0.562440]  # t=15\nAPPROACH_017_JOINTS = [0.058595, -1.274592, 0.266850, -2.419082, 0.385765, 1.401465, 0.532996]  # t=17\nAPPROACH_020_JOINTS = [0.078475, -1.301875, 0.361919, -2.463544, 0.460104, 1.466711, 0.481588]  # t=20\nAPPROACH_025_JOINTS = [0.111916, -1.323993, 0.561716, -2.499432, 0.504156, 1.607285, 0.404687]  # t=25\nAPPROACH_029_JOINTS = [0.133993, -1.319277, 0.728981, -2.493145, 0.471906, 1.704741, 0.387354]  # t=29\nAPPROACH_030_JOINTS = [0.138895, -1.314944, 0.767617, -2.490224, 0.460113, 1.726014, 0.386018]  # t=30\nAPPROACH_032_JOINTS = [0.148372, -1.304051, 0.838105, -2.482858, 0.431340, 1.761348, 0.382997]  # t=32\nAPPROACH_035_JOINTS = [0.159495, -1.279518, 0.929997, -2.473307, 0.385598, 1.812364, 0.376327]  # t=35\nAPPROACH_036_JOINTS = [0.163059, -1.270422, 0.957263, -2.471873, 0.372105, 1.830016, 0.374623]  # t=36\nAPPROACH_039_JOINTS = [0.173809, -1.240680, 1.032911, -2.475163, 0.340916, 1.890285, 0.366660]  # t=39\nAPPROACH_040_JOINTS = [0.176444, -1.228491, 1.057780, -2.478928, 0.334570, 1.913956, 0.362414]  # t=40\nAPPROACH_042_JOINTS = [0.179949, -1.202688, 1.106973, -2.488791, 0.322130, 1.960430, 0.357615]  # t=42\nAPPROACH_045_JOINTS = [0.189413, -1.169800, 1.174911, -2.502547, 0.301195, 2.010657, 0.362159]  # t=45\nAPPROACH_047_JOINTS = [0.197989, -1.151357, 1.218591, -2.509966, 0.285755, 2.037186, 0.371958]  # t=47\nAPPROACH_050_JOINTS = [0.217702, -1.130548, 1.277660, -2.516128, 0.262079, 2.062105, 0.394938]  # t=50\nAPPROACH_051_JOINTS = [0.224634, -1.124620, 1.295860, -2.518686, 0.252917, 2.068228, 0.402726]  # t=51\nAPPROACH_055_JOINTS = [0.240481, -1.098678, 1.367760, -2.536105, 0.213241, 2.083064, 0.445526]  # t=55\nAPPROACH_059_JOINTS = [0.232927, -1.065915, 1.441751, -2.555808, 0.182262, 2.122264, 0.506049]  # t=59\nAPPROACH_060_JOINTS = [0.228976, -1.057557, 1.458832, -2.560855, 0.175352, 2.136135, 0.521365]  # t=60\nAPPROACH_065_JOINTS = [0.202459, -1.020695, 1.547376, -2.588047, 0.142025, 2.212483, 0.607118]  # t=65\nAPPROACH_067_JOINTS = [0.187883, -1.010767, 1.585860, -2.597771, 0.126070, 2.241975, 0.649661]  # t=67\nAPPROACH_070_JOINTS = [0.166694, -1.002930, 1.635433, -2.604256, 0.095549, 2.271222, 0.712407]  # t=70\nAPPROACH_072_JOINTS = [0.150822, -1.001844, 1.661201, -2.607025, 0.072961, 2.287778, 0.748402]  # t=72\nAPPROACH_075_JOINTS = [0.126147, -1.006268, 1.686043, -2.609439, 0.034348, 2.307007, 0.791908]  # t=75\nAPPROACH_080_JOINTS = [0.065186, -1.019596, 1.716895, -2.625304, -0.016879, 2.372479, 0.833746]  # t=80\nAPPROACH_083_JOINTS = [0.012860, -1.027276, 1.744455, -2.638629, -0.031876, 2.434149, 0.846798]  # t=83\nAPPROACH_085_JOINTS = [-0.022221, -1.031772, 1.769891, -2.643280, -0.035476, 2.471479, 0.856951]  # t=85\nAPPROACH_088_JOINTS = [-0.079873, -1.042305, 1.816805, -2.645708, -0.034081, 2.530067, 0.873064]  # t=88\nAPPROACH_090_JOINTS = [-0.120841, -1.053669, 1.852743, -2.642964, -0.030365, 2.570627, 0.883132]  # t=90\nAPPROACH_093_JOINTS = [-0.172828, -1.079437, 1.903323, -2.630543, -0.027086, 2.615292, 0.902864]  # t=93\nAPPROACH_095_JOINTS = [-0.196369, -1.103061, 1.928286, -2.618425, -0.029844, 2.630273, 0.919839]  # t=95\nAPPROACH_100_JOINTS = [-0.227671, -1.179901, 1.970338, -2.585391, -0.051769, 2.638561, 0.972384]  # t=100\nAPPROACH_105_JOINTS = [-0.240258, -1.264048, 1.992315, -2.562971, -0.084049, 2.636346, 1.031261]  # t=105\nAPPROACH_110_JOINTS = [-0.306076, -1.350802, 2.018108, -2.548500, -0.088801, 2.714788, 1.054774]  # t=110\nAPPROACH_115_JOINTS = [-0.387597, -1.434755, 2.057393, -2.522338, -0.085577, 2.816234, 1.079610]  # t=115\nAPPROACH_116_JOINTS = [-0.402381, -1.452140, 2.067417, -2.513046, -0.085288, 2.833801, 1.088016]  # t=116\nAPPROACH_117_JOINTS = [-0.408961, -1.464847, 2.071103, -2.509466, -0.085624, 2.846732, 1.099682]  # t=117\nPRESS_119_JOINTS = [-0.403183, -1.481390, 2.072728, -2.514819, -0.090359, 2.870645, 1.130041]  # t=119\nPRESS_121_JOINTS = [-0.396342, -1.502009, 2.074442, -2.521091, -0.097341, 2.899420, 1.164584]  # t=121\nPRESS_123_JOINTS = [-0.388380, -1.524694, 2.076003, -2.528434, -0.105943, 2.932101, 1.202628]  # t=123\nPRESS_124_JOINTS = [-0.383790, -1.535693, 2.076555, -2.531728, -0.111059, 2.945781, 1.220554]  # t=124\nPRESS_125_JOINTS = [-0.379374, -1.546375, 2.077174, -2.533933, -0.116494, 2.955968, 1.236990]  # t=125\nPRESS_126_JOINTS = [-0.374317, -1.556709, 2.077854, -2.535333, -0.122503, 2.962372, 1.252523]  # t=126\nPRESS_127_JOINTS = [-0.368108, -1.566136, 2.078590, -2.536312, -0.128758, 2.964951, 1.267852]  # t=127\nPRESS_129_JOINTS = [-0.356006, -1.579565, 2.079953, -2.537289, -0.140188, 2.963181, 1.292436]  # t=129\nPRESS_130_JOINTS = [-0.352338, -1.582856, 2.080249, -2.537863, -0.144132, 2.962834, 1.300290]  # t=130\nPRESS_131_JOINTS = [-0.348806, -1.582551, 2.080467, -2.539053, -0.146981, 2.962045, 1.305300]  # t=131\nPRESS_133_JOINTS = [-0.337171, -1.576041, 2.080559, -2.542813, -0.152792, 2.953549, 1.312804]  # t=133\nPRESS_135_JOINTS = [-0.318614, -1.571636, 2.076956, -2.547298, -0.163181, 2.934764, 1.321781]  # t=135\nPRESS_137_JOINTS = [-0.293978, -1.568304, 2.076154, -2.550515, -0.177100, 2.908051, 1.336635]  # t=137\nPRESS_139_JOINTS = [-0.258908, -1.557767, 2.078764, -2.554289, -0.193626, 2.869962, 1.356505]  # t=139\nPRESS_141_JOINTS = [-0.214478, -1.529700, 2.084346, -2.559525, -0.207305, 2.821850, 1.374318]  # t=141\nPRESS_143_JOINTS = [-0.162774, -1.485458, 2.089437, -2.564388, -0.217632, 2.763156, 1.387630]  # t=143\nPRESS_145_JOINTS = [-0.115892, -1.436499, 2.091911, -2.566224, -0.217553, 2.708678, 1.405310]  # t=145\nPRESS_146_JOINTS = [-0.096322, -1.411533, 2.091589, -2.567110, -0.213525, 2.687826, 1.413057]  # t=146\nPRESS_147_JOINTS = [-0.078523, -1.389182, 2.091085, -2.567223, -0.210283, 2.668986, 1.420944]  # t=147\nPRESS_149_JOINTS = [-0.044265, -1.351862, 2.090886, -2.564247, -0.207772, 2.630735, 1.440988]  # t=149\nPRESS_151_JOINTS = [-0.011556, -1.320995, 2.091855, -2.557111, -0.207835, 2.589922, 1.460564]  # t=151\nPRESS_153_JOINTS = [0.020456, -1.293255, 2.093515, -2.546286, -0.207456, 2.546476, 1.479819]  # t=153\nPRESS_155_JOINTS = [0.051478, -1.269970, 2.096334, -2.531509, -0.206408, 2.501437, 1.502544]  # t=155\nPRESS_157_JOINTS = [0.078689, -1.252090, 2.100288, -2.513137, -0.204009, 2.458867, 1.523168]  # t=157\nPRESS_159_JOINTS = [0.101364, -1.239149, 2.104369, -2.491595, -0.199380, 2.419406, 1.538641]  # t=159\nPRESS_160_JOINTS = [0.111695, -1.233902, 2.106571, -2.479626, -0.196109, 2.399910, 1.544880]  # t=160\nPRESS_161_JOINTS = [0.121182, -1.229677, 2.108765, -2.466730, -0.192297, 2.381025, 1.549957]  # t=161\nPRESS_162_JOINTS = [0.129944, -1.226429, 2.110910, -2.452947, -0.187941, 2.362342, 1.554120]  # t=162\nPRESS_163_JOINTS = [0.137858, -1.224168, 2.113105, -2.438137, -0.183003, 2.344143, 1.556833]  # t=163\nPRESS_165_JOINTS = [0.151347, -1.222750, 2.116861, -2.405130, -0.171594, 2.308354, 1.558974]  # t=165\nPRESS_166_JOINTS = [0.157335, -1.223454, 2.118416, -2.386929, -0.165215, 2.290161, 1.559818]  # t=166\nPRESS_167_JOINTS = [0.162733, -1.225172, 2.119707, -2.367450, -0.158499, 2.272035, 1.560234]  # t=167\nPRESS_169_JOINTS = [0.171496, -1.231687, 2.121527, -2.325064, -0.143942, 2.235805, 1.559283]  # t=169\nPRESS_171_JOINTS = [0.177841, -1.241902, 2.122243, -2.278410, -0.127880, 2.198925, 1.555099]  # t=171\nPRESS_173_JOINTS = [0.183426, -1.255070, 2.120690, -2.227363, -0.111221, 2.159002, 1.550947]  # t=173\nPRESS_174_JOINTS = [0.186197, -1.262686, 2.119338, -2.200561, -0.102647, 2.137839, 1.549743]  # t=174\nPRESS_175_JOINTS = [0.189008, -1.270967, 2.118073, -2.173225, -0.093765, 2.116204, 1.549211]  # t=175\nPRESS_177_JOINTS = [0.194559, -1.289568, 2.115227, -2.117094, -0.075414, 2.072302, 1.549202]  # t=177\nPRESS_178_JOINTS = [0.197323, -1.299770, 2.113654, -2.088470, -0.065759, 2.049737, 1.549482]  # t=178\nPRESS_179_JOINTS = [0.201053, -1.309779, 2.112558, -2.060841, -0.055360, 2.024677, 1.551610]  # t=179\nPRESS_181_JOINTS = [0.209041, -1.331016, 2.108850, -2.004676, -0.034722, 1.975828, 1.558486]  # t=181\nPRESS_183_JOINTS = [0.216336, -1.353594, 2.102711, -1.945709, -0.013724, 1.927468, 1.562865]  # t=183\nPRESS_184_JOINTS = [0.219235, -1.365488, 2.098892, -1.914675, -0.002778, 1.903042, 1.562776]  # t=184\nAPPROACH_000_JOINTS = [-0.022245, -1.048325, -0.037527, -2.278245, 0.031587, 1.518674, 0.698715]  # 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_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_083_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_088_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_093_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, 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_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, 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_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_184_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 19574, "code_num_lines": 218, "code_num_nonblank_lines": 209, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": "{\"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}},\"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-07,0.0,0.0,0.0,-9.198718365939662e-17,-9.198718365939662e-17,0.0,0.0,-9.198718365939662e-17,-9.198718365939662e-17,0.0,0.0,0.0,0.0,-6.388343331588918e-17,-1.4171285738467652e-07,0.0,0.0,-6.388343331588918e-17,-6.388343331588918e-17,-6.331173217249441e-06,7.122970908660055e-07,7.122970909157801e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,3.4218570779284016e-05,-6.2838356528264e-08,-7.338271819746753e-12,-4.10820010567614e-11,-1.9865193902278013e-11,0.0,-5.194194105074624e-07,-2.4977331922378772e-11,-1.3275473259436215e-07,-1.805842856273353e-16,-1.805842856273353e-16,-1.805842856273353e-16,-1.1274163660484352e-16,-1.1274163660484352e-16,-1.805842856273353e-16,-1.805842856273353e-16,-2.191714710128603e-07,-1.2198073117976754e-07,1.8418720757150721e-06,1.9460268161822166e-06,2.309500243428272e-06,-1.085331951136297e-08,-1.8150750481547056e-06,2.347990565054958e-06,3.8062341125853304e-06,5.360132958241409e-05,-3.670646592039223e-05,5.6943155520769e-09,3.752218796776525e-05,-1.0362505161248723e-05,1.2201655109351522e-05,-0.00037997628939591513,-1.5590997591842495e-05,1.1230519731015084e-11],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 88, "pretrain_task_id": 22, "retained_waypoint_count": 88, "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": 258341, "video_relpath": "videos/raw_extracted/22_OpenDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenElectricKettleLid\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-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': 'OpenElectricKettleLid',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 43,\n    'stable_release_contact_loss_t': 43,\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 = [-0.009215, -1.030215, -0.043091, -2.319100, 0.043818, 1.506176, 0.716775]  # t=3\nAPPROACH_005_JOINTS = [-0.012989, -1.041505, -0.064312, -2.328418, 0.030849, 1.495532, 0.702325]  # t=5\nAPPROACH_006_JOINTS = [-0.015337, -1.047496, -0.079610, -2.336138, 0.023466, 1.494393, 0.692196]  # t=6\nAPPROACH_009_JOINTS = [-0.024865, -1.058378, -0.140312, -2.367910, -0.005744, 1.513274, 0.666150]  # t=9\nAPPROACH_012_JOINTS = [-0.036705, -1.061335, -0.197324, -2.405031, -0.047545, 1.545862, 0.665279]  # t=12\nAPPROACH_015_JOINTS = [-0.045698, -1.045011, -0.233612, -2.442337, -0.081699, 1.604961, 0.688535]  # t=15\nAPPROACH_018_JOINTS = [-0.050929, -1.007058, -0.257995, -2.462346, -0.106630, 1.666955, 0.721537]  # t=18\nAPPROACH_021_JOINTS = [-0.052294, -0.963784, -0.266651, -2.472448, -0.116133, 1.707531, 0.757157]  # t=21\nAPPROACH_024_JOINTS = [-0.053157, -0.922609, -0.272262, -2.476975, -0.118244, 1.740814, 0.794763]  # t=24\nAPPROACH_026_JOINTS = [-0.053662, -0.898318, -0.276042, -2.475292, -0.115397, 1.759205, 0.819470]  # t=26\nAPPROACH_027_JOINTS = [-0.053682, -0.886713, -0.276125, -2.473776, -0.113704, 1.768298, 0.832739]  # t=27\nAPPROACH_030_JOINTS = [-0.052967, -0.847995, -0.271732, -2.471969, -0.111128, 1.807682, 0.877709]  # t=30\nAPPROACH_033_JOINTS = [-0.051350, -0.804524, -0.268578, -2.473400, -0.103217, 1.854285, 0.921366]  # t=33\nAPPROACH_036_JOINTS = [-0.050113, -0.761459, -0.265382, -2.473193, -0.097625, 1.899454, 0.960388]  # t=36\nAPPROACH_039_JOINTS = [-0.049447, -0.721939, -0.262924, -2.473482, -0.090020, 1.939440, 0.996373]  # t=39\nAPPROACH_042_JOINTS = [-0.048088, -0.685933, -0.254896, -2.454099, -0.081721, 1.963587, 1.027828]  # t=42\nAPPROACH_043_JOINTS = [-0.047885, -0.674509, -0.252303, -2.446905, -0.080032, 1.966799, 1.037767]  # t=43\nPRESS_044_JOINTS = [-0.047796, -0.663843, -0.249852, -2.439921, -0.078553, 1.969615, 1.047350]  # t=44\nPRESS_045_JOINTS = [-0.047609, -0.652879, -0.247374, -2.433021, -0.076881, 1.973555, 1.056261]  # t=45\nPRESS_046_JOINTS = [-0.047590, -0.643312, -0.245289, -2.426408, -0.075211, 1.975153, 1.064198]  # t=46\nPRESS_047_JOINTS = [-0.047145, -0.633910, -0.241921, -2.417430, -0.071113, 1.976918, 1.074122]  # t=47\nPRESS_048_JOINTS = [-0.046674, -0.623402, -0.238591, -2.407069, -0.066644, 1.978563, 1.085814]  # t=48\nPRESS_049_JOINTS = [-0.046293, -0.611858, -0.235708, -2.396125, -0.062483, 1.979641, 1.098288]  # t=49\nPRESS_050_JOINTS = [-0.046557, -0.602501, -0.233981, -2.384844, -0.059786, 1.977396, 1.111237]  # t=50\nPRESS_051_JOINTS = [-0.047886, -0.597397, -0.235358, -2.373561, -0.057563, 1.975750, 1.122681]  # t=51\nPRESS_052_JOINTS = [-0.050536, -0.600270, -0.241710, -2.366931, -0.052548, 1.977670, 1.129360]  # t=52\nPRESS_053_JOINTS = [-0.054736, -0.610133, -0.252856, -2.366942, -0.047601, 1.985557, 1.133344]  # t=53\nPRESS_054_JOINTS = [-0.060142, -0.625113, -0.266532, -2.370856, -0.044767, 1.997259, 1.137337]  # t=54\nPRESS_055_JOINTS = [-0.066301, -0.644203, -0.280379, -2.378742, -0.044579, 2.009559, 1.142707]  # t=55\nPRESS_056_JOINTS = [-0.072794, -0.665737, -0.293113, -2.388775, -0.046557, 2.022221, 1.150333]  # t=56\nRETREAT_072_JOINTS = [-0.186694, -1.269949, -0.347012, -2.588847, -0.188778, 1.629431, 1.166823]  # t=72\nAPPROACH_000_JOINTS = [-0.007052, -1.025241, -0.033795, -2.316659, 0.049770, 1.514740, 0.721474]  # 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_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_045_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_047_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_048_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_049_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_052_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_072_JOINTS, input_type='joint', steps=16, 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": 8845, "code_num_lines": 110, "code_num_nonblank_lines": 100, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 32, "pretrain_task_id": 23, "retained_waypoint_count": 32, "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": 159997, "video_relpath": "videos/raw_extracted/23_OpenElectricKettleLid.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenFridge\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenFridge/20260324_205310_open-fridge_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': 'OpenFridge',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 172,\n    'stable_release_contact_loss_t': 172,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=4.764046, y=-1.144976, z=1.102371, qw=0.755094, qx=0.000000, qy=-0.000005, qz=-0.655617)\nGOAL_RECEPTACLE_POSE = pose(x=3.503247, y=-0.205187, z=0.953599, qw=0.963172, qx=-0.058727, qy=0.183760, qz=0.187306)\n\nAPPROACH_002_JOINTS = [0.005117, -1.048411, -0.031799, -2.283043, 0.056816, 1.518239, 0.696421]  # t=2\nAPPROACH_003_JOINTS = [0.004316, -1.053047, -0.031036, -2.281854, 0.057864, 1.525980, 0.695077]  # t=3\nAPPROACH_004_JOINTS = [0.003648, -1.061696, -0.028077, -2.283284, 0.060494, 1.543634, 0.693619]  # t=4\nAPPROACH_006_JOINTS = [0.002013, -1.090113, -0.016758, -2.292418, 0.064877, 1.600273, 0.694303]  # t=6\nAPPROACH_009_JOINTS = [0.000109, -1.144228, 0.003460, -2.320496, 0.076979, 1.703318, 0.697866]  # t=9\nAPPROACH_012_JOINTS = [-0.000235, -1.195480, 0.030253, -2.358108, 0.093321, 1.811532, 0.705143]  # t=12\nAPPROACH_014_JOINTS = [-0.000037, -1.218610, 0.052131, -2.391020, 0.104895, 1.893706, 0.713205]  # t=14\nAPPROACH_015_JOINTS = [0.000215, -1.223383, 0.064199, -2.408626, 0.111206, 1.937749, 0.717847]  # t=15\nAPPROACH_016_JOINTS = [0.000556, -1.223314, 0.077026, -2.426048, 0.117787, 1.979323, 0.723361]  # t=16\nAPPROACH_018_JOINTS = [0.000972, -1.205390, 0.102620, -2.455116, 0.129824, 2.052812, 0.735574]  # t=18\nAPPROACH_019_JOINTS = [0.000739, -1.188475, 0.114447, -2.464355, 0.133330, 2.088687, 0.740815]  # t=19\nAPPROACH_021_JOINTS = [-0.000598, -1.142945, 0.135113, -2.472812, 0.135082, 2.151589, 0.748785]  # t=21\nAPPROACH_022_JOINTS = [-0.001925, -1.115652, 0.143369, -2.471633, 0.132888, 2.176190, 0.751534]  # t=22\nAPPROACH_024_JOINTS = [-0.007702, -1.045082, 0.153419, -2.459001, 0.119953, 2.221678, 0.755943]  # t=24\nAPPROACH_027_JOINTS = [-0.021208, -0.921584, 0.163558, -2.410256, 0.084057, 2.266379, 0.772262]  # t=27\nAPPROACH_029_JOINTS = [-0.031174, -0.847885, 0.172708, -2.367514, 0.050350, 2.281218, 0.793480]  # t=29\nAPPROACH_030_JOINTS = [-0.036380, -0.816672, 0.177263, -2.346290, 0.030071, 2.284114, 0.807048]  # t=30\nAPPROACH_033_JOINTS = [-0.050185, -0.738881, 0.193406, -2.288399, -0.029853, 2.287196, 0.858517]  # t=33\nAPPROACH_036_JOINTS = [-0.056532, -0.664687, 0.203104, -2.245115, -0.058306, 2.305611, 0.890235]  # t=36\nAPPROACH_039_JOINTS = [-0.060593, -0.595092, 0.206355, -2.213483, -0.081031, 2.337963, 0.910138]  # t=39\nAPPROACH_042_JOINTS = [-0.063794, -0.523052, 0.207037, -2.181913, -0.103769, 2.378147, 0.926002]  # t=42\nAPPROACH_045_JOINTS = [-0.065412, -0.457683, 0.205413, -2.146967, -0.124809, 2.408017, 0.937773]  # t=45\nAPPROACH_048_JOINTS = [-0.066211, -0.386039, 0.202916, -2.107572, -0.147158, 2.440692, 0.949529]  # t=48\nAPPROACH_050_JOINTS = [-0.065890, -0.344199, 0.201142, -2.082211, -0.163558, 2.455896, 0.961550]  # t=50\nPRESS_135_JOINTS = [-0.186839, -1.764526, -0.394325, -2.906311, 0.001555, 2.250495, 0.586704]  # t=135\nPRESS_136_JOINTS = [-0.199786, -1.763020, -0.422417, -2.875786, -0.005395, 2.192321, 0.559276]  # t=136\nPRESS_137_JOINTS = [-0.212420, -1.762549, -0.453476, -2.845642, -0.016624, 2.138669, 0.534692]  # t=137\nPRESS_138_JOINTS = [-0.224031, -1.762201, -0.486841, -2.816922, -0.030606, 2.092906, 0.511006]  # t=138\nPRESS_139_JOINTS = [-0.234445, -1.762034, -0.520899, -2.790147, -0.045648, 2.055728, 0.487377]  # t=139\nPRESS_141_JOINTS = [-0.251882, -1.760541, -0.587278, -2.739373, -0.075503, 1.999461, 0.442179]  # t=141\nPRESS_142_JOINTS = [-0.258745, -1.757838, -0.618656, -2.713703, -0.089269, 1.977189, 0.420715]  # t=142\nPRESS_143_JOINTS = [-0.264313, -1.753433, -0.648327, -2.687271, -0.101655, 1.957420, 0.399849]  # t=143\nPRESS_145_JOINTS = [-0.271501, -1.738797, -0.702456, -2.631433, -0.122195, 1.923740, 0.359102]  # t=145\nPRESS_146_JOINTS = [-0.273058, -1.728398, -0.727155, -2.601963, -0.130401, 1.909379, 0.338873]  # t=146\nPRESS_147_JOINTS = [-0.273157, -1.715476, -0.753168, -2.570053, -0.138146, 1.895831, 0.318161]  # t=147\nPRESS_148_JOINTS = [-0.270999, -1.699537, -0.780714, -2.536248, -0.142628, 1.881872, 0.296993]  # t=148\nPRESS_149_JOINTS = [-0.267039, -1.681502, -0.805922, -2.502476, -0.144443, 1.868832, 0.275851]  # t=149\nPRESS_151_JOINTS = [-0.255619, -1.641752, -0.852230, -2.434037, -0.144007, 1.845411, 0.235428]  # t=151\nPRESS_153_JOINTS = [-0.241316, -1.601123, -0.894968, -2.363335, -0.140673, 1.821937, 0.194835]  # t=153\nPRESS_155_JOINTS = [-0.222843, -1.559729, -0.937696, -2.291381, -0.133100, 1.801884, 0.155022]  # t=155\nPRESS_157_JOINTS = [-0.198565, -1.517248, -0.981937, -2.221463, -0.120740, 1.789549, 0.116678]  # t=157\nPRESS_159_JOINTS = [-0.167400, -1.474123, -1.029225, -2.153396, -0.101295, 1.783790, 0.083031]  # t=159\nPRESS_160_JOINTS = [-0.149372, -1.452982, -1.054050, -2.119974, -0.089044, 1.782978, 0.068048]  # t=160\nPRESS_161_JOINTS = [-0.129880, -1.432301, -1.079643, -2.088153, -0.076360, 1.784098, 0.054014]  # t=161\nPRESS_163_JOINTS = [-0.087013, -1.393054, -1.131408, -2.025088, -0.050293, 1.792433, 0.030436]  # t=163\nPRESS_165_JOINTS = [-0.040976, -1.358384, -1.183936, -1.966337, -0.026168, 1.810183, 0.016206]  # t=165\nPRESS_166_JOINTS = [-0.017375, -1.343494, -1.209743, -1.938253, -0.014621, 1.822398, 0.013459]  # t=166\nPRESS_167_JOINTS = [0.007336, -1.329490, -1.234842, -1.912343, -0.004121, 1.839594, 0.014299]  # t=167\nPRESS_168_JOINTS = [0.033870, -1.315706, -1.258996, -1.890381, 0.004456, 1.863981, 0.018520]  # t=168\nPRESS_169_JOINTS = [0.062330, -1.302791, -1.281830, -1.872612, 0.012642, 1.896168, 0.024664]  # t=169\nPRESS_171_JOINTS = [0.122269, -1.282157, -1.324881, -1.846233, 0.028526, 1.975530, 0.039864]  # t=171\nPRESS_172_JOINTS = [0.150735, -1.275424, -1.343950, -1.832000, 0.034976, 2.015312, 0.046979]  # t=172\nPRESS_173_JOINTS = [0.174320, -1.273404, -1.359708, -1.804482, 0.042257, 2.041429, 0.052108]  # t=173\nPRESS_174_JOINTS = [0.201724, -1.270661, -1.376033, -1.774025, 0.046564, 2.070401, 0.062018]  # t=174\nPRESS_175_JOINTS = [0.232028, -1.267861, -1.392411, -1.741094, 0.047841, 2.100986, 0.074967]  # t=175\nPRESS_176_JOINTS = [0.264549, -1.265317, -1.408526, -1.706253, 0.046020, 2.132916, 0.090181]  # t=176\nPRESS_177_JOINTS = [0.298787, -1.263214, -1.424156, -1.670096, 0.040976, 2.166088, 0.107422]  # t=177\nRETREAT_187_JOINTS = [0.602956, -1.348169, -1.544111, -1.351880, -0.122218, 2.532092, 0.257972]  # t=187\nAPPROACH_000_JOINTS = [0.005834, -1.047178, -0.032023, -2.283393, 0.056499, 1.517660, 0.696908]  # t=1\nPRESS_065_JOINTS = [-0.039747, -0.328352, 0.198818, -2.029211, -0.287585, 2.327174, 1.095367]  # t=65\nPRESS_075_JOINTS = [-0.091843, -0.359953, 0.146938, -2.290606, -0.570487, 3.007044, 1.482187]  # t=75\nPRESS_076_JOINTS = [-0.104724, -0.350098, 0.145384, -2.298885, -0.599409, 3.070623, 1.513726]  # t=76\nPRESS_080_JOINTS = [-0.195877, -0.286282, 0.163740, -2.322454, -0.680613, 3.395673, 1.576073]  # t=80\nPRESS_083_JOINTS = [-0.251749, -0.195321, 0.188518, -2.356228, -0.576969, 3.744509, 1.423762]  # t=83\nPRESS_085_JOINTS = [-0.246089, -0.191914, 0.203059, -2.379863, -0.465157, 3.750078, 1.305485]  # t=85\nPRESS_097_JOINTS = [-0.217508, -0.547627, 0.362253, -2.520850, 0.414004, 3.195749, 0.716196]  # t=97\nPRESS_107_JOINTS = [-0.221948, -0.842291, 0.309043, -2.643161, 0.321228, 2.880871, 0.911857]  # t=107\nPRESS_120_JOINTS = [-0.057314, -1.202098, 0.050055, -2.849555, 0.247931, 2.744747, 0.809574]  # t=120\nPRESS_133_JOINTS = [-0.157803, -1.736227, -0.325564, -2.938753, 0.032191, 2.333156, 0.630914]  # t=133\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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, 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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=15, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=10, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=12, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=10, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_120_JOINTS, input_type='joint', steps=13, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=13, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_142_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_148_JOINTS, input_type='joint', steps=1, 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_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, 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_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, 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_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_176_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_187_JOINTS, input_type='joint', steps=10, 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": 15921, "code_num_lines": 184, "code_num_nonblank_lines": 174, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 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/Tupperware028/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[-0.001492269213273223,0.10767671162184726,0.21052621409004907],\"size\":[0.6511931773551548,0.5246483271715515]},\"type\":\"object\"},{\"info\":{\"cat\":\"pear\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pear\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_17/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\":[0.0720825927035424,0.10086663904729201,0.07184646271761685],\"ref\":\"fridge_right_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\":\"saucepan\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"saucepan\",\"receptacle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/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\":[0.2062861812,0.44869727560000006,0.16637533000000002],\"ref\":\"fridge_right_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\":18},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.07614277303218842,\"qx\":0.668743371963501,\"qy\":0.7289659380912781,\"qz\":0.12487319856882095,\"x\":4.041723325425484,\"y\":-0.9203039243586684,\"z\":1.2958970053208567},\"goal_pose\":{\"qw\":0.9668934615082235,\"qx\":-0.0671533097554368,\"qy\":0.15998323441043652,\"qz\":0.18711716059493624,\"x\":3.501491366723522,\"y\":-0.20498931176986532,\"z\":0.9532852001683715},\"object_pose\":{\"qw\":0.7550940000099122,\"qx\":3.2301286327708056e-07,\"qy\":-4.6228795068698895e-06,\"qz\":-0.6556165427500708,\"x\":4.764045596629113,\"y\":-1.144976123832675,\"z\":1.1023706901992998}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenFridge\"}", "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\":\"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 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/Tupperware028/model.xml\",\"split\":\"train\"},\"name\":\"door_obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[null,-1.0],\"size\":[0.3,0.3]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[-0.001492269213273223,0.10767671162184726,0.21052621409004907],\"size\":[0.6511931773551548,0.5246483271715515]},\"type\":\"object\"},{\"info\":{\"cat\":\"pear\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pear\",\"fruit\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_17/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\":[0.0720825927035424,0.10086663904729201,0.07184646271761685],\"ref\":\"fridge_right_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\":\"saucepan\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"saucepan\",\"receptacle\",\"cookware\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/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\":[0.2062861812,0.44869727560000006,0.16637533000000002],\"ref\":\"fridge_right_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\":18},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.07614277303218842,\"qx\":0.668743371963501,\"qy\":0.7289659380912781,\"qz\":0.12487319856882095,\"x\":4.041723325425484,\"y\":-0.9203039243586684,\"z\":1.2958970053208567},\"goal_pose\":{\"qw\":0.9668934615082235,\"qx\":-0.0671533097554368,\"qy\":0.15998323441043652,\"qz\":0.18711716059493624,\"x\":3.501491366723522,\"y\":-0.20498931176986532,\"z\":0.9532852001683715},\"object_pose\":{\"qw\":0.7550940000099122,\"qx\":3.2301286327708056e-07,\"qy\":-4.6228795068698895e-06,\"qz\":-0.6556165427500708,\"x\":4.764045596629113,\"y\":-1.144976123832675,\"z\":1.1023706901992998}},\"initial_state\":[0.5000000000000003,-10.922295369316448,-6.202683117990643,-2.0386964820113158e-07,3.3272602890285184e-08,0.00654133011697047,-1.0469201291164891,-0.032261827968054,-2.2834232565770294,0.05622215313584895,1.518191763729243,0.6971270727956155,0.020542872122089013,-0.020523686974260543,-6.646287051041497e-05,6.407137392360717e-08,-1.0260384706313453e-09,-6.670958282077083e-09,4.994696221589326e-08,7.241181586328607e-08,1.5743981648641098e-08,0.0,-2.400981681568354e-16,-2.400981681568354e-16,-2.400981681568354e-16,-2.400981681568354e-16,0.0,-2.3737670769625e-16,0.0,-2.3685800200004385e-16,-2.405838301079156e-16,-2.405838301079156e-16,-2.405838301079156e-16,-2.405838301079156e-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,-0.007449066566636688,8.934623253335912e-09,-0.00034811675937021844,-0.007449066566636688,1.0020262290982329e-08,-0.0003481164880548273,3.4748452195483003e-09,3.3307107011000927e-07,0.0,-1.1188787860523751e-05,-0.002088599992721154,0.0,0.0,0.0,0.0,0.0,-5.252157335088122e-17,0.0,0.0007062955949173796,-4.732498582638678e-05,0.0,0.0,0.0,0.0,0.0,4.764045596629113,-1.144976123832675,1.1023706901992998,0.7550940000099122,3.2301286327708056e-07,-4.6228795068698895e-06,-0.6556165427500708,3.501491366723522,-0.20498931176986532,0.9532852001683715,0.9668934615082235,-0.0671533097554368,0.15998323441043652,0.18711716059493624,2.9990090952992965,-0.19360352645504872,1.0035682355985778,0.9535746238476426,0.0006728138483716512,-5.3501424979222876e-05,0.3011560745078038,6.475578709706131e-07,4.7276874392287957e-07,2.8207015341404993e-06,8.44301606471882e-08,8.703896011059445e-06,0.0005811838390269187,0.0006288018987207561,-2.5469700258796705e-05,0.000783399332692763,0.0001376832606003955,0.00010612748796206375,-0.0004237309443841984,0.0005123190331771998,-7.30280282567182e-07,1.3037371562762095e-07,-1.8531623855422678e-11,-1.2048641055062407e-10,1.0163308261820635e-07,1.4734500895319993e-07,3.203616862927166e-08,0.0,-7.889567196530792e-18,-7.889567196530792e-18,-7.889567196530792e-18,-7.889567196530792e-18,0.0,-7.371787412951364e-18,0.0,-7.275793461094459e-18,-7.984487754092617e-18,-7.984487754092617e-18,-7.984487754092617e-18,-7.984487754092617e-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,-5.432503195122485e-07,1.8180350704108397e-08,-3.4164872133387075e-07,-5.432503195122485e-07,2.0389430790490265e-08,-3.4165066842540126e-07,7.07071459580549e-09,6.777425542783229e-07,0.0,-1.51228303550345e-06,1.8294246454016182e-07,0.0,0.0,0.0,0.0,0.0,-2.27216339369889e-18,0.0,0.0014367983181666339,-1.024295483145727e-06,0.0,0.0,0.0,0.0,0.0,-2.5343860607753634e-08,-7.531597972830722e-09,2.8260808433950862e-06,1.0861131621727513e-06,2.722242980989239e-07,3.198938948726375e-08,0.02609059563007124,-0.02370342732962436,0.011400797236037779,0.8935758996714993,0.4472390608054891,0.3515889739317163,0.00014574762044426882,-0.0002459068706770087,0.0002536067677333233,0.0034093991088393364,-0.0002609648158033378,-2.450979748960906e-08],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"OpenFridge\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 69, "pretrain_task_id": 24, "retained_waypoint_count": 69, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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": "Open the fridge door.", "task_name": "OpenFridge", "video_available": true, "video_bytes": 390235, "video_relpath": "videos/raw_extracted/24_OpenFridge.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenFridgeDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_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': 'OpenFridgeDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 122,\n    'stable_release_contact_loss_t': 122,\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=0.530211, y=-3.414327, z=0.789262, qw=0.872712, qx=0.040327, qy=0.038110, qz=0.485072)\n\nAPPROACH_BODY_003 = pose(x=0.435494, y=0.000769, z=1.291793, qx=0.661481, qy=0.737802, qz=0.100927, qw=0.088905)  # body-frame t=3\nAPPROACH_BODY_004 = pose(x=0.433114, y=0.000735, z=1.292475, qx=0.661535, qy=0.737810, qz=0.100710, qw=0.088688)  # body-frame t=4\nAPPROACH_BODY_006 = pose(x=0.427738, y=0.002167, z=1.295017, qx=0.660592, qy=0.737862, qz=0.103798, qw=0.091675)  # body-frame t=6\nAPPROACH_BODY_008 = pose(x=0.424638, y=0.008712, z=1.296523, qx=0.658675, qy=0.737884, qz=0.110261, qw=0.097561)  # body-frame t=8\nAPPROACH_BODY_012 = pose(x=0.421259, y=0.017279, z=1.294684, qx=0.658159, qy=0.735687, qz=0.117984, qw=0.108031)  # body-frame t=12\nAPPROACH_BODY_016 = pose(x=0.420202, y=0.019453, z=1.293032, qx=0.658092, qy=0.734565, qz=0.121275, qw=0.112343)  # body-frame t=16\nAPPROACH_BODY_019 = pose(x=0.420331, y=0.018854, z=1.293094, qx=0.657939, qy=0.734640, qz=0.122131, qw=0.111822)  # body-frame t=19\nAPPROACH_BODY_020 = pose(x=0.420572, y=0.018521, z=1.293219, qx=0.657830, qy=0.734817, qz=0.122194, qw=0.111228)  # body-frame t=20\nAPPROACH_BODY_022 = pose(x=0.420849, y=0.018241, z=1.293771, qx=0.657686, qy=0.735151, qz=0.121889, qw=0.110209)  # body-frame t=22\nAPPROACH_BODY_024 = pose(x=0.420642, y=0.018345, z=1.294417, qx=0.657606, qy=0.735339, qz=0.121488, qw=0.109874)  # body-frame t=24\nAPPROACH_BODY_027 = pose(x=0.421004, y=0.019631, z=1.294640, qx=0.657649, qy=0.735514, qz=0.119821, qw=0.110272)  # body-frame t=27\nAPPROACH_BODY_028 = pose(x=0.421575, y=0.020251, z=1.294497, qx=0.657848, qy=0.735509, qz=0.118847, qw=0.110173)  # body-frame t=28\nAPPROACH_BODY_029 = pose(x=0.422230, y=0.020399, z=1.294512, qx=0.658174, qy=0.735418, qz=0.118081, qw=0.109658)  # body-frame t=29\nAPPROACH_BODY_032 = pose(x=0.422308, y=0.019927, z=1.295709, qx=0.658554, qy=0.735379, qz=0.117488, qw=0.108267)  # body-frame t=32\nAPPROACH_BODY_034 = pose(x=0.422064, y=0.019646, z=1.295990, qx=0.658482, qy=0.735437, qz=0.117723, qw=0.108053)  # body-frame t=34\nAPPROACH_BODY_036 = pose(x=0.412448, y=0.019591, z=1.297565, qx=0.658421, qy=0.735800, qz=0.116694, qw=0.107064)  # body-frame t=36\nAPPROACH_BODY_040 = pose(x=0.395246, y=0.019542, z=1.297243, qx=0.658275, qy=0.736080, qz=0.115988, qw=0.106806)  # body-frame t=40\nAPPROACH_BODY_042 = pose(x=0.389176, y=0.019519, z=1.295795, qx=0.658332, qy=0.736286, qz=0.115101, qw=0.105991)  # body-frame t=42\nAPPROACH_BODY_044 = pose(x=0.386045, y=0.019301, z=1.289080, qx=0.658543, qy=0.737690, qz=0.106531, qw=0.103854)  # body-frame t=44\nAPPROACH_BODY_048 = pose(x=0.386750, y=0.019177, z=1.253895, qx=0.658754, qy=0.742929, qz=0.068508, qw=0.096986)  # body-frame t=48\nAPPROACH_BODY_050 = pose(x=0.389717, y=0.019260, z=1.233543, qx=0.659089, qy=0.743970, qz=0.056885, qw=0.094205)  # body-frame t=50\nAPPROACH_BODY_052 = pose(x=0.397528, y=0.019201, z=1.219170, qx=0.661808, qy=0.740998, qz=0.057316, qw=0.098219)  # body-frame t=52\nAPPROACH_BODY_053 = pose(x=0.403213, y=0.018936, z=1.213758, qx=0.664995, qy=0.737490, qz=0.059729, qw=0.101599)  # body-frame t=53\nAPPROACH_BODY_056 = pose(x=0.421994, y=0.018614, z=1.203652, qx=0.676242, qy=0.725169, qz=0.068813, qw=0.109960)  # body-frame t=56\nAPPROACH_BODY_060 = pose(x=0.447614, y=0.022447, z=1.198542, qx=0.704813, qy=0.694867, qz=0.078137, qw=0.119549)  # body-frame t=60\nAPPROACH_BODY_064 = pose(x=0.470102, y=0.025233, z=1.195545, qx=0.735508, qy=0.662211, qz=0.081152, qw=0.117977)  # body-frame t=64\nAPPROACH_BODY_068 = pose(x=0.492881, y=0.025663, z=1.185809, qx=0.762563, qy=0.632374, qz=0.088617, qw=0.103674)  # body-frame t=68\nAPPROACH_BODY_070 = pose(x=0.503227, y=0.026300, z=1.178174, qx=0.772776, qy=0.620807, qz=0.093834, qw=0.092793)  # body-frame t=70\nAPPROACH_BODY_072 = pose(x=0.513863, y=0.026275, z=1.166559, qx=0.777937, qy=0.615268, qz=0.098920, qw=0.080464)  # body-frame t=72\nAPPROACH_BODY_076 = pose(x=0.537036, y=0.025549, z=1.142498, qx=0.779305, qy=0.613499, qz=0.106616, qw=0.070260)  # body-frame t=76\nAPPROACH_BODY_077 = pose(x=0.542579, y=0.025517, z=1.138776, qx=0.778847, qy=0.613800, qz=0.107874, qw=0.070789)  # body-frame t=77\nAPPROACH_BODY_080 = pose(x=0.558376, y=0.027734, z=1.131618, qx=0.774657, qy=0.618377, qz=0.111161, qw=0.071830)  # body-frame t=80\nAPPROACH_BODY_084 = pose(x=0.578243, y=0.030292, z=1.117827, qx=0.767029, qy=0.627798, qz=0.112034, qw=0.070594)  # body-frame t=84\nAPPROACH_BODY_088 = pose(x=0.599731, y=0.034020, z=1.100466, qx=0.757718, qy=0.638867, qz=0.113230, qw=0.069933)  # body-frame t=88\nAPPROACH_BODY_092 = pose(x=0.618471, y=0.038492, z=1.081946, qx=0.747167, qy=0.651414, qz=0.111356, qw=0.070720)  # body-frame t=92\nAPPROACH_BODY_095 = pose(x=0.628619, y=0.040793, z=1.070848, qx=0.740204, qy=0.659579, qz=0.108406, qw=0.072814)  # body-frame t=95\nPRESS_097_JOINTS = [-0.019202, -0.502677, 0.105146, -2.554038, 0.080712, 2.314932, 0.918163]  # t=97\nPRESS_099_JOINTS = [-0.019097, -0.483092, 0.106285, -2.538626, 0.069936, 2.314673, 0.909209]  # t=99\nPRESS_101_JOINTS = [-0.018987, -0.464592, 0.107306, -2.523354, 0.059352, 2.311738, 0.901408]  # t=101\nPRESS_102_JOINTS = [-0.019193, -0.460353, 0.107374, -2.517215, 0.052502, 2.299973, 0.900549]  # t=102\nPRESS_103_JOINTS = [-0.019555, -0.467292, 0.106283, -2.517103, 0.044477, 2.276466, 0.900934]  # t=103\nPRESS_104_JOINTS = [-0.019942, -0.485574, 0.103419, -2.526492, 0.037379, 2.248413, 0.900930]  # t=104\nPRESS_105_JOINTS = [-0.020301, -0.510733, 0.098984, -2.543245, 0.031715, 2.224624, 0.899171]  # t=105\nPRESS_107_JOINTS = [-0.020711, -0.571231, 0.087797, -2.585287, 0.025575, 2.191345, 0.893116]  # t=107\nPRESS_108_JOINTS = [-0.020658, -0.604505, 0.082614, -2.607991, 0.024032, 2.176168, 0.890276]  # t=108\nPRESS_109_JOINTS = [-0.020397, -0.639199, 0.078179, -2.630765, 0.023130, 2.159601, 0.887818]  # t=109\nPRESS_111_JOINTS = [-0.020086, -0.712394, 0.069201, -2.676203, 0.020849, 2.122962, 0.882712]  # t=111\nPRESS_113_JOINTS = [-0.020542, -0.789290, 0.058366, -2.719696, 0.017074, 2.079386, 0.876326]  # t=113\nPRESS_115_JOINTS = [-0.022064, -0.868601, 0.044589, -2.760006, 0.010700, 2.028141, 0.868155]  # t=115\nPRESS_117_JOINTS = [-0.024245, -0.949336, 0.030646, -2.795965, 0.001581, 1.968663, 0.860464]  # t=117\nPRESS_118_JOINTS = [-0.025523, -0.989319, 0.024242, -2.811521, -0.004062, 1.934567, 0.857355]  # t=118\nPRESS_119_JOINTS = [-0.027045, -1.028794, 0.017728, -2.825466, -0.010605, 1.897970, 0.854282]  # t=119\nPRESS_121_JOINTS = [-0.030924, -1.106635, 0.003721, -2.849507, -0.026482, 1.819438, 0.847342]  # t=121\nPRESS_122_JOINTS = [-0.033153, -1.145285, -0.003707, -2.860149, -0.035106, 1.778786, 0.843318]  # t=122\nPRESS_123_JOINTS = [-0.035523, -1.184017, -0.011280, -2.869991, -0.043922, 1.737156, 0.839014]  # t=123\nPRESS_125_JOINTS = [-0.040565, -1.261693, -0.025784, -2.887071, -0.062708, 1.649747, 0.829914]  # t=125\nPRESS_126_JOINTS = [-0.043383, -1.300654, -0.033354, -2.894470, -0.072897, 1.604564, 0.824815]  # t=126\nRETREAT_127_JOINTS = [-0.046665, -1.339968, -0.042511, -2.901098, -0.083705, 1.558421, 0.818728]  # t=127\nRETREAT_128_JOINTS = [-0.051428, -1.381126, -0.055684, -2.906035, -0.100892, 1.513140, 0.810658]  # t=128\nRETREAT_129_JOINTS = [-0.057708, -1.424657, -0.074248, -2.910464, -0.120686, 1.467759, 0.801185]  # t=129\nRETREAT_130_JOINTS = [-0.064970, -1.471471, -0.097006, -2.909354, -0.136492, 1.423448, 0.792163]  # t=130\nRETREAT_131_JOINTS = [-0.072818, -1.522429, -0.121646, -2.897462, -0.146488, 1.378177, 0.783233]  # t=131\nRETREAT_132_JOINTS = [-0.080495, -1.577090, -0.144868, -2.874967, -0.149147, 1.332846, 0.772624]  # t=132\nRETREAT_133_JOINTS = [-0.087825, -1.634679, -0.164493, -2.847666, -0.144784, 1.290609, 0.762160]  # t=133\nRETREAT_134_JOINTS = [-0.095231, -1.693644, -0.181215, -2.819714, -0.136941, 1.252055, 0.753900]  # t=134\nRETREAT_135_JOINTS = [-0.102840, -1.752090, -0.196339, -2.791474, -0.127666, 1.217592, 0.747942]  # t=135\nRETREAT_136_JOINTS = [-0.110382, -1.767861, -0.210527, -2.746950, -0.115119, 1.192999, 0.742421]  # t=136\nRETREAT_137_JOINTS = [-0.117144, -1.763819, -0.223445, -2.691545, -0.099000, 1.172278, 0.735855]  # t=137\nRETREAT_138_JOINTS = [-0.122251, -1.763050, -0.235740, -2.636941, -0.081839, 1.153443, 0.730432]  # t=138\nRETREAT_139_JOINTS = [-0.126621, -1.762946, -0.247213, -2.583150, -0.064426, 1.136233, 0.726071]  # t=139\nRETREAT_140_JOINTS = [-0.130742, -1.762922, -0.257561, -2.529985, -0.046669, 1.121295, 0.722075]  # t=140\nRETREAT_141_JOINTS = [-0.134358, -1.762899, -0.266013, -2.478571, -0.029388, 1.110247, 0.717589]  # t=141\nAPPROACH_000_JOINTS = [0.014242, -1.064884, -0.017011, -2.295262, 0.015505, 1.500089, 0.683763]  # 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    moveWholeBodyPath(body_waypoints=[APPROACH_BODY_003, APPROACH_BODY_004, APPROACH_BODY_006, APPROACH_BODY_008, APPROACH_BODY_012, APPROACH_BODY_016, APPROACH_BODY_019, APPROACH_BODY_020, APPROACH_BODY_022, APPROACH_BODY_024, APPROACH_BODY_027, APPROACH_BODY_028, APPROACH_BODY_029, APPROACH_BODY_032, APPROACH_BODY_034, APPROACH_BODY_036, APPROACH_BODY_040, APPROACH_BODY_042, APPROACH_BODY_044, APPROACH_BODY_048, APPROACH_BODY_050, APPROACH_BODY_052, APPROACH_BODY_053, APPROACH_BODY_056, APPROACH_BODY_060, APPROACH_BODY_064, APPROACH_BODY_068, APPROACH_BODY_070, APPROACH_BODY_072, APPROACH_BODY_076, APPROACH_BODY_077, APPROACH_BODY_080, APPROACH_BODY_084, APPROACH_BODY_088, APPROACH_BODY_092, APPROACH_BODY_095], base_waypoints=[[1.305894315459964, -3.41751844734993, -3.141583313653309], [1.3058892349023723, -3.417518391672073, -3.1415821776278414], [1.3058877411916412, -3.417511477701843, -3.14161688317063], [1.3059858053964146, -3.4197614832596153, -3.141831419782901], [1.3065076008818406, -3.4344586795442336, -3.141708920848457], [1.3073716293173383, -3.4365366550479806, -3.1416157076078077], [1.3086685926558832, -3.4423258111458406, -3.1418641846721953], [1.310474519086369, -3.4480840694800654, -3.141944991828143], [1.3154708509901787, -3.4635598400885, -3.1420947668733796], [1.3165845757653762, -3.4824968409958617, -3.1421554540208403], [1.318387325464251, -3.502466454993087, -3.1418025093187225], [1.3234972995381917, -3.5033161155841115, -3.141629226306299], [1.3329715728529632, -3.5033654017312403, -3.141611362877804], [1.3693485985900369, -3.5033683063796857, -3.141615333275954], [1.3946993123921612, -3.503368518901008, -3.141618481905466], [1.3987235615461922, -3.5033682511206448, -3.1416166081339276], [1.3987285405557917, -3.50336813104028, -3.1416147898365696], [1.3987303954491126, -3.503368201290365, -3.141614455775553], [1.3987348352484987, -3.503364048202015, -3.141621948300098], [1.3987298548507896, -3.503369955365281, -3.1416112568755987], [1.3987328291572239, -3.5033687088033623, -3.141609761882865], [1.3987322605666779, -3.503369247772713, -3.141602739337679], [1.3987341893952308, -3.503368192325514, -3.141601738877783], [1.3987308359538444, -3.5033696131817993, -3.141601065449927], [1.3987323896583739, -3.5033683645100417, -3.1415853159164566], [1.3987317531188466, -3.50337033413491, -3.1415870166645847], [1.3987295553445769, -3.503369344296223, -3.141598782158179], [1.3987312861007797, -3.503369682186534, -3.141606688559779], [1.3987311063462688, -3.503368491502826, -3.141621645465464], [1.3987294623998812, -3.503366640660845, -3.1416231603234555], [1.3987298570217974, -3.5033671010901077, -3.1416218774077347], [1.39873098548019, -3.503367642220696, -3.141620358446104], [1.3987318114821348, -3.5033676550219592, -3.1416211383825203], [1.3987296461604546, -3.5033682827324113, -3.141616767275882], [1.3987287373153083, -3.503368149484661, -3.141615846030314], [1.398745307760657, -3.5033639765063427, -3.141644517433573]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[1.0256045312383546e-06, 2.1659474711772995e-06, 4.25699310379428e-06, 6.990739534319728e-06, 5.887778759576735e-06, 6.736570139868757e-07, -5.900357185140138e-07, -5.899883566246399e-07, -2.105888278482203e-07, 6.415527507116962e-07, 6.708329486920943e-07, -2.3105089527217187e-07, -4.474961240835154e-07, 1.914423754023121e-06, 3.3247726979077058e-06, 1.0215524428743071e-05, 1.054113419626144e-05, 9.303049259743442e-06, 1.4866520880355275e-05, 2.8998100011060674e-05, 2.9355908250022466e-05, 1.8751092932541844e-05, 1.3768335024587583e-05, -2.7761729561457746e-07, -1.8234585256196086e-06, -4.405668633498357e-07, 4.424903733593478e-06, 7.430628507147799e-06, 1.142929000968889e-05, 7.36585490750663e-06, 4.922968233451449e-06, 1.8348422486580632e-06, 2.1957493364304294e-06, 3.4714791278092497e-06, 4.146683506036982e-06, 4.908900519724797e-05], segment_steps=[3, 1, 2, 2, 4, 4, 3, 1, 2, 2, 3, 1, 1, 3, 2, 2, 4, 2, 2, 4, 2, 2, 1, 3, 4, 4, 4, 2, 2, 4, 1, 3, 4, 4, 4, 4], settle_steps=0, gripper=-1.000, 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)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, 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_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, 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_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_132_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_135_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_141_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": 18933, "code_num_lines": 157, "code_num_nonblank_lines": 147, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 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}},\"initial_state\":[0.5000000000000003,13.417520206218924,8.894102326189728,2.0415541822156746e-07,2.4861743940491537e-08,0.015297599974346989,-1.0646202237101863,-0.017331980469098063,-2.295305918923009,0.015072795646647362,1.5006229272107616,0.6842604010654338,0.020546770129452226,-0.0205197893011415,2.2341475081513978e-08,5.022243769781993e-07,0.0,-2.4582691852297565e-16,-2.4582691852297565e-16,-2.4485324216534606e-16,0.0,-2.379596073230973e-16,0.0,0.0,-0.006047549522085642,-1.7137238427206888e-05,0.0,0.0,0.0,-2.3906325194377086e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00022427191589227685,-9.322424175441648e-05,-0.007051021916081285,-1.3828993333099181e-09,-0.0003862831960410792,0.0,0.0,0.0,0.0,0.0,0.0,-1.0813763522131584e-16,-1.0813763522131584e-16,-1.969064123939213e-15,-1.969064123939213e-15,-1.955619863079882e-15,0.0,0.0,0.10763306366630564,1.5707603267155115,1.5707588902188603,0.0,0.0,0.0,0.0,0.0,0.0,1.5980232787784678e-16,-3.3157948111866153e-15,-1.7736765274916445e-15,0.0,0.0,9.35925154959708e-10,1.0971776619347716e-09,3.927635824104314e-10,0.0,0.0,-2.0440846538034008e-15,-1.0743572109381264e-05,-3.533037842903098e-09,-1.5383808715576146e-09,0.0,0.0,0.0,-8.2474013670040195e-16,4.027942281377993e-14,0.0,5.5282183960801366e-14,-6.62596122354846e-16,1.5610274018324693e-14,-4.2011922696119316e-14,4.4758512114857346e-14,0.0,-6.075458800301609e-16,1.8575403920656148e-13,0.0,0.0,-4.298652305462922e-15,0.0,0.0,-2.3092469610151563e-15,0.0,0.0,0.0,0.0,3.5346015501461535e-17,-6.272599283832811e-15,0.37853030100630686,-3.4142968517998518,0.7892664202741652,0.8727415757785743,0.04004656678167884,0.038890519605105846,0.4849803520570461,0.35152853972795983,-3.7235521914451075,1.4276059886827253,0.6054790959294369,0.21645481933320002,-0.1956284925520742,0.7404538260294867,-6.856952400588033e-07,-1.7444160175175593e-07,-2.8705196504719937e-06,2.9867042630692707e-07,-8.478099292189175e-06,1.632467235385445e-06,-0.0006504408642779211,0.0010415744235686031,-0.0007646408687282503,-0.0009285612011717818,-0.00011127822245375418,-0.00047746848436538476,0.00045858155795838024,4.546107536594078e-08,1.0219405904022229e-06,0.0,-9.058792108387659e-18,-9.058792108387659e-18,-8.852352622122839e-18,0.0,-7.480685624083358e-18,0.0,0.0,-4.4760418056228274e-07,-3.092946065950906e-07,0.0,0.0,0.0,-7.689853597001523e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0004570077721067705,-1.7992195527793282e-06,-5.193714552093831e-07,-2.4977123009318058e-11,-1.327488142555211e-07,0.0,0.0,0.0,0.0,0.0,0.0,-5.622560234622616e-18,-5.622560234622616e-18,-8.255811502247605e-17,-8.255811502247605e-17,-7.843705474175439e-17,0.0,0.0,-4.588635168109297e-07,-7.325408739265788e-05,-7.617713553760553e-05,0.0,0.0,0.0,0.0,0.0,0.0,7.368717450998541e-75,1.1145065282436155e-15,-2.7585639730795557e-71,0.0,-1.9781592619504695e-06,1.904439281184419e-09,2.23255911752202e-09,7.992032167638075e-10,0.0,0.0,-9.232959716500081e-17,-1.9452900898236958e-07,-6.381167483573707e-11,-2.7785340431453595e-11,0.0,0.0,0.0,-2.3096731339055397e-81,-1.0287140672644282e-14,0.0,-5.4045737800799995e-15,-1.76411632105895e-63,3.180185689295225e-12,1.1779016214907248e-14,-6.057936087631936e-15,0.0,-4.709947106070888e-67,-3.212966001839191e-14,0.0,0.0,-1.4683405051792643e-16,0.0,0.0,-9.017214651788377e-17,0.0,0.0,0.0,0.0,7.368895426435045e-17,-2.1426044598920633e-16,-0.0002609279843207024,0.00020699259142895263,-7.333531271081666e-05,-0.011552723335057635,0.002307981140502807,-0.0005727281791722572,0.006146563210237526,-0.02202668930725824,-0.004429533653854647,0.052798341571461384,-1.0200656546386537,-0.0693890554917776],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 41, "pretrain_task_id": 25, "retained_waypoint_count": 76, "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": 304710, "video_relpath": "videos/raw_extracted/25_OpenFridgeDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenMicrowave\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_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': 'OpenMicrowave',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 234,\n    'stable_release_contact_loss_t': 234,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.149128, y=-0.265473, z=1.478171, qw=0.978128, qx=0.000644, qy=0.000257, qz=0.208002)\nGOAL_RECEPTACLE_POSE = pose(x=4.047079, y=-1.508697, z=0.944131, qw=0.614641, qx=-0.000818, qy=0.002092, qz=-0.788804)\n\nAPPROACH_003_JOINTS = [-0.026157, -1.046815, -0.003491, -2.278298, 0.056282, 1.529987, 0.691812]  # t=3\nAPPROACH_004_JOINTS = [-0.025581, -1.063107, -0.004295, -2.277727, 0.056162, 1.531249, 0.691426]  # t=4\nAPPROACH_008_JOINTS = [-0.023377, -1.167921, -0.007226, -2.305562, 0.055946, 1.565481, 0.689100]  # t=8\nAPPROACH_010_JOINTS = [-0.022698, -1.234018, -0.009864, -2.321905, 0.054804, 1.605574, 0.685906]  # t=10\nAPPROACH_012_JOINTS = [-0.023433, -1.307223, -0.024229, -2.331334, 0.045580, 1.653901, 0.673787]  # t=12\nAPPROACH_015_JOINTS = [-0.024768, -1.379317, -0.056670, -2.313524, 0.032601, 1.729451, 0.643398]  # t=15\nAPPROACH_016_JOINTS = [-0.024895, -1.387941, -0.069625, -2.301228, 0.029851, 1.760798, 0.632108]  # t=16\nAPPROACH_018_JOINTS = [-0.024328, -1.392354, -0.104359, -2.271783, 0.030256, 1.832640, 0.609463]  # t=18\nAPPROACH_020_JOINTS = [-0.022083, -1.387383, -0.151189, -2.239280, 0.037492, 1.912805, 0.579216]  # t=20\nAPPROACH_023_JOINTS = [-0.013228, -1.375710, -0.230325, -2.185190, 0.070610, 2.034224, 0.504479]  # t=23\nAPPROACH_024_JOINTS = [-0.008656, -1.368864, -0.256368, -2.171720, 0.087808, 2.079069, 0.475362]  # t=24\nAPPROACH_025_JOINTS = [-0.003558, -1.361887, -0.281378, -2.166134, 0.106595, 2.126996, 0.444647]  # t=25\nAPPROACH_026_JOINTS = [0.001901, -1.354381, -0.304597, -2.167805, 0.126069, 2.175263, 0.413246]  # t=26\nAPPROACH_028_JOINTS = [0.012003, -1.339125, -0.342055, -2.184011, 0.161833, 2.253148, 0.356244]  # t=28\nAPPROACH_029_JOINTS = [0.016089, -1.331302, -0.354936, -2.194242, 0.176527, 2.282989, 0.332638]  # t=29\nAPPROACH_031_JOINTS = [0.024441, -1.305977, -0.369330, -2.211221, 0.201061, 2.332787, 0.296381]  # t=31\nAPPROACH_032_JOINTS = [0.029674, -1.290877, -0.373817, -2.216401, 0.215006, 2.354576, 0.279736]  # t=32\nAPPROACH_035_JOINTS = [0.049518, -1.242798, -0.387233, -2.222229, 0.264728, 2.416262, 0.224473]  # t=35\nAPPROACH_036_JOINTS = [0.056388, -1.225889, -0.390564, -2.222747, 0.280720, 2.434630, 0.207061]  # t=36\nAPPROACH_040_JOINTS = [0.079477, -1.150378, -0.393242, -2.217001, 0.327367, 2.506033, 0.162821]  # t=40\nAPPROACH_044_JOINTS = [0.104046, -1.061858, -0.392657, -2.201119, 0.367052, 2.572956, 0.132575]  # t=44\nAPPROACH_048_JOINTS = [0.129230, -0.977080, -0.393640, -2.172568, 0.407256, 2.625767, 0.104479]  # t=48\nAPPROACH_052_JOINTS = [0.156966, -0.887228, -0.397454, -2.136129, 0.452588, 2.676773, 0.072609]  # t=52\nAPPROACH_056_JOINTS = [0.183186, -0.812135, -0.410485, -2.091723, 0.502961, 2.694281, 0.032857]  # t=56\nAPPROACH_060_JOINTS = [0.217550, -0.730114, -0.439021, -2.025110, 0.580000, 2.685147, -0.034818]  # t=60\nAPPROACH_061_JOINTS = [0.224580, -0.716645, -0.452905, -2.009551, 0.602759, 2.677573, -0.056607]  # t=61\nPRESS_062_JOINTS = [0.228944, -0.711371, -0.465695, -1.999340, 0.622984, 2.666460, -0.078137]  # t=62\nPRESS_063_JOINTS = [0.230578, -0.711512, -0.468526, -1.996865, 0.638022, 2.658775, -0.093165]  # t=63\nPRESS_065_JOINTS = [0.227962, -0.711824, -0.465064, -2.000045, 0.655728, 2.665211, -0.106101]  # t=65\nPRESS_067_JOINTS = [0.222575, -0.711570, -0.457670, -2.006491, 0.666877, 2.682447, -0.110484]  # t=67\nPRESS_068_JOINTS = [0.219646, -0.711095, -0.453635, -2.009918, 0.671314, 2.692745, -0.111338]  # t=68\nPRESS_069_JOINTS = [0.216470, -0.710783, -0.449266, -2.013686, 0.674646, 2.703729, -0.111137]  # t=69\nPRESS_070_JOINTS = [0.213187, -0.710549, -0.444712, -2.017519, 0.677041, 2.714653, -0.110088]  # t=70\nPRESS_071_JOINTS = [0.209960, -0.710913, -0.440317, -2.021285, 0.678883, 2.723792, -0.108904]  # t=71\nPRESS_073_JOINTS = [0.204440, -0.712155, -0.432846, -2.026941, 0.681787, 2.734529, -0.107263]  # t=73\nPRESS_074_JOINTS = [0.202149, -0.712756, -0.429148, -2.029085, 0.682714, 2.737466, -0.106692]  # t=74\nPRESS_075_JOINTS = [0.200310, -0.712847, -0.424096, -2.031027, 0.683449, 2.739639, -0.105462]  # t=75\nPRESS_076_JOINTS = [0.198408, -0.713423, -0.418986, -2.033342, 0.683655, 2.741965, -0.103747]  # t=76\nPRESS_077_JOINTS = [0.195810, -0.717268, -0.413496, -2.037734, 0.683052, 2.743043, -0.101584]  # t=77\nPRESS_079_JOINTS = [0.186760, -0.738936, -0.400040, -2.056047, 0.675950, 2.742507, -0.093880]  # t=79\nPRESS_081_JOINTS = [0.172113, -0.777532, -0.386900, -2.084956, 0.658580, 2.739869, -0.081878]  # t=81\nPRESS_083_JOINTS = [0.154703, -0.827398, -0.372936, -2.120387, 0.635357, 2.735330, -0.066332]  # t=83\nPRESS_085_JOINTS = [0.137543, -0.879241, -0.358567, -2.156323, 0.610335, 2.732124, -0.048240]  # t=85\nPRESS_087_JOINTS = [0.122597, -0.928948, -0.345564, -2.190032, 0.586952, 2.731127, -0.031024]  # t=87\nPRESS_089_JOINTS = [0.108931, -0.973927, -0.334052, -2.218796, 0.561699, 2.728141, -0.010857]  # t=89\nPRESS_091_JOINTS = [0.095514, -1.013590, -0.324067, -2.242853, 0.533616, 2.722221, 0.016464]  # t=91\nPRESS_093_JOINTS = [0.080623, -1.047829, -0.313139, -2.265138, 0.500657, 2.721437, 0.053109]  # t=93\nPRESS_095_JOINTS = [0.064062, -1.080534, -0.300861, -2.287162, 0.463389, 2.723213, 0.095485]  # t=95\nPRESS_097_JOINTS = [0.046852, -1.112368, -0.288368, -2.308189, 0.423970, 2.724660, 0.140424]  # t=97\nPRESS_099_JOINTS = [0.029763, -1.143315, -0.276183, -2.327673, 0.384040, 2.724544, 0.186106]  # t=99\nPRESS_101_JOINTS = [0.012905, -1.173225, -0.264773, -2.344503, 0.343931, 2.720184, 0.231360]  # t=101\nPRESS_103_JOINTS = [-0.004233, -1.201968, -0.254340, -2.356310, 0.302825, 2.705245, 0.275429]  # t=103\nPRESS_105_JOINTS = [-0.023094, -1.229190, -0.243757, -2.361486, 0.257664, 2.675882, 0.320757]  # t=105\nPRESS_107_JOINTS = [-0.043701, -1.255233, -0.231236, -2.360180, 0.208190, 2.632785, 0.371492]  # t=107\nPRESS_108_JOINTS = [-0.054201, -1.268041, -0.224032, -2.357355, 0.182563, 2.606945, 0.398971]  # t=108\nPRESS_109_JOINTS = [-0.064678, -1.280631, -0.215773, -2.353050, 0.156281, 2.578205, 0.427793]  # t=109\nPRESS_110_JOINTS = [-0.074829, -1.293029, -0.206073, -2.346158, 0.129833, 2.546865, 0.457819]  # t=110\nPRESS_111_JOINTS = [-0.083870, -1.304427, -0.194508, -2.334183, 0.104543, 2.512679, 0.488239]  # t=111\nPRESS_112_JOINTS = [-0.091645, -1.314064, -0.181566, -2.315063, 0.080095, 2.476032, 0.517434]  # t=112\nPRESS_113_JOINTS = [-0.098115, -1.320649, -0.167327, -2.287939, 0.056406, 2.435226, 0.545713]  # t=113\nPRESS_115_JOINTS = [-0.106938, -1.326568, -0.139036, -2.216579, 0.013552, 2.341036, 0.596677]  # t=115\nPRESS_117_JOINTS = [-0.111025, -1.340781, -0.118486, -2.146292, -0.022702, 2.227784, 0.627609]  # t=117\nPRESS_119_JOINTS = [-0.109555, -1.364722, -0.110931, -2.089461, -0.046533, 2.121501, 0.635103]  # t=119\nPRESS_121_JOINTS = [-0.104410, -1.393943, -0.111622, -2.044998, -0.058602, 2.035094, 0.632988]  # t=121\nPRESS_123_JOINTS = [-0.098815, -1.426844, -0.114382, -2.010526, -0.068027, 1.960761, 0.628726]  # t=123\nPRESS_125_JOINTS = [-0.093559, -1.463213, -0.125038, -1.984337, -0.079740, 1.891873, 0.621248]  # t=125\nPRESS_127_JOINTS = [-0.088354, -1.506431, -0.147561, -1.967986, -0.094472, 1.825066, 0.603318]  # t=127\nPRESS_129_JOINTS = [-0.083726, -1.552637, -0.174942, -1.956853, -0.110063, 1.767686, 0.578269]  # t=129\nPRESS_131_JOINTS = [-0.078031, -1.581542, -0.211193, -1.932952, -0.123780, 1.743399, 0.561490]  # t=131\nPRESS_133_JOINTS = [-0.070801, -1.585832, -0.247860, -1.890477, -0.130337, 1.732165, 0.552235]  # t=133\nPRESS_135_JOINTS = [-0.061070, -1.563395, -0.272802, -1.842604, -0.119449, 1.717790, 0.549220]  # t=135\nPRESS_136_JOINTS = [-0.055360, -1.549316, -0.280667, -1.822996, -0.105055, 1.706676, 0.545464]  # t=136\nPRESS_137_JOINTS = [-0.049951, -1.533215, -0.286540, -1.807230, -0.092508, 1.690001, 0.539042]  # t=137\nPRESS_139_JOINTS = [-0.040609, -1.488353, -0.296466, -1.775978, -0.077879, 1.647799, 0.540007]  # t=139\nPRESS_141_JOINTS = [-0.035008, -1.434240, -0.304274, -1.732428, -0.074199, 1.578104, 0.571854]  # t=141\nPRESS_143_JOINTS = [-0.031327, -1.378237, -0.312712, -1.675167, -0.065450, 1.481778, 0.635979]  # t=143\nPRESS_145_JOINTS = [-0.025819, -1.327889, -0.329778, -1.614079, -0.034713, 1.385061, 0.720218]  # t=145\nPRESS_146_JOINTS = [-0.022050, -1.306560, -0.342786, -1.584707, -0.009808, 1.343430, 0.767389]  # t=146\nPRESS_147_JOINTS = [-0.017999, -1.288459, -0.359142, -1.557464, 0.019339, 1.307874, 0.817188]  # t=147\nPRESS_149_JOINTS = [-0.010350, -1.260826, -0.397801, -1.513950, 0.082959, 1.259442, 0.923506]  # t=149\nPRESS_151_JOINTS = [-0.005091, -1.242708, -0.440171, -1.483604, 0.143841, 1.233633, 1.034797]  # t=151\nPRESS_153_JOINTS = [-0.004835, -1.243134, -0.479440, -1.469681, 0.198875, 1.206704, 1.148605]  # t=153\nPRESS_155_JOINTS = [-0.006846, -1.258569, -0.513965, -1.479566, 0.253312, 1.190374, 1.258726]  # t=155\nPRESS_156_JOINTS = [-0.008295, -1.268634, -0.527886, -1.491890, 0.278620, 1.196697, 1.303372]  # t=156\nPRESS_157_JOINTS = [-0.010086, -1.277315, -0.536910, -1.510138, 0.298374, 1.212351, 1.337464]  # t=157\nPRESS_159_JOINTS = [-0.015536, -1.294397, -0.546152, -1.565987, 0.318180, 1.243362, 1.381483]  # t=159\nPRESS_161_JOINTS = [-0.023935, -1.314832, -0.550274, -1.642121, 0.335201, 1.288401, 1.415331]  # t=161\nPRESS_163_JOINTS = [-0.031154, -1.325489, -0.548803, -1.724694, 0.353153, 1.362228, 1.434042]  # t=163\nPRESS_165_JOINTS = [-0.037242, -1.329313, -0.544630, -1.802042, 0.365089, 1.438119, 1.435596]  # t=165\nPRESS_167_JOINTS = [-0.042080, -1.328375, -0.540644, -1.870924, 0.380115, 1.512355, 1.435031]  # t=167\nPRESS_169_JOINTS = [-0.044862, -1.322701, -0.539110, -1.930916, 0.401429, 1.579576, 1.435729]  # t=169\nPRESS_171_JOINTS = [-0.045135, -1.310449, -0.538188, -1.981392, 0.427736, 1.638613, 1.438385]  # t=171\nPRESS_173_JOINTS = [-0.042563, -1.292031, -0.538419, -2.019463, 0.459354, 1.678360, 1.446895]  # t=173\nPRESS_175_JOINTS = [-0.035469, -1.265432, -0.545356, -2.044469, 0.498412, 1.694556, 1.464329]  # t=175\nPRESS_177_JOINTS = [-0.023510, -1.229238, -0.557611, -2.058791, 0.547665, 1.698378, 1.490357]  # t=177\nPRESS_179_JOINTS = [-0.007601, -1.185182, -0.571330, -2.065303, 0.601796, 1.700061, 1.510689]  # t=179\nPRESS_181_JOINTS = [0.011250, -1.135859, -0.584611, -2.064735, 0.656653, 1.704030, 1.516045]  # t=181\nPRESS_183_JOINTS = [0.030832, -1.090652, -0.600680, -2.058385, 0.712508, 1.699708, 1.506208]  # t=183\nPRESS_185_JOINTS = [0.050194, -1.049520, -0.619299, -2.050395, 0.765856, 1.688541, 1.487260]  # t=185\nPRESS_187_JOINTS = [0.068726, -1.010291, -0.635172, -2.042346, 0.814072, 1.669385, 1.475841]  # t=187\nPRESS_189_JOINTS = [0.083503, -0.981183, -0.646666, -2.033260, 0.853771, 1.632458, 1.475525]  # t=189\nPRESS_191_JOINTS = [0.094367, -0.961364, -0.652985, -2.024655, 0.884764, 1.584311, 1.481982]  # t=191\nPRESS_193_JOINTS = [0.103064, -0.945249, -0.649186, -2.020057, 0.911781, 1.537192, 1.492223]  # t=193\nPRESS_195_JOINTS = [0.109982, -0.931974, -0.635697, -2.019641, 0.936578, 1.493380, 1.502487]  # t=195\nPRESS_197_JOINTS = [0.114408, -0.924539, -0.619648, -2.022626, 0.962618, 1.448620, 1.515322]  # t=197\nPRESS_199_JOINTS = [0.116919, -0.923504, -0.603354, -2.028424, 0.989019, 1.397929, 1.522020]  # t=199\nPRESS_201_JOINTS = [0.118978, -0.925036, -0.590737, -2.032550, 1.014808, 1.339393, 1.522690]  # t=201\nPRESS_203_JOINTS = [0.120788, -0.929755, -0.578945, -2.032151, 1.044001, 1.272668, 1.525405]  # t=203\nPRESS_205_JOINTS = [0.121632, -0.940669, -0.570503, -2.025151, 1.076603, 1.196229, 1.535819]  # t=205\nPRESS_207_JOINTS = [0.123179, -0.952309, -0.562033, -2.012110, 1.117689, 1.117976, 1.558883]  # t=207\nPRESS_209_JOINTS = [0.124750, -0.963586, -0.538322, -2.007836, 1.172211, 1.057686, 1.588915]  # t=209\nPRESS_211_JOINTS = [0.123611, -0.977585, -0.493823, -2.016835, 1.229609, 1.030556, 1.618953]  # t=211\nPRESS_213_JOINTS = [0.119805, -0.997773, -0.442949, -2.033156, 1.279230, 1.022446, 1.645750]  # t=213\nPRESS_215_JOINTS = [0.114266, -1.019645, -0.389010, -2.057017, 1.318831, 1.034572, 1.665524]  # t=215\nPRESS_217_JOINTS = [0.107909, -1.036384, -0.333092, -2.084927, 1.347644, 1.073703, 1.671612]  # t=217\nPRESS_219_JOINTS = [0.102306, -1.052166, -0.276864, -2.111103, 1.373696, 1.119896, 1.672586]  # t=219\nPRESS_221_JOINTS = [0.098016, -1.067842, -0.221787, -2.137724, 1.400065, 1.166542, 1.671710]  # t=221\nPRESS_223_JOINTS = [0.095110, -1.079904, -0.165771, -2.161949, 1.428846, 1.218213, 1.667838]  # t=223\nPRESS_225_JOINTS = [0.093661, -1.085127, -0.108709, -2.181835, 1.458792, 1.274403, 1.660064]  # t=225\nPRESS_227_JOINTS = [0.093612, -1.084817, -0.051857, -2.197168, 1.489123, 1.329920, 1.649093]  # t=227\nPRESS_229_JOINTS = [0.094340, -1.080065, 0.005110, -2.207085, 1.520425, 1.385837, 1.637022]  # t=229\nPRESS_231_JOINTS = [0.095044, -1.069935, 0.063053, -2.206837, 1.550775, 1.446002, 1.627770]  # t=231\nPRESS_233_JOINTS = [0.094725, -1.056145, 0.122246, -2.194655, 1.569126, 1.509760, 1.626710]  # t=233\nPRESS_235_JOINTS = [0.093338, -1.040745, 0.182061, -2.169705, 1.570327, 1.570336, 1.637916]  # t=235\nPRESS_237_JOINTS = [0.090054, -1.021974, 0.242815, -2.131919, 1.553766, 1.627981, 1.656256]  # t=237\nPRESS_238_JOINTS = [0.087375, -1.013694, 0.254030, -2.107807, 1.538663, 1.655663, 1.670214]  # t=238\nPRESS_239_JOINTS = [0.085225, -1.006355, 0.256889, -2.085682, 1.519908, 1.672542, 1.687266]  # t=239\nPRESS_240_JOINTS = [0.084895, -1.001207, 0.256189, -2.072698, 1.505513, 1.674782, 1.700625]  # t=240\nPRESS_241_JOINTS = [0.085722, -0.997851, 0.253706, -2.066238, 1.497528, 1.671088, 1.707655]  # t=241\nPRESS_243_JOINTS = [0.087722, -0.993448, 0.249703, -2.060179, 1.489700, 1.665420, 1.712474]  # t=243\nPRESS_245_JOINTS = [0.089570, -0.991572, 0.247232, -2.058593, 1.486209, 1.662656, 1.712947]  # t=245\nPRESS_247_JOINTS = [0.091120, -0.991251, 0.245822, -2.058802, 1.484501, 1.661819, 1.712941]  # t=247\nPRESS_249_JOINTS = [0.092499, -0.990749, 0.245427, -2.059135, 1.485250, 1.661436, 1.717150]  # t=249\nAPPROACH_000_JOINTS = [-0.027125, -1.035315, -0.002610, -2.280738, 0.056623, 1.531858, 0.691949]  # 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_008_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_023_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=2, 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_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_048_JOINTS, input_type='joint', steps=4, 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_056_JOINTS, input_type='joint', steps=4, 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_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, 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_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_156_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_238_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_239_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_240_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_241_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 28545, "code_num_lines": 310, "code_num_nonblank_lines": 301, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"},\"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}},\"initial_state\":[0.5000000000000003,6.797534753378681,-10.887319075279773,2.1617110227847961e-07,2.4460886598768275e-08,-0.02757107159914167,-1.0349054020472257,-0.002429292536957217,-2.2807999218387907,0.05678947575904774,1.5326645543726782,0.6918752270890184,0.020559247647636975,-0.020507313214114784,-1.001526203916162e-08,4.4065006587441486e-07,0.0,-2.7970864374880387e-08,3.788534017736566e-07,-1.1440057219937852e-08,-1.1440057147063101e-08,-1.66121081845309e-07,5.953907387832405e-07,-3.947123201957428e-08,2.8380090366753377e-08,-1.143721335010663e-08,-1.143721335010663e-08,-8.856358789182733e-08,5.901571466207613e-07,-5.664834348803844e-07,7.30169751648228e-08,-2.5454188038376334e-08,9.122048296395144e-08,-1.184885908737152e-08,-2.7833215064293193e-08,2.7746295269731743e-08,-4.555327712580495e-07,2.799634960428672e-08,-2.7833215064292386e-08,2.774629526973266e-08,0.0,-1.0173503133188375e-10,-1.0751634966943773e-09,0.0,-1.4400569434692974e-07,-1.156508799618363e-08,-3.5743604150286195e-05,-0.002932182863472297,-0.0028161172262384858,0.0,0.0,-4.1277216553767366e-08,7.720349677363851e-07,-1.156508799618363e-08,-2.4679058833858945e-08,6.135650972878011e-07,0.0,0.0,0.0,0.0,0.0,1.140176400335021e-12,-0.0008915674197945701,0.0,3.5700296901725556e-13,-0.0008915708604307817,-6.646287058806498e-05,6.40713737378599e-08,-1.0260384721050679e-09,-6.670958291662128e-09,4.994696207108825e-08,7.241181565335981e-08,1.5743981602997973e-08,0.0,0.0,0.0,0.0,-2.591907244403012e-08,2.9893623724048215e-08,0.0,0.0,-2.7850587209961766e-08,2.7833298122770005e-08,-2.4840834417664052e-08,-1.147986072894443e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,-1.1479860728944427e-08,3.149127716474791,-0.26547254909988427,1.478170830091653,0.9781281261637037,0.0006436295686875699,0.0002574396229053808,0.20800213526139993,4.047034293134351,-1.5087094588031604,0.9441644820812526,0.6221308283866621,-0.00048642164420249003,0.002070399247165928,-0.7829104094415057,3.8210322485698383,-1.6967541689229642,1.0336893667731255,0.8475249796260144,0.0005397198100879091,-0.00031572493764285954,-0.5307551393347163,-7.689533018810516e-07,4.590726183521264e-07,-3.2018976304781923e-06,7.448473571247553e-08,-9.131964098310559e-06,0.0005925224323105715,-0.0006806485846460413,-2.3453216513979462e-05,-0.0007337341775596977,9.410290467111665e-05,-0.00011505377074190072,-0.00046287299828738247,0.00047317786845111714,-2.0379345156341438e-08,8.966475101909832e-07,0.0,-1.1713654555920996e-09,-3.371067898879075e-07,-3.8170231608847535e-10,-3.817023131684641e-10,6.080515546561023e-08,-2.0706312530219646e-07,-2.2714284019052483e-08,6.689730782679275e-10,-3.809184612454327e-10,-3.809184612454327e-10,1.1944258482343113e-07,-2.2556237613032595e-07,2.3299534461957843e-07,-1.0839730374584819e-07,-1.2309941320979084e-09,-1.3016484531886017e-07,-5.05599152067285e-10,1.2355379116442445e-08,2.2245119836714582e-10,2.8367251807021313e-07,-2.035329641425344e-08,1.2355379116442521e-08,2.224511983670335e-10,-1.4297508808995155e-06,-1.8374683422655904e-12,-1.9418866104540518e-11,0.0,1.2361725615012493e-07,-4.1721460809474405e-10,-5.055576833301076e-06,1.0445986852472558e-06,1.103069028277173e-06,0.0,0.0,8.445634575583112e-08,-2.6177702712609496e-07,-4.1721460809474405e-10,-3.496363242641708e-10,-2.3393973278949132e-07,0.0,0.0,0.0,0.0,0.0,2.322288809530637e-12,-2.8850918991376904e-10,0.0,7.271366076923109e-13,-2.885705770505432e-10,-7.302792058982693e-07,1.3037371562763429e-07,-1.8531603718254808e-11,-1.204862795789897e-10,1.0163308261817376e-07,1.47345008953187e-07,3.2036168629271137e-08,0.0,0.0,0.0,0.0,-8.392273912544831e-10,-7.739507048883604e-08,0.0,0.0,-8.924839744936852e-11,2.1826357542746697e-10,-7.803033206300456e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,-3.9278436798315e-10,1.6988699896170248e-06,-8.425828281572315e-07,1.063920470931021e-06,3.3325310165535545e-05,2.6565287823663714e-05,-1.5553807521503602e-07,-0.0018424236552001159,-0.0008234603576558599,-0.0006053324274656133,0.04156067937310315,0.032578115834451984,-0.00011824880535290379,-0.0005600442416127832,-0.0021624833960842945,0.00010886660962583684,0.012726145105057568,0.014959185178439686,-1.2278088472632102e-05],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 134, "pretrain_task_id": 26, "retained_waypoint_count": 134, "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": 655208, "video_relpath": "videos/raw_extracted/26_OpenMicrowave.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_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': 'OpenOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 162,\n    'stable_release_contact_loss_t': 162,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=4.858377, y=-3.603144, z=0.715680, qw=0.629346, qx=0.000000, qy=0.000003, qz=-0.777125)\nGOAL_RECEPTACLE_POSE = pose(x=4.984759, y=-2.643428, z=0.936616, qw=0.483630, qx=-0.000767, qy=-0.000782, qz=-0.875272)\n\nAPPROACH_002_JOINTS = [-0.017549, -1.021014, -0.032270, -2.264257, 0.088397, 1.548337, 0.674645]  # t=2\nAPPROACH_004_JOINTS = [-0.016935, -1.038527, -0.030893, -2.266285, 0.090566, 1.539927, 0.674334]  # t=4\nAPPROACH_005_JOINTS = [-0.015736, -1.049101, -0.024501, -2.269235, 0.094663, 1.534803, 0.674041]  # t=5\nAPPROACH_010_JOINTS = [-0.003440, -1.096602, 0.086352, -2.284476, 0.105000, 1.518497, 0.681493]  # t=10\nAPPROACH_011_JOINTS = [-0.000275, -1.104252, 0.118973, -2.284835, 0.103631, 1.514480, 0.683428]  # t=11\nAPPROACH_015_JOINTS = [0.012955, -1.126087, 0.263399, -2.273258, 0.089930, 1.497808, 0.693700]  # t=15\nAPPROACH_017_JOINTS = [0.020222, -1.134754, 0.341853, -2.262312, 0.077776, 1.484268, 0.695100]  # t=17\nAPPROACH_020_JOINTS = [0.031670, -1.146313, 0.465822, -2.240592, 0.054871, 1.461412, 0.695631]  # t=20\nAPPROACH_022_JOINTS = [0.039707, -1.155887, 0.552812, -2.221422, 0.034030, 1.447696, 0.696299]  # t=22\nAPPROACH_025_JOINTS = [0.053085, -1.170916, 0.690581, -2.195146, -0.000200, 1.428848, 0.685565]  # t=25\nAPPROACH_027_JOINTS = [0.066270, -1.186949, 0.781280, -2.178924, -0.021984, 1.417968, 0.660686]  # t=27\nAPPROACH_030_JOINTS = [0.090296, -1.215274, 0.924657, -2.154772, -0.053544, 1.414034, 0.606386]  # t=30\nAPPROACH_034_JOINTS = [0.135801, -1.260099, 1.086291, -2.128612, -0.051588, 1.427295, 0.536890]  # t=34\nAPPROACH_035_JOINTS = [0.147691, -1.269598, 1.115758, -2.129275, -0.042211, 1.441912, 0.526558]  # t=35\nAPPROACH_036_JOINTS = [0.159653, -1.278472, 1.139879, -2.135094, -0.030576, 1.461150, 0.521345]  # t=36\nAPPROACH_037_JOINTS = [0.170723, -1.286343, 1.158415, -2.148712, -0.018753, 1.486114, 0.522204]  # t=37\nAPPROACH_040_JOINTS = [0.203668, -1.305328, 1.184506, -2.218512, 0.024596, 1.581118, 0.553672]  # t=40\nAPPROACH_043_JOINTS = [0.240003, -1.317337, 1.201267, -2.308155, 0.056026, 1.696442, 0.569680]  # t=43\nAPPROACH_045_JOINTS = [0.256089, -1.314605, 1.222317, -2.366801, 0.070605, 1.788814, 0.571475]  # t=45\nAPPROACH_049_JOINTS = [0.239775, -1.271466, 1.299629, -2.454798, 0.075526, 2.005617, 0.577239]  # t=49\nAPPROACH_050_JOINTS = [0.228197, -1.257290, 1.318770, -2.469031, 0.065332, 2.057564, 0.579295]  # t=50\nAPPROACH_054_JOINTS = [0.171478, -1.201454, 1.385467, -2.503079, 0.005385, 2.234304, 0.606953]  # t=54\nAPPROACH_055_JOINTS = [0.155542, -1.191618, 1.394792, -2.508688, -0.017188, 2.273430, 0.621616]  # t=55\nAPPROACH_057_JOINTS = [0.121848, -1.176841, 1.413315, -2.518035, -0.068942, 2.345291, 0.657331]  # t=57\nAPPROACH_060_JOINTS = [0.070583, -1.160855, 1.437986, -2.528390, -0.142290, 2.419814, 0.719052]  # t=60\nAPPROACH_062_JOINTS = [0.034144, -1.147993, 1.451848, -2.530823, -0.179796, 2.459101, 0.751854]  # t=62\nAPPROACH_065_JOINTS = [-0.015828, -1.131494, 1.478931, -2.536002, -0.223129, 2.506005, 0.798146]  # t=65\nAPPROACH_070_JOINTS = [-0.117691, -1.117191, 1.529437, -2.545292, -0.282913, 2.604970, 0.866892]  # t=70\nAPPROACH_075_JOINTS = [-0.223963, -1.131896, 1.597398, -2.544353, -0.324318, 2.696673, 0.939021]  # t=75\nAPPROACH_080_JOINTS = [-0.328985, -1.185377, 1.651635, -2.528637, -0.355173, 2.778885, 1.001104]  # t=80\nAPPROACH_085_JOINTS = [-0.406805, -1.235540, 1.709031, -2.514949, -0.345947, 2.846533, 1.038250]  # t=85\nAPPROACH_087_JOINTS = [-0.431524, -1.256840, 1.733582, -2.508592, -0.335339, 2.867464, 1.051085]  # t=87\nAPPROACH_089_JOINTS = [-0.458405, -1.287092, 1.748902, -2.497347, -0.327586, 2.885157, 1.062573]  # t=89\nAPPROACH_090_JOINTS = [-0.474291, -1.305163, 1.753878, -2.489667, -0.324493, 2.894873, 1.067385]  # t=90\nAPPROACH_095_JOINTS = [-0.557435, -1.389976, 1.776051, -2.446851, -0.300293, 2.950251, 1.080852]  # t=95\nAPPROACH_097_JOINTS = [-0.583175, -1.414977, 1.791126, -2.427558, -0.284997, 2.967799, 1.083967]  # t=97\nAPPROACH_099_JOINTS = [-0.602697, -1.436739, 1.808249, -2.401169, -0.267357, 2.974457, 1.087024]  # t=99\nAPPROACH_100_JOINTS = [-0.613172, -1.448554, 1.815792, -2.382416, -0.258036, 2.973171, 1.087827]  # t=100\nAPPROACH_104_JOINTS = [-0.652055, -1.493247, 1.839470, -2.294344, -0.217873, 2.941705, 1.084023]  # t=104\nAPPROACH_105_JOINTS = [-0.663137, -1.506192, 1.840837, -2.272424, -0.208330, 2.930812, 1.081338]  # t=105\nAPPROACH_110_JOINTS = [-0.723567, -1.547773, 1.843366, -2.195185, -0.150303, 2.910681, 1.045209]  # t=110\nPRESS_112_JOINTS = [-0.720017, -1.553360, 1.844119, -2.195475, -0.130299, 2.907930, 1.038912]  # t=112\nPRESS_114_JOINTS = [-0.717400, -1.557779, 1.844698, -2.196340, -0.113519, 2.907885, 1.028519]  # t=114\nPRESS_115_JOINTS = [-0.716594, -1.560171, 1.844878, -2.196443, -0.106176, 2.907883, 1.023620]  # t=115\nPRESS_116_JOINTS = [-0.715894, -1.562422, 1.845013, -2.196497, -0.099359, 2.907879, 1.019117]  # t=116\nPRESS_117_JOINTS = [-0.715258, -1.564501, 1.845110, -2.196539, -0.093057, 2.907870, 1.014995]  # t=117\nPRESS_118_JOINTS = [-0.714647, -1.566171, 1.843773, -2.196815, -0.087282, 2.907816, 1.010742]  # t=118\nPRESS_120_JOINTS = [-0.712706, -1.565970, 1.837885, -2.199011, -0.076860, 2.907756, 0.999068]  # t=120\nPRESS_121_JOINTS = [-0.709156, -1.563653, 1.834678, -2.201936, -0.072472, 2.906962, 0.992354]  # t=121\nPRESS_122_JOINTS = [-0.701722, -1.559351, 1.831661, -2.207053, -0.068939, 2.904493, 0.985574]  # t=122\nPRESS_123_JOINTS = [-0.690116, -1.553752, 1.828982, -2.214197, -0.066613, 2.899855, 0.979548]  # t=123\nPRESS_124_JOINTS = [-0.674890, -1.547872, 1.827803, -2.222567, -0.065452, 2.893130, 0.975788]  # t=124\nPRESS_126_JOINTS = [-0.635354, -1.536033, 1.827745, -2.241845, -0.065876, 2.873285, 0.974869]  # t=126\nPRESS_128_JOINTS = [-0.587103, -1.524891, 1.833585, -2.261542, -0.068236, 2.845727, 0.982486]  # t=128\nPRESS_130_JOINTS = [-0.535171, -1.515340, 1.844073, -2.277948, -0.072001, 2.811536, 0.997781]  # t=130\nPRESS_132_JOINTS = [-0.481784, -1.505217, 1.857210, -2.290615, -0.075898, 2.771694, 1.016934]  # t=132\nPRESS_133_JOINTS = [-0.454303, -1.499730, 1.864293, -2.295735, -0.077882, 2.749501, 1.027948]  # t=133\nPRESS_134_JOINTS = [-0.426509, -1.493853, 1.871921, -2.299900, -0.079708, 2.726067, 1.039759]  # t=134\nPRESS_136_JOINTS = [-0.370190, -1.480791, 1.889350, -2.305053, -0.081947, 2.674264, 1.067024]  # t=136\nPRESS_138_JOINTS = [-0.314168, -1.466600, 1.909964, -2.305142, -0.082329, 2.615927, 1.098471]  # t=138\nPRESS_140_JOINTS = [-0.261713, -1.452585, 1.935012, -2.299004, -0.081172, 2.554627, 1.131075]  # t=140\nPRESS_142_JOINTS = [-0.212384, -1.438444, 1.965029, -2.286194, -0.076520, 2.487749, 1.165223]  # t=142\nPRESS_143_JOINTS = [-0.192312, -1.434707, 1.983315, -2.273127, -0.072578, 2.458563, 1.184576]  # t=143\nPRESS_144_JOINTS = [-0.177426, -1.436469, 2.005493, -2.256272, -0.069770, 2.436521, 1.204475]  # t=144\nPRESS_145_JOINTS = [-0.165449, -1.441455, 2.026273, -2.237659, -0.068266, 2.414694, 1.222435]  # t=145\nPRESS_146_JOINTS = [-0.156528, -1.450099, 2.044558, -2.215800, -0.067483, 2.387082, 1.240617]  # t=146\nPRESS_147_JOINTS = [-0.150588, -1.462310, 2.061270, -2.189174, -0.066310, 2.351130, 1.260727]  # t=147\nPRESS_148_JOINTS = [-0.146119, -1.475999, 2.078593, -2.159824, -0.063743, 2.314756, 1.280406]  # t=148\nPRESS_149_JOINTS = [-0.142631, -1.491248, 2.095497, -2.128457, -0.060871, 2.277837, 1.299107]  # t=149\nPRESS_150_JOINTS = [-0.137864, -1.503523, 2.112366, -2.095720, -0.053417, 2.238641, 1.314965]  # t=150\nPRESS_151_JOINTS = [-0.132907, -1.514464, 2.127574, -2.062239, -0.042308, 2.202817, 1.328652]  # t=151\nPRESS_152_JOINTS = [-0.130403, -1.530104, 2.145608, -2.029410, -0.030095, 2.177882, 1.344335]  # t=152\nPRESS_153_JOINTS = [-0.127470, -1.546366, 2.161217, -1.999709, -0.018011, 2.159228, 1.359751]  # t=153\nPRESS_154_JOINTS = [-0.123687, -1.562415, 2.175307, -1.973328, -0.005633, 2.146456, 1.373986]  # t=154\nPRESS_156_JOINTS = [-0.113155, -1.592533, 2.199495, -1.932109, 0.019707, 2.139375, 1.399707]  # t=156\nPRESS_157_JOINTS = [-0.106383, -1.605937, 2.209984, -1.918109, 0.032558, 2.145615, 1.411386]  # t=157\nPRESS_158_JOINTS = [-0.098706, -1.617860, 2.219733, -1.908637, 0.045253, 2.157487, 1.421887]  # t=158\nPRESS_160_JOINTS = [-0.081166, -1.637283, 2.238001, -1.900420, 0.069162, 2.192583, 1.441047]  # t=160\nPRESS_162_JOINTS = [-0.062516, -1.651901, 2.255785, -1.902930, 0.090463, 2.239358, 1.459905]  # t=162\nPRESS_163_JOINTS = [-0.053482, -1.658008, 2.264926, -1.905323, 0.099914, 2.263713, 1.469276]  # t=163\nPRESS_164_JOINTS = [-0.043412, -1.661582, 2.275582, -1.905816, 0.108273, 2.282102, 1.477793]  # t=164\nPRESS_165_JOINTS = [-0.033197, -1.664629, 2.287477, -1.902601, 0.115423, 2.293370, 1.487328]  # t=165\nPRESS_166_JOINTS = [-0.023302, -1.668258, 2.300275, -1.894165, 0.121391, 2.296241, 1.498565]  # t=166\nPRESS_167_JOINTS = [-0.014652, -1.673841, 2.313171, -1.880023, 0.126613, 2.293211, 1.511437]  # t=167\nRETREAT_177_JOINTS = [0.053876, -1.758725, 2.420330, -1.670175, 0.178318, 2.147417, 1.633229]  # t=177\nAPPROACH_000_JOINTS = [-0.017667, -1.017234, -0.032040, -2.265026, 0.088428, 1.549616, 0.674877]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_037_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_049_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_104_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\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_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, 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_120_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, 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_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_134_JOINTS, input_type='joint', steps=1, 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_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_144_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_148_JOINTS, input_type='joint', steps=1, 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_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_154_JOINTS, input_type='joint', steps=1, 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_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_158_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_160_JOINTS, input_type='joint', steps=2, 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_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_164_JOINTS, input_type='joint', steps=1, 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_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_177_JOINTS, input_type='joint', steps=10, 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": 19291, "code_num_lines": 218, "code_num_nonblank_lines": 208, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"},\"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}},\"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,-0.013612744067605667,-0.7303939708099694,-0.8605610072506555,-0.0761831321153503,3.614468997886056e-06,2.6859925966396734e-08,4.376303928500839e-06,2.8000734461537578e-06,-3.5279607375697966e-07,5.789722242220373e-09,-5.283569350088752e-06,-4.333657914598347e-07,-9.631435740638011e-06,0.0002556098417886132,0.00019151808774032345,-7.352301180646441e-07],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 86, "pretrain_task_id": 27, "retained_waypoint_count": 86, "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": 306520, "video_relpath": "videos/raw_extracted/27_OpenOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenStandMixerHead\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_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': 'OpenStandMixerHead',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 84,\n    'stable_release_contact_loss_t': 84,\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_002_JOINTS = [-0.003034, -1.062297, -0.023091, -2.277745, 0.068876, 1.502904, 0.710816]  # t=2\nAPPROACH_004_JOINTS = [-0.003375, -1.074526, -0.017210, -2.277071, 0.074335, 1.482744, 0.714556]  # t=4\nAPPROACH_006_JOINTS = [-0.003928, -1.099856, 0.000031, -2.281022, 0.085627, 1.453683, 0.738522]  # t=6\nAPPROACH_007_JOINTS = [-0.004538, -1.116622, 0.012583, -2.286695, 0.092182, 1.439174, 0.760443]  # t=7\nAPPROACH_008_JOINTS = [-0.005287, -1.135890, 0.027043, -2.294506, 0.099104, 1.425171, 0.787433]  # t=8\nAPPROACH_010_JOINTS = [-0.008929, -1.178917, 0.054166, -2.321209, 0.104789, 1.404096, 0.862495]  # t=10\nAPPROACH_012_JOINTS = [-0.013353, -1.224751, 0.084300, -2.363117, 0.113831, 1.398467, 0.958887]  # t=12\nAPPROACH_014_JOINTS = [-0.017014, -1.273139, 0.120401, -2.411617, 0.123806, 1.406712, 1.061930]  # t=14\nAPPROACH_015_JOINTS = [-0.018375, -1.297746, 0.140507, -2.437517, 0.128034, 1.415839, 1.113693]  # t=15\nAPPROACH_016_JOINTS = [-0.019180, -1.322171, 0.160266, -2.464198, 0.132088, 1.425934, 1.162281]  # t=16\nAPPROACH_018_JOINTS = [-0.019380, -1.366211, 0.199976, -2.519293, 0.142613, 1.453196, 1.252877]  # t=18\nAPPROACH_020_JOINTS = [-0.017862, -1.406606, 0.242211, -2.571261, 0.154862, 1.484077, 1.342812]  # t=20\nAPPROACH_021_JOINTS = [-0.016371, -1.426557, 0.264685, -2.595331, 0.160490, 1.499622, 1.388709]  # t=21\nAPPROACH_022_JOINTS = [-0.014655, -1.444378, 0.288661, -2.620593, 0.163096, 1.519554, 1.432197]  # t=22\nAPPROACH_024_JOINTS = [-0.010948, -1.468122, 0.343884, -2.676142, 0.160311, 1.577765, 1.508865]  # t=24\nAPPROACH_026_JOINTS = [-0.006125, -1.482367, 0.387541, -2.725832, 0.157887, 1.637160, 1.571176]  # t=26\nAPPROACH_027_JOINTS = [-0.003867, -1.485159, 0.404044, -2.748812, 0.156135, 1.672405, 1.596515]  # t=27\nAPPROACH_028_JOINTS = [-0.002072, -1.483867, 0.418863, -2.771191, 0.153387, 1.711977, 1.618580]  # t=28\nAPPROACH_030_JOINTS = [-0.000295, -1.468583, 0.444023, -2.813396, 0.147488, 1.799600, 1.655930]  # t=30\nAPPROACH_032_JOINTS = [-0.001546, -1.435662, 0.463408, -2.852789, 0.143113, 1.894696, 1.686080]  # t=32\nAPPROACH_034_JOINTS = [-0.008287, -1.383494, 0.479083, -2.885699, 0.130352, 2.000225, 1.707654]  # t=34\nAPPROACH_035_JOINTS = [-0.013635, -1.352615, 0.486692, -2.893358, 0.119730, 2.048359, 1.719990]  # t=35\nPRESS_037_JOINTS = [-0.026219, -1.299265, 0.501707, -2.860072, 0.089372, 2.016332, 1.768486]  # t=37\nPRESS_038_JOINTS = [-0.036552, -1.263465, 0.506904, -2.834661, 0.073896, 1.987860, 1.787184]  # t=38\nPRESS_039_JOINTS = [-0.048129, -1.223522, 0.511299, -2.806560, 0.059735, 1.961534, 1.803571]  # t=39\nPRESS_040_JOINTS = [-0.059661, -1.182875, 0.515317, -2.776852, 0.046721, 1.935658, 1.819521]  # t=40\nPRESS_041_JOINTS = [-0.071517, -1.141633, 0.517848, -2.744973, 0.031374, 1.926530, 1.832861]  # t=41\nPRESS_042_JOINTS = [-0.082613, -1.103210, 0.519196, -2.717930, 0.013682, 1.930191, 1.845630]  # t=42\nPRESS_043_JOINTS = [-0.091885, -1.072774, 0.518354, -2.693467, -0.006818, 1.932553, 1.859107]  # t=43\nPRESS_045_JOINTS = [-0.105945, -1.032662, 0.505744, -2.656323, -0.051506, 1.939711, 1.881878]  # t=45\nPRESS_047_JOINTS = [-0.109524, -1.024179, 0.496537, -2.641545, -0.085588, 1.933422, 1.920442]  # t=47\nPRESS_049_JOINTS = [-0.110762, -1.024994, 0.489945, -2.634964, -0.127195, 1.935326, 1.954758]  # t=49\nPRESS_051_JOINTS = [-0.115557, -1.015913, 0.484455, -2.621904, -0.166999, 1.924116, 1.993690]  # t=51\nPRESS_053_JOINTS = [-0.124345, -1.000670, 0.475606, -2.598044, -0.208504, 1.897401, 2.037166]  # t=53\nPRESS_054_JOINTS = [-0.129042, -0.993217, 0.471175, -2.581296, -0.229164, 1.876196, 2.059009]  # t=54\nPRESS_055_JOINTS = [-0.134048, -0.984844, 0.465370, -2.561593, -0.249789, 1.853958, 2.077932]  # t=55\nPRESS_057_JOINTS = [-0.144865, -0.963961, 0.451227, -2.518106, -0.290352, 1.809160, 2.109008]  # t=57\nPRESS_059_JOINTS = [-0.155820, -0.936697, 0.433106, -2.469658, -0.324337, 1.769572, 2.130325]  # t=59\nPRESS_061_JOINTS = [-0.166182, -0.904660, 0.408741, -2.415472, -0.351853, 1.733428, 2.136210]  # t=61\nPRESS_063_JOINTS = [-0.173421, -0.879218, 0.380075, -2.365036, -0.376172, 1.692254, 2.127315]  # t=63\nPRESS_065_JOINTS = [-0.176736, -0.861053, 0.349537, -2.324204, -0.394993, 1.662448, 2.111173]  # t=65\nPRESS_067_JOINTS = [-0.178134, -0.845827, 0.318252, -2.287527, -0.412199, 1.639663, 2.093436]  # t=67\nPRESS_069_JOINTS = [-0.178011, -0.834497, 0.286065, -2.255447, -0.429490, 1.621265, 2.072098]  # t=69\nPRESS_070_JOINTS = [-0.177446, -0.829741, 0.269379, -2.240579, -0.435493, 1.613118, 2.060077]  # t=70\nPRESS_071_JOINTS = [-0.176691, -0.825213, 0.251884, -2.225597, -0.438754, 1.604728, 2.047928]  # t=71\nPRESS_073_JOINTS = [-0.174878, -0.815757, 0.213925, -2.193816, -0.438068, 1.587522, 2.022866]  # t=73\nPRESS_075_JOINTS = [-0.172841, -0.804049, 0.172212, -2.158629, -0.430348, 1.571456, 1.995053]  # t=75\nPRESS_076_JOINTS = [-0.171803, -0.796458, 0.150059, -2.139147, -0.424022, 1.564187, 1.980176]  # t=76\nPRESS_077_JOINTS = [-0.170834, -0.787429, 0.127445, -2.118452, -0.417676, 1.557364, 1.964754]  # t=77\nPRESS_079_JOINTS = [-0.168906, -0.765235, 0.080208, -2.073207, -0.402658, 1.543784, 1.932309]  # t=79\nPRESS_080_JOINTS = [-0.167889, -0.752381, 0.055440, -2.048837, -0.394121, 1.536512, 1.915063]  # t=80\nPRESS_081_JOINTS = [-0.166793, -0.738333, 0.030000, -2.023522, -0.385387, 1.529376, 1.897090]  # t=81\nPRESS_082_JOINTS = [-0.165582, -0.723109, 0.003946, -1.997365, -0.376616, 1.522404, 1.878413]  # t=82\nPRESS_083_JOINTS = [-0.164226, -0.706854, -0.022717, -1.970556, -0.367913, 1.515505, 1.858989]  # t=83\nPRESS_084_JOINTS = [-0.162706, -0.689690, -0.049846, -1.943422, -0.359874, 1.508896, 1.838742]  # t=84\nPRESS_085_JOINTS = [-0.160985, -0.671756, -0.077455, -1.916235, -0.352266, 1.502585, 1.817746]  # t=85\nPRESS_086_JOINTS = [-0.159110, -0.653248, -0.106482, -1.891328, -0.344805, 1.497201, 1.796133]  # t=86\nPRESS_087_JOINTS = [-0.157055, -0.634682, -0.136635, -1.869236, -0.337983, 1.494100, 1.773900]  # t=87\nPRESS_088_JOINTS = [-0.154779, -0.616510, -0.166762, -1.848665, -0.332647, 1.493334, 1.751126]  # t=88\nRETREAT_090_JOINTS = [-0.149613, -0.581350, -0.224845, -1.810292, -0.328556, 1.496559, 1.704728]  # t=90\nRETREAT_092_JOINTS = [-0.143856, -0.548012, -0.280319, -1.774446, -0.330411, 1.503671, 1.658124]  # t=92\nRETREAT_094_JOINTS = [-0.137911, -0.519194, -0.335029, -1.740686, -0.333788, 1.509454, 1.606652]  # t=94\nRETREAT_096_JOINTS = [-0.132785, -0.502527, -0.392336, -1.709245, -0.336064, 1.506318, 1.539451]  # t=96\nRETREAT_098_JOINTS = [-0.128761, -0.508345, -0.450968, -1.683511, -0.328960, 1.495848, 1.452139]  # t=98\nRETREAT_100_JOINTS = [-0.124459, -0.533261, -0.500053, -1.669333, -0.308357, 1.468950, 1.360643]  # t=100\nRETREAT_102_JOINTS = [-0.120004, -0.568590, -0.534578, -1.661353, -0.292495, 1.427488, 1.274042]  # t=102\nRETREAT_104_JOINTS = [-0.115652, -0.609389, -0.559608, -1.658938, -0.289573, 1.383792, 1.188571]  # t=104\nRETREAT_106_JOINTS = [-0.111601, -0.654380, -0.580868, -1.665574, -0.286830, 1.333074, 1.111454]  # t=106\nRETREAT_107_JOINTS = [-0.109548, -0.676630, -0.588267, -1.671651, -0.284261, 1.307192, 1.083041]  # t=107\nAPPROACH_000_JOINTS = [-0.002770, -1.060588, -0.023759, -2.278174, 0.068107, 1.506477, 0.710727]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=1, 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_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_037_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_038_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_039_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_042_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_043_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_049_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_051_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, 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\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_096_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_106_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_107_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": 16283, "code_num_lines": 186, "code_num_nonblank_lines": 176, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"OpenStandMixerHead\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenStandMixerHead\",\"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_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\"},\"stand_mixer_front_group_1\":{\"cls\":\"StandMixer\"},\"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\":[0.0,0.0,4.712388892961913],\"init_robot_base_pos\":[3.5148894360105523,-3.0761380856483527,0.0],\"lang\":\"Open the stand mixer 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}},\"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\"}", "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\":\"OpenStandMixerHead\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"OpenStandMixerHead\",\"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_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\"},\"stand_mixer_front_group_1\":{\"cls\":\"StandMixer\"},\"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\":[0.0,0.0,4.712388892961913],\"init_robot_base_pos\":[3.5148894360105523,-3.0761380856483527,0.0],\"lang\":\"Open the stand mixer 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": false, "motion_primitive_count": 70, "pretrain_task_id": 28, "retained_waypoint_count": 70, "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": 312178, "video_relpath": "videos/raw_extracted/28_OpenStandMixerHead.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: OpenToasterOvenDoor\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_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': 'OpenToasterOvenDoor',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 118,\n    'stable_release_contact_loss_t': 118,\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_002_JOINTS = [-0.045780, -1.037240, -0.057827, -2.315620, 0.046868, 1.509955, 0.686366]  # t=2\nAPPROACH_003_JOINTS = [-0.044932, -1.045570, -0.061581, -2.316807, 0.049188, 1.497719, 0.687082]  # t=3\nAPPROACH_004_JOINTS = [-0.044675, -1.055167, -0.073075, -2.318419, 0.052329, 1.486361, 0.686549]  # t=4\nAPPROACH_006_JOINTS = [-0.045819, -1.076326, -0.130368, -2.326526, 0.070798, 1.471460, 0.673346]  # t=6\nAPPROACH_009_JOINTS = [-0.052160, -1.145733, -0.256478, -2.366981, 0.141725, 1.495938, 0.643685]  # t=9\nAPPROACH_012_JOINTS = [-0.067123, -1.228282, -0.391628, -2.454566, 0.232026, 1.596470, 0.642136]  # t=12\nAPPROACH_015_JOINTS = [-0.084017, -1.280214, -0.513694, -2.546649, 0.325437, 1.709242, 0.664616]  # t=15\nAPPROACH_017_JOINTS = [-0.092045, -1.295975, -0.563459, -2.612640, 0.398022, 1.799037, 0.683775]  # t=17\nAPPROACH_018_JOINTS = [-0.095105, -1.300819, -0.577517, -2.650954, 0.438176, 1.852975, 0.690045]  # t=18\nAPPROACH_021_JOINTS = [-0.093799, -1.296177, -0.597383, -2.760197, 0.582181, 2.031568, 0.683237]  # t=21\nAPPROACH_024_JOINTS = [-0.079227, -1.273702, -0.605449, -2.831293, 0.745865, 2.168513, 0.658090]  # t=24\nAPPROACH_026_JOINTS = [-0.069458, -1.258849, -0.612278, -2.857427, 0.848093, 2.225942, 0.641543]  # t=26\nAPPROACH_027_JOINTS = [-0.066239, -1.253391, -0.618961, -2.866213, 0.894664, 2.243736, 0.634027]  # t=27\nAPPROACH_030_JOINTS = [-0.055169, -1.229975, -0.640021, -2.879091, 1.025895, 2.275862, 0.612171]  # t=30\nAPPROACH_033_JOINTS = [-0.037358, -1.189946, -0.657386, -2.876404, 1.150772, 2.282426, 0.581474]  # t=33\nAPPROACH_036_JOINTS = [-0.024989, -1.147411, -0.676119, -2.868929, 1.249466, 2.269751, 0.553525]  # t=36\nAPPROACH_039_JOINTS = [-0.016891, -1.103453, -0.690154, -2.857263, 1.327425, 2.248195, 0.527217]  # t=39\nAPPROACH_042_JOINTS = [-0.008294, -1.050495, -0.698434, -2.838038, 1.388265, 2.227649, 0.498683]  # t=42\nAPPROACH_045_JOINTS = [0.002063, -0.989158, -0.706944, -2.811306, 1.436201, 2.204853, 0.465983]  # t=45\nAPPROACH_048_JOINTS = [0.011711, -0.927566, -0.717490, -2.779241, 1.467617, 2.174582, 0.435086]  # t=48\nAPPROACH_051_JOINTS = [0.015634, -0.879603, -0.728468, -2.755992, 1.481252, 2.138826, 0.413708]  # t=51\nPRESS_053_JOINTS = [0.009080, -0.871036, -0.729088, -2.753322, 1.478093, 2.120073, 0.412979]  # t=53\nPRESS_055_JOINTS = [0.000606, -0.868149, -0.722287, -2.752446, 1.470625, 2.117219, 0.419088]  # t=55\nPRESS_057_JOINTS = [-0.007061, -0.865751, -0.711085, -2.750573, 1.461704, 2.123192, 0.427896]  # t=57\nPRESS_059_JOINTS = [-0.014595, -0.865886, -0.699906, -2.750307, 1.455342, 2.131839, 0.436568]  # t=59\nPRESS_061_JOINTS = [-0.021182, -0.866752, -0.688611, -2.750806, 1.452859, 2.142865, 0.442955]  # t=61\nPRESS_062_JOINTS = [-0.024153, -0.867467, -0.682295, -2.751199, 1.452597, 2.150206, 0.445853]  # t=62\nPRESS_063_JOINTS = [-0.027249, -0.868907, -0.675443, -2.751934, 1.452234, 2.159063, 0.449698]  # t=63\nPRESS_064_JOINTS = [-0.030585, -0.871154, -0.667752, -2.752959, 1.451088, 2.169913, 0.454882]  # t=64\nPRESS_065_JOINTS = [-0.034011, -0.873866, -0.659052, -2.754021, 1.449158, 2.182809, 0.461790]  # t=65\nPRESS_067_JOINTS = [-0.041687, -0.881280, -0.639694, -2.756490, 1.439713, 2.213366, 0.483136]  # t=67\nPRESS_069_JOINTS = [-0.050413, -0.890025, -0.619728, -2.759013, 1.418264, 2.247500, 0.516659]  # t=69\nPRESS_071_JOINTS = [-0.058915, -0.897479, -0.595895, -2.758397, 1.379241, 2.284294, 0.565813]  # t=71\nPRESS_073_JOINTS = [-0.067239, -0.903640, -0.571986, -2.756036, 1.325666, 2.319639, 0.629976]  # t=73\nPRESS_075_JOINTS = [-0.075527, -0.908703, -0.548805, -2.752877, 1.258309, 2.352469, 0.704021]  # t=75\nPRESS_077_JOINTS = [-0.083732, -0.911959, -0.526973, -2.748618, 1.177796, 2.380079, 0.786931]  # t=77\nPRESS_079_JOINTS = [-0.093236, -0.914802, -0.509172, -2.744051, 1.083194, 2.397915, 0.881049]  # t=79\nPRESS_080_JOINTS = [-0.099915, -0.918413, -0.503806, -2.746484, 1.028871, 2.400956, 0.930211]  # t=80\nPRESS_081_JOINTS = [-0.108059, -0.925447, -0.499179, -2.748752, 0.970744, 2.399949, 0.979867]  # t=81\nPRESS_083_JOINTS = [-0.129390, -0.947253, -0.486604, -2.745757, 0.836777, 2.383514, 1.096823]  # t=83\nPRESS_085_JOINTS = [-0.155458, -0.972499, -0.472163, -2.738476, 0.688536, 2.346771, 1.230138]  # t=85\nPRESS_087_JOINTS = [-0.181240, -0.996362, -0.457019, -2.725677, 0.545300, 2.292110, 1.361540]  # t=87\nPRESS_088_JOINTS = [-0.192102, -1.005177, -0.448526, -2.716118, 0.480204, 2.260514, 1.423022]  # t=88\nPRESS_089_JOINTS = [-0.200876, -1.010812, -0.439517, -2.704314, 0.421016, 2.227444, 1.480203]  # t=89\nPRESS_091_JOINTS = [-0.212718, -1.013774, -0.422566, -2.673967, 0.319265, 2.153296, 1.581144]  # t=91\nPRESS_093_JOINTS = [-0.219275, -1.011339, -0.409194, -2.638413, 0.234733, 2.067223, 1.663732]  # t=93\nPRESS_095_JOINTS = [-0.221918, -1.006968, -0.399030, -2.603079, 0.164925, 1.976826, 1.729129]  # t=95\nPRESS_097_JOINTS = [-0.221454, -1.001758, -0.391201, -2.570610, 0.108606, 1.891819, 1.778916]  # t=97\nPRESS_099_JOINTS = [-0.220175, -0.998784, -0.388495, -2.545743, 0.061294, 1.810486, 1.815278]  # t=99\nPRESS_101_JOINTS = [-0.219888, -1.001872, -0.391504, -2.531903, 0.019076, 1.731537, 1.839892]  # t=101\nPRESS_103_JOINTS = [-0.222166, -1.012946, -0.402390, -2.539579, -0.023061, 1.662508, 1.854428]  # t=103\nPRESS_105_JOINTS = [-0.227630, -1.031972, -0.419198, -2.566730, -0.067885, 1.607814, 1.863340]  # t=105\nPRESS_107_JOINTS = [-0.235517, -1.055446, -0.438647, -2.605625, -0.114481, 1.568399, 1.869842]  # t=107\nPRESS_109_JOINTS = [-0.246177, -1.086776, -0.456420, -2.641311, -0.159647, 1.529576, 1.873833]  # t=109\nPRESS_110_JOINTS = [-0.252513, -1.104145, -0.465786, -2.660637, -0.182537, 1.513212, 1.874744]  # t=110\nPRESS_111_JOINTS = [-0.259546, -1.121902, -0.476148, -2.681859, -0.206129, 1.499449, 1.875407]  # t=111\nPRESS_112_JOINTS = [-0.266956, -1.138532, -0.487792, -2.705626, -0.230666, 1.491047, 1.876717]  # t=112\nPRESS_113_JOINTS = [-0.274327, -1.152638, -0.500864, -2.732305, -0.255170, 1.489252, 1.879161]  # t=113\nPRESS_115_JOINTS = [-0.288816, -1.171994, -0.530393, -2.788632, -0.303245, 1.496363, 1.888035]  # t=115\nPRESS_117_JOINTS = [-0.305020, -1.184191, -0.565037, -2.840376, -0.351517, 1.504818, 1.897998]  # t=117\nPRESS_119_JOINTS = [-0.322754, -1.187324, -0.606867, -2.889995, -0.399196, 1.520654, 1.909366]  # t=119\nPRESS_121_JOINTS = [-0.339924, -1.178378, -0.654975, -2.932382, -0.440013, 1.547104, 1.919678]  # t=121\nPRESS_122_JOINTS = [-0.344705, -1.175888, -0.665004, -2.935911, -0.440153, 1.553551, 1.919409]  # t=122\nPRESS_123_JOINTS = [-0.347669, -1.173130, -0.667202, -2.935174, -0.436403, 1.555908, 1.919159]  # t=123\nPRESS_124_JOINTS = [-0.349984, -1.168667, -0.667162, -2.934031, -0.433088, 1.557427, 1.920394]  # t=124\nPRESS_125_JOINTS = [-0.351854, -1.163066, -0.666195, -2.932308, -0.429400, 1.558265, 1.922393]  # t=125\nPRESS_127_JOINTS = [-0.354783, -1.150258, -0.664849, -2.926468, -0.418519, 1.557890, 1.924356]  # t=127\nPRESS_129_JOINTS = [-0.357228, -1.136258, -0.667220, -2.918761, -0.404075, 1.556139, 1.922524]  # t=129\nPRESS_131_JOINTS = [-0.359709, -1.123136, -0.673216, -2.910851, -0.388378, 1.554345, 1.916781]  # t=131\nPRESS_133_JOINTS = [-0.362687, -1.112559, -0.680039, -2.904775, -0.374275, 1.553743, 1.911622]  # t=133\nAPPROACH_000_JOINTS = [-0.046595, -1.032737, -0.056082, -2.314732, 0.046409, 1.518914, 0.685818]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, 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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_064_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_087_JOINTS, input_type='joint', steps=2, 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_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 16333, "code_num_lines": 184, "code_num_nonblank_lines": 175, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 71, "pretrain_task_id": 29, "retained_waypoint_count": 71, "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": 284441, "video_relpath": "videos/raw_extracted/29_OpenToasterOvenDoor.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PackDessert\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_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': 'PackDessert',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 167,\n    'stable_release_contact_loss_t': 293,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.262106, y=-2.807337, z=0.933553, qw=0.742961, qx=-0.001140, qy=0.001524, qz=-0.669332)\nGOAL_RECEPTACLE_POSE = pose(x=3.311911, y=-2.572790, z=0.948702, qw=0.707215, qx=0.000504, qy=-0.000617, qz=-0.706998)\n\nAPPROACH_005_JOINTS = [-0.000261, -1.072576, -0.001469, -2.315858, 0.024786, 1.478648, 0.679538]  # t=5\nAPPROACH_007_JOINTS = [-0.003862, -1.096110, -0.017344, -2.332675, 0.011094, 1.458898, 0.667620]  # t=7\nAPPROACH_010_JOINTS = [-0.012390, -1.132252, -0.058873, -2.382504, -0.026828, 1.464078, 0.647292]  # t=10\nAPPROACH_015_JOINTS = [-0.038519, -1.159015, -0.182295, -2.445513, -0.140369, 1.494966, 0.640681]  # t=15\nAPPROACH_020_JOINTS = [-0.064680, -1.149514, -0.321321, -2.433010, -0.222757, 1.494192, 0.637546]  # t=20\nAPPROACH_024_JOINTS = [-0.081156, -1.139387, -0.390627, -2.406533, -0.263345, 1.474455, 0.641348]  # t=24\nAPPROACH_025_JOINTS = [-0.083218, -1.137409, -0.403375, -2.404661, -0.271752, 1.476212, 0.629549]  # t=25\nAPPROACH_029_JOINTS = [-0.087934, -1.133722, -0.460317, -2.403673, -0.313192, 1.482940, 0.522712]  # t=29\nAPPROACH_030_JOINTS = [-0.088642, -1.133590, -0.480617, -2.404624, -0.328081, 1.490708, 0.480446]  # t=30\nAPPROACH_035_JOINTS = [-0.084222, -1.122261, -0.592085, -2.398457, -0.413969, 1.553304, 0.194103]  # t=35\nAPPROACH_040_JOINTS = [-0.068583, -1.097222, -0.677493, -2.397290, -0.508682, 1.623872, -0.139597]  # t=40\nAPPROACH_041_JOINTS = [-0.066696, -1.096171, -0.685319, -2.403857, -0.530320, 1.638806, -0.199979]  # t=41\nAPPROACH_045_JOINTS = [-0.064451, -1.107587, -0.726530, -2.452396, -0.610809, 1.715911, -0.438271]  # t=45\nAPPROACH_048_JOINTS = [-0.063980, -1.126628, -0.753439, -2.470385, -0.597726, 1.730004, -0.597150]  # t=48\nAPPROACH_050_JOINTS = [-0.056673, -1.124749, -0.773423, -2.475267, -0.575611, 1.742345, -0.684639]  # t=50\nAPPROACH_055_JOINTS = [-0.016162, -1.081063, -0.820526, -2.462196, -0.493446, 1.763377, -0.882931]  # t=55\nAPPROACH_060_JOINTS = [0.040171, -0.980249, -0.840553, -2.418209, -0.473236, 1.726318, -1.019660]  # t=60\nAPPROACH_065_JOINTS = [0.093179, -0.874572, -0.849265, -2.363782, -0.462699, 1.658147, -1.140973]  # t=65\nAPPROACH_069_JOINTS = [0.115523, -0.829370, -0.853109, -2.342086, -0.447020, 1.624559, -1.238579]  # t=69\nAPPROACH_070_JOINTS = [0.118339, -0.823743, -0.854068, -2.339993, -0.442710, 1.623831, -1.260387]  # t=70\nAPPROACH_071_JOINTS = [0.120084, -0.820173, -0.854945, -2.339724, -0.438617, 1.623910, -1.281183]  # t=71\nAPPROACH_075_JOINTS = [0.119630, -0.817972, -0.841710, -2.356072, -0.421938, 1.619210, -1.313685]  # t=75\nAPPROACH_080_JOINTS = [0.115939, -0.817016, -0.821682, -2.398231, -0.403593, 1.661873, -1.293922]  # t=80\nAPPROACH_084_JOINTS = [0.119903, -0.792120, -0.833061, -2.443471, -0.404954, 1.737618, -1.296463]  # t=84\nAPPROACH_085_JOINTS = [0.121634, -0.783381, -0.838307, -2.453089, -0.405482, 1.756803, -1.302099]  # t=85\nAPPROACH_090_JOINTS = [0.128523, -0.743987, -0.852414, -2.473995, -0.397824, 1.817803, -1.328897]  # t=90\nAPPROACH_095_JOINTS = [0.140567, -0.701579, -0.849349, -2.467797, -0.375245, 1.852809, -1.365114]  # t=95\nAPPROACH_097_JOINTS = [0.145840, -0.680900, -0.852359, -2.463906, -0.367659, 1.867150, -1.385754]  # t=97\nAPPROACH_100_JOINTS = [0.150143, -0.648557, -0.869670, -2.454150, -0.362118, 1.887761, -1.420807]  # t=100\nAPPROACH_105_JOINTS = [0.163402, -0.583215, -0.905223, -2.450535, -0.343332, 1.946281, -1.481205]  # t=105\nAPPROACH_110_JOINTS = [0.184687, -0.501827, -0.929609, -2.452346, -0.309760, 2.012963, -1.523064]  # t=110\nAPPROACH_112_JOINTS = [0.192462, -0.471234, -0.930632, -2.446569, -0.288826, 2.031691, -1.540908]  # t=112\nDESCEND_114_JOINTS = [0.200447, -0.435426, -0.932492, -2.444470, -0.264684, 2.060177, -1.560849]  # t=114\nDESCEND_116_JOINTS = [0.206838, -0.398340, -0.932209, -2.440026, -0.236341, 2.085877, -1.580446]  # t=116\nDESCEND_118_JOINTS = [0.208271, -0.367414, -0.927775, -2.428292, -0.208450, 2.092750, -1.599466]  # t=118\nDESCEND_119_JOINTS = [0.206614, -0.354503, -0.925303, -2.421899, -0.196544, 2.090949, -1.608586]  # t=119\nDESCEND_120_JOINTS = [0.203770, -0.342299, -0.923153, -2.416784, -0.185702, 2.090043, -1.617349]  # t=120\nDESCEND_122_JOINTS = [0.196139, -0.318741, -0.917749, -2.410897, -0.164772, 2.093505, -1.634655]  # t=122\nDESCEND_124_JOINTS = [0.187158, -0.294834, -0.909605, -2.408103, -0.143003, 2.103846, -1.650954]  # t=124\nDESCEND_126_JOINTS = [0.176210, -0.272439, -0.899462, -2.404341, -0.121285, 2.112795, -1.667058]  # t=126\nDESCEND_128_JOINTS = [0.163415, -0.251136, -0.888394, -2.402863, -0.100324, 2.122378, -1.685247]  # t=128\nDESCEND_130_JOINTS = [0.149447, -0.231647, -0.875568, -2.403002, -0.078278, 2.135658, -1.707491]  # t=130\nDESCEND_132_JOINTS = [0.133509, -0.218954, -0.862713, -2.403281, -0.054206, 2.148214, -1.735335]  # t=132\nDESCEND_134_JOINTS = [0.116262, -0.212184, -0.850321, -2.405100, -0.033007, 2.161440, -1.771728]  # t=134\nDESCEND_136_JOINTS = [0.098868, -0.205515, -0.838232, -2.407446, -0.019894, 2.168882, -1.804041]  # t=136\nDESCEND_138_JOINTS = [0.082598, -0.198798, -0.824011, -2.407813, -0.012048, 2.169835, -1.826574]  # t=138\nDESCEND_140_JOINTS = [0.067375, -0.192470, -0.809776, -2.407561, -0.005334, 2.170295, -1.842497]  # t=140\nDESCEND_142_JOINTS = [0.053320, -0.185478, -0.796403, -2.407987, 0.001490, 2.172444, -1.855097]  # t=142\nDESCEND_144_JOINTS = [0.040516, -0.173184, -0.785700, -2.411650, 0.010571, 2.184245, -1.866112]  # t=144\nDESCEND_146_JOINTS = [0.028518, -0.155957, -0.778440, -2.416022, 0.022618, 2.202030, -1.886689]  # t=146\nDESCEND_148_JOINTS = [0.016674, -0.141731, -0.770473, -2.417245, 0.035446, 2.211573, -1.907767]  # t=148\nDESCEND_150_JOINTS = [0.004861, -0.129650, -0.761170, -2.417013, 0.046635, 2.216948, -1.925704]  # t=150\nDESCEND_152_JOINTS = [-0.006545, -0.117001, -0.750531, -2.418370, 0.057578, 2.224308, -1.941393]  # t=152\nDESCEND_154_JOINTS = [-0.018066, -0.106541, -0.739755, -2.418944, 0.067574, 2.229413, -1.955762]  # t=154\nDESCEND_156_JOINTS = [-0.029799, -0.100136, -0.728990, -2.417649, 0.074348, 2.229954, -1.965538]  # t=156\nDESCEND_158_JOINTS = [-0.041107, -0.095467, -0.718212, -2.416548, 0.079129, 2.230017, -1.972019]  # t=158\nDESCEND_159_JOINTS = [-0.046511, -0.094099, -0.712840, -2.415904, 0.080811, 2.229117, -1.973897]  # t=159\nDESCEND_160_JOINTS = [-0.051726, -0.093201, -0.707594, -2.415292, 0.081822, 2.228060, -1.975016]  # t=160\nDESCEND_161_JOINTS = [-0.056719, -0.092412, -0.702605, -2.414939, 0.082449, 2.227383, -1.975859]  # t=161\nDESCEND_162_JOINTS = [-0.061534, -0.091730, -0.698090, -2.414828, 0.082667, 2.226857, -1.976487]  # t=162\nDESCEND_164_JOINTS = [-0.070770, -0.091220, -0.690979, -2.414509, 0.082263, 2.225077, -1.976739]  # t=164\nGRASP_HOLD_167_JOINTS = [-0.081590, -0.090731, -0.679328, -2.412372, 0.083816, 2.224452, -1.976869]  # t=167\nLIFT_168_JOINTS = [-0.084681, -0.090520, -0.676047, -2.412132, 0.084084, 2.224193, -1.976870]  # t=168\nLIFT_169_JOINTS = [-0.087561, -0.090392, -0.673125, -2.412115, 0.084265, 2.224151, -1.976875]  # t=169\nLIFT_170_JOINTS = [-0.090219, -0.090323, -0.670474, -2.412136, 0.084389, 2.224149, -1.976879]  # t=170\nLIFT_171_JOINTS = [-0.092660, -0.090386, -0.668023, -2.412143, 0.084459, 2.223993, -1.976881]  # t=171\nLIFT_172_JOINTS = [-0.094776, -0.092072, -0.664985, -2.412145, 0.083758, 2.221822, -1.975914]  # t=172\nLIFT_173_JOINTS = [-0.096778, -0.094739, -0.661924, -2.411654, 0.080315, 2.220014, -1.972812]  # t=173\nLIFT_174_JOINTS = [-0.098740, -0.099266, -0.658897, -2.410211, 0.072900, 2.217676, -1.967151]  # t=174\nLIFT_175_JOINTS = [-0.100463, -0.108103, -0.654510, -2.407742, 0.058881, 2.212415, -1.956153]  # t=175\nLIFT_176_JOINTS = [-0.101887, -0.122746, -0.648185, -2.404377, 0.037103, 2.203400, -1.937941]  # t=176\nLIFT_177_JOINTS = [-0.103077, -0.140445, -0.640803, -2.400796, 0.007417, 2.196018, -1.913023]  # t=177\nLIFT_178_JOINTS = [-0.103947, -0.162890, -0.632819, -2.397092, -0.024919, 2.186992, -1.887124]  # t=178\nLIFT_179_JOINTS = [-0.104584, -0.190879, -0.624946, -2.392199, -0.057577, 2.171236, -1.863765]  # t=179\nLIFT_180_JOINTS = [-0.104441, -0.222010, -0.616609, -2.386971, -0.087706, 2.148627, -1.844856]  # t=180\nTRANSPORT_183_JOINTS = [-0.099327, -0.311690, -0.593695, -2.366420, -0.163543, 2.074941, -1.796918]  # t=183\nTRANSPORT_184_JOINTS = [-0.095442, -0.342205, -0.584579, -2.360080, -0.178978, 2.043959, -1.784293]  # t=184\nTRANSPORT_186_JOINTS = [-0.084767, -0.395925, -0.567954, -2.351398, -0.200929, 1.990407, -1.766486]  # t=186\nTRANSPORT_188_JOINTS = [-0.070437, -0.442453, -0.549559, -2.352280, -0.214126, 1.944709, -1.759289]  # t=188\nTRANSPORT_189_JOINTS = [-0.063223, -0.468234, -0.539843, -2.354395, -0.219331, 1.921222, -1.759063]  # t=189\nTRANSPORT_192_JOINTS = [-0.041005, -0.552528, -0.513113, -2.370656, -0.215894, 1.890267, -1.764005]  # t=192\nTRANSPORT_195_JOINTS = [-0.019237, -0.631136, -0.488917, -2.403681, -0.207914, 1.896113, -1.757856]  # t=195\nTRANSPORT_196_JOINTS = [-0.012112, -0.657639, -0.480759, -2.418621, -0.204155, 1.903077, -1.758197]  # t=196\nTRANSPORT_198_JOINTS = [0.002663, -0.709616, -0.462850, -2.458776, -0.195692, 1.921398, -1.766665]  # t=198\nTRANSPORT_200_JOINTS = [0.016663, -0.756844, -0.444823, -2.502798, -0.192082, 1.934649, -1.776771]  # t=200\nTRANSPORT_201_JOINTS = [0.023504, -0.774262, -0.437976, -2.524847, -0.192819, 1.942050, -1.780561]  # t=201\nTRANSPORT_204_JOINTS = [0.040903, -0.813865, -0.431341, -2.581973, -0.199883, 1.963746, -1.799294]  # t=204\nTRANSPORT_207_JOINTS = [0.054895, -0.844100, -0.433644, -2.615766, -0.207758, 1.975447, -1.830535]  # t=207\nTRANSPORT_208_JOINTS = [0.058932, -0.850517, -0.437781, -2.621637, -0.210675, 1.977978, -1.844749]  # t=208\nTRANSPORT_210_JOINTS = [0.066068, -0.858189, -0.450773, -2.627436, -0.217691, 1.980769, -1.877604]  # t=210\nTRANSPORT_212_JOINTS = [0.072440, -0.860902, -0.467572, -2.627413, -0.224508, 1.981165, -1.914219]  # t=212\nTRANSPORT_213_JOINTS = [0.075789, -0.860254, -0.475253, -2.627596, -0.227298, 1.978613, -1.931456]  # t=213\nTRANSPORT_216_JOINTS = [0.087374, -0.843395, -0.489957, -2.633204, -0.244050, 1.967323, -1.969310]  # t=216\nTRANSPORT_219_JOINTS = [0.098213, -0.816909, -0.489493, -2.635300, -0.276235, 1.957749, -1.986425]  # t=219\nTRANSPORT_220_JOINTS = [0.101512, -0.808688, -0.487779, -2.636686, -0.287177, 1.957847, -1.992435]  # t=220\nTRANSPORT_222_JOINTS = [0.106670, -0.791558, -0.487253, -2.645009, -0.310894, 1.968010, -2.004201]  # t=222\nTRANSPORT_224_JOINTS = [0.109758, -0.778118, -0.487902, -2.657269, -0.332620, 1.987057, -2.014827]  # t=224\nTRANSPORT_225_JOINTS = [0.110560, -0.773526, -0.488000, -2.663764, -0.342410, 1.996560, -2.020181]  # t=225\nTRANSPORT_228_JOINTS = [0.110842, -0.761615, -0.491681, -2.685580, -0.371803, 2.028325, -2.040300]  # t=228\nTRANSPORT_231_JOINTS = [0.108736, -0.746715, -0.505185, -2.710507, -0.402281, 2.069641, -2.063729]  # t=231\nTRANSPORT_232_JOINTS = [0.108096, -0.744948, -0.506920, -2.716434, -0.409853, 2.079472, -2.071777]  # t=232\nTRANSPORT_234_JOINTS = [0.107065, -0.749592, -0.507307, -2.724196, -0.416718, 2.093058, -2.093533]  # t=234\nTRANSPORT_236_JOINTS = [0.105610, -0.754676, -0.508825, -2.729732, -0.418656, 2.098499, -2.110008]  # t=236\nTRANSPORT_237_JOINTS = [0.105103, -0.756424, -0.509384, -2.731672, -0.419162, 2.100083, -2.117110]  # t=237\nTRANSPORT_240_JOINTS = [0.104395, -0.759505, -0.510715, -2.734822, -0.419546, 2.102675, -2.136081]  # t=240\nTRANSPORT_243_JOINTS = [0.105215, -0.756201, -0.511924, -2.735300, -0.419341, 2.110371, -2.145261]  # t=243\nTRANSPORT_244_JOINTS = [0.105836, -0.753872, -0.512158, -2.735023, -0.419040, 2.113806, -2.146842]  # t=244\nTRANSPORT_246_JOINTS = [0.107888, -0.746520, -0.512643, -2.733726, -0.417860, 2.123086, -2.150082]  # t=246\nTRANSPORT_248_JOINTS = [0.109955, -0.739038, -0.512706, -2.731127, -0.415946, 2.129360, -2.153047]  # t=248\nTRANSPORT_249_JOINTS = [0.111248, -0.734486, -0.512784, -2.729603, -0.414766, 2.133840, -2.155062]  # t=249\nTRANSPORT_252_JOINTS = [0.116209, -0.716316, -0.513167, -2.723324, -0.409788, 2.150385, -2.163440]  # t=252\nTRANSPORT_254_JOINTS = [0.118868, -0.704884, -0.512839, -2.717465, -0.405628, 2.155836, -2.165914]  # t=254\nPLACE_256_JOINTS = [0.119812, -0.699046, -0.511778, -2.712230, -0.402023, 2.153371, -2.167309]  # t=256\nPLACE_258_JOINTS = [0.119655, -0.695782, -0.511603, -2.708692, -0.400182, 2.151920, -2.169378]  # t=258\nPLACE_260_JOINTS = [0.118416, -0.693905, -0.514839, -2.706040, -0.400629, 2.155308, -2.175954]  # t=260\nPLACE_262_JOINTS = [0.115625, -0.688855, -0.525382, -2.703342, -0.405949, 2.161381, -2.187914]  # t=262\nPLACE_264_JOINTS = [0.113739, -0.680790, -0.538341, -2.701965, -0.410376, 2.171682, -2.205125]  # t=264\nPLACE_266_JOINTS = [0.113485, -0.670737, -0.550065, -2.700504, -0.412365, 2.184472, -2.224124]  # t=266\nPLACE_268_JOINTS = [0.115651, -0.658173, -0.554762, -2.699101, -0.410381, 2.200768, -2.230226]  # t=268\nPLACE_270_JOINTS = [0.120172, -0.638632, -0.556710, -2.696014, -0.406170, 2.222737, -2.230438]  # t=270\nPLACE_272_JOINTS = [0.125635, -0.615685, -0.557276, -2.689724, -0.399457, 2.243891, -2.230447]  # t=272\nPLACE_274_JOINTS = [0.131147, -0.592714, -0.556276, -2.679882, -0.390243, 2.259521, -2.231053]  # t=274\nPLACE_275_JOINTS = [0.133274, -0.583166, -0.555285, -2.674350, -0.385326, 2.262997, -2.231914]  # t=275\nPLACE_276_JOINTS = [0.134792, -0.575354, -0.554089, -2.668948, -0.380596, 2.263921, -2.233122]  # t=276\nPLACE_278_JOINTS = [0.135761, -0.565497, -0.551337, -2.659939, -0.372630, 2.260180, -2.236158]  # t=278\nPLACE_280_JOINTS = [0.134900, -0.560685, -0.548591, -2.654141, -0.367020, 2.255657, -2.239114]  # t=280\nPLACE_282_JOINTS = [0.133239, -0.557745, -0.546018, -2.651020, -0.363173, 2.253288, -2.241354]  # t=282\nPLACE_284_JOINTS = [0.131188, -0.555939, -0.543586, -2.649620, -0.360462, 2.252497, -2.242961]  # t=284\nPLACE_286_JOINTS = [0.129011, -0.555033, -0.541350, -2.649203, -0.358401, 2.252879, -2.244178]  # t=286\nPLACE_288_JOINTS = [0.126838, -0.555057, -0.539559, -2.649418, -0.356576, 2.255300, -2.245359]  # t=288\nPLACE_290_JOINTS = [0.124730, -0.555210, -0.538067, -2.650193, -0.355434, 2.257179, -2.246251]  # t=290\nPLACE_292_JOINTS = [0.122257, -0.558525, -0.536075, -2.650498, -0.354776, 2.254438, -2.246956]  # t=292\nPLACE_293_JOINTS = [0.120078, -0.565623, -0.534004, -2.649890, -0.354925, 2.245343, -2.247309]  # t=293\nRELEASE_POSE_293_JOINTS = [0.120078, -0.565623, -0.534004, -2.649890, -0.354925, 2.245343, -2.247309]  # t=293\nRETRACT_295_JOINTS = [0.111958, -0.600136, -0.526108, -2.646019, -0.358213, 2.207078, -2.246963]  # t=295\nRETRACT_297_JOINTS = [0.099108, -0.657852, -0.514118, -2.644720, -0.369291, 2.147817, -2.242650]  # t=297\nRETRACT_299_JOINTS = [0.083756, -0.733633, -0.500666, -2.647673, -0.382161, 2.076324, -2.241489]  # t=299\nRETRACT_300_JOINTS = [0.075674, -0.778432, -0.492057, -2.651710, -0.388090, 2.039541, -2.241085]  # t=300\nRETRACT_301_JOINTS = [0.068316, -0.826456, -0.479519, -2.659417, -0.392254, 2.004250, -2.238206]  # t=301\nRETRACT_303_JOINTS = [0.055232, -0.924611, -0.453572, -2.680296, -0.395618, 1.944700, -2.228855]  # t=303\nRETRACT_305_JOINTS = [0.042145, -1.032928, -0.426554, -2.699051, -0.391787, 1.877748, -2.222049]  # t=305\nRETRACT_307_JOINTS = [0.029049, -1.147345, -0.400545, -2.713386, -0.386408, 1.804855, -2.220401]  # t=307\nRETRACT_309_JOINTS = [0.021575, -1.256517, -0.368960, -2.722000, -0.369050, 1.747102, -2.219967]  # t=309\nRETRACT_311_JOINTS = [0.020028, -1.348980, -0.334069, -2.727813, -0.346286, 1.708970, -2.210712]  # t=311\nRETRACT_313_JOINTS = [0.027494, -1.417975, -0.285681, -2.731948, -0.307682, 1.685588, -2.191723]  # t=313\nRETRACT_315_JOINTS = [0.044971, -1.461365, -0.221706, -2.738358, -0.251599, 1.673605, -2.173963]  # t=315\nRETRACT_317_JOINTS = [0.067778, -1.484217, -0.153814, -2.738553, -0.193683, 1.666098, -2.160458]  # t=317\nRETRACT_319_JOINTS = [0.091244, -1.496067, -0.092057, -2.731322, -0.142577, 1.651614, -2.146363]  # t=319\nRETRACT_321_JOINTS = [0.116558, -1.494720, -0.028859, -2.720233, -0.089902, 1.631828, -2.133376]  # t=321\nRETRACT_323_JOINTS = [0.141725, -1.480637, 0.032130, -2.701381, -0.041066, 1.603316, -2.120800]  # t=323\nRETRACT_325_JOINTS = [0.164752, -1.459121, 0.081570, -2.673916, 0.000329, 1.568752, -2.110225]  # t=325\nRETRACT_326_JOINTS = [0.175080, -1.447546, 0.100409, -2.659606, 0.017707, 1.550437, -2.105621]  # t=326\nAPPROACH_000_JOINTS = [0.003431, -1.053115, 0.005184, -2.311799, 0.030015, 1.500472, 0.685453]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, 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_010_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, 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_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=4, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_069_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_084_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_116_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_118_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_124_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_126_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_128_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_130_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_132_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_134_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_136_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_138_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_140_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_142_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_144_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_146_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_148_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_154_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_156_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_158_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_159_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_167_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_167_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_170_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_171_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_175_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_176_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_183_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_184_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_192_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_195_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_204_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_207_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_216_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_219_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_220_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_225_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_228_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_231_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_232_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_234_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_236_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_237_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_240_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_243_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_244_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_246_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_248_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_249_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_252_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_254_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_256_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_258_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_260_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_262_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_264_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_266_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_268_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_270_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_272_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_274_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_275_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_276_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_278_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_280_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_282_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_284_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_286_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_288_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_290_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_292_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_293_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_293_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_293_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_293_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_295_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_297_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_299_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_300_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_301_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_303_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_305_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_307_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_311_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_315_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_317_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_319_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_321_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_323_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_325_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_326_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 33966, "code_num_lines": 375, "code_num_nonblank_lines": 360, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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-11,1.0920004551696908e-07,-2.0539339251630962e-10,0.0,0.0,0.0,-3.059116968677835e-07,-8.762926635799834e-08,-2.261488614079269e-09,2.3182045494866694e-09,4.5666223008560856e-07,6.285416452761301e-08,-2.77209048750734e-11,1.5400211494755702e-09,-1.018000940661829e-10,-4.4789460889996267e-07,-4.478949358619699e-07,-6.939031333417479e-08,0.0,0.0,-5.529496450141977e-07,1.4408216694323907e-09,-5.5395891107049596e-08,-5.509094434995971e-07,-1.853278472287811e-12,-5.53959058776623e-08,0.0,0.0,0.0,0.0,0.0,1.1322381786490011e-07,-1.506254982952356e-09,1.1748768509949917e-05,3.850703516880959e-05,5.025166345998178e-05,-0.0015424867187481264,-0.0003297956982865365,4.434036285722846e-06,-1.1130863198391719e-05,1.2763834906110428e-06,4.507047131341525e-05,0.000389624673855622,-4.4520710548494155e-05,-1.3762152043964564e-09,-0.0006309631535008896,0.0013272048050247034,0.01640645790702084,0.01386103385485201,-0.049298558657586325,0.0407002088295429],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 151, "pretrain_task_id": 30, "retained_waypoint_count": 151, "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": 494406, "video_relpath": "videos/raw_extracted/30_PackDessert.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCabinetToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_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': 'PickPlaceCabinetToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 106,\n    'stable_release_contact_loss_t': 170,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.292534, y=-0.583483, z=1.423870, qw=0.433973, qx=-0.027999, qy=-0.001050, qz=0.900490)\nGOAL_RECEPTACLE_POSE = pose(x=0.202578, y=-0.589669, z=1.464330, qw=0.683935, qx=0.001432, qy=0.002423, qz=0.729538)\n\nAPPROACH_005_JOINTS = [-0.013366, -1.054603, -0.059660, -2.290586, 0.051710, 1.509351, 0.710185]  # t=5\nAPPROACH_010_JOINTS = [-0.038409, -1.131126, -0.086543, -2.300407, -0.027067, 1.578086, 0.844423]  # t=10\nAPPROACH_011_JOINTS = [-0.045429, -1.145800, -0.088512, -2.313202, -0.053546, 1.603280, 0.887711]  # t=11\nAPPROACH_015_JOINTS = [-0.068971, -1.159818, -0.075622, -2.388780, -0.168473, 1.687651, 1.042418]  # t=15\nAPPROACH_017_JOINTS = [-0.074807, -1.160035, -0.050165, -2.422805, -0.213733, 1.722783, 1.087970]  # t=17\nAPPROACH_020_JOINTS = [-0.084129, -1.147700, -0.051419, -2.451915, -0.262599, 1.767963, 1.147416]  # t=20\nAPPROACH_022_JOINTS = [-0.091920, -1.132000, -0.067360, -2.447709, -0.297029, 1.784769, 1.181660]  # t=22\nAPPROACH_025_JOINTS = [-0.101343, -1.101693, -0.104466, -2.391441, -0.340911, 1.787597, 1.188952]  # t=25\nAPPROACH_030_JOINTS = [-0.102715, -1.028075, -0.187236, -2.222998, -0.350055, 1.794915, 1.123834]  # t=30\nAPPROACH_034_JOINTS = [-0.095166, -0.966121, -0.247856, -2.087922, -0.315240, 1.806590, 1.081942]  # t=34\nAPPROACH_035_JOINTS = [-0.092479, -0.951223, -0.265209, -2.061851, -0.303472, 1.814974, 1.073173]  # t=35\nAPPROACH_040_JOINTS = [-0.080588, -0.900506, -0.320863, -1.966502, -0.265469, 1.843098, 1.031101]  # t=40\nAPPROACH_043_JOINTS = [-0.075984, -0.890213, -0.330384, -1.941337, -0.258143, 1.870495, 1.018295]  # t=43\nAPPROACH_045_JOINTS = [-0.073234, -0.886230, -0.332030, -1.947693, -0.258495, 1.918863, 1.016186]  # t=45\nAPPROACH_048_JOINTS = [-0.068770, -0.864249, -0.340420, -1.970519, -0.274777, 2.036650, 1.010305]  # t=48\nAPPROACH_050_JOINTS = [-0.067049, -0.831502, -0.355010, -1.978530, -0.310005, 2.128140, 0.990691]  # t=50\nAPPROACH_054_JOINTS = [-0.060532, -0.737530, -0.388149, -1.941812, -0.360767, 2.265510, 0.952246]  # t=54\nAPPROACH_055_JOINTS = [-0.058061, -0.720253, -0.390084, -1.919944, -0.356217, 2.269175, 0.946897]  # t=55\nAPPROACH_058_JOINTS = [-0.052482, -0.672814, -0.386919, -1.845344, -0.343529, 2.223833, 0.926600]  # t=58\nAPPROACH_060_JOINTS = [-0.048248, -0.632852, -0.384961, -1.797957, -0.337128, 2.182743, 0.913505]  # t=60\nAPPROACH_062_JOINTS = [-0.043466, -0.589920, -0.384439, -1.756496, -0.328844, 2.155931, 0.907404]  # t=62\nAPPROACH_064_JOINTS = [-0.039447, -0.549153, -0.385427, -1.725159, -0.321449, 2.137771, 0.904479]  # t=64\nAPPROACH_065_JOINTS = [-0.037815, -0.529141, -0.387134, -1.712454, -0.318661, 2.131485, 0.902463]  # t=65\nAPPROACH_070_JOINTS = [-0.031513, -0.423396, -0.407497, -1.655949, -0.301298, 2.123554, 0.883510]  # t=70\nAPPROACH_075_JOINTS = [-0.029334, -0.305665, -0.458451, -1.580870, -0.252051, 2.133038, 0.834358]  # t=75\nAPPROACH_080_JOINTS = [-0.031339, -0.185749, -0.510370, -1.492546, -0.164280, 2.139407, 0.774334]  # t=80\nAPPROACH_085_JOINTS = [-0.043337, -0.067592, -0.531182, -1.401443, -0.092758, 2.127701, 0.736610]  # t=85\nAPPROACH_086_JOINTS = [-0.047817, -0.047832, -0.532757, -1.383124, -0.081850, 2.120167, 0.730542]  # t=86\nDESCEND_088_JOINTS = [-0.058908, -0.012507, -0.535253, -1.347746, -0.058405, 2.107224, 0.719310]  # t=88\nDESCEND_090_JOINTS = [-0.072420, 0.022908, -0.537014, -1.314399, -0.033309, 2.097751, 0.707238]  # t=90\nDESCEND_092_JOINTS = [-0.088259, 0.059009, -0.538429, -1.280272, -0.006018, 2.091319, 0.695043]  # t=92\nDESCEND_094_JOINTS = [-0.105892, 0.095256, -0.538324, -1.245456, 0.023377, 2.085343, 0.682513]  # t=94\nDESCEND_095_JOINTS = [-0.114962, 0.111820, -0.536925, -1.226478, 0.038146, 2.080997, 0.677026]  # t=95\nDESCEND_096_JOINTS = [-0.124090, 0.127627, -0.534532, -1.207406, 0.051669, 2.075177, 0.672021]  # t=96\nDESCEND_097_JOINTS = [-0.133274, 0.142967, -0.531275, -1.188434, 0.063800, 2.068814, 0.667806]  # t=97\nDESCEND_098_JOINTS = [-0.142568, 0.157793, -0.527481, -1.169316, 0.074427, 2.061475, 0.664108]  # t=98\nDESCEND_099_JOINTS = [-0.151913, 0.172447, -0.523051, -1.149990, 0.083988, 2.053787, 0.661049]  # t=99\nDESCEND_100_JOINTS = [-0.161210, 0.187178, -0.517743, -1.130741, 0.093330, 2.046579, 0.659331]  # t=100\nDESCEND_102_JOINTS = [-0.179623, 0.217315, -0.505122, -1.091231, 0.109530, 2.033586, 0.658581]  # t=102\nDESCEND_104_JOINTS = [-0.197905, 0.247473, -0.491179, -1.050066, 0.121296, 2.019545, 0.659191]  # t=104\nDESCEND_105_JOINTS = [-0.207182, 0.262498, -0.484313, -1.028889, 0.125758, 2.011730, 0.659515]  # t=105\nGRASP_HOLD_106_JOINTS = [-0.216643, 0.277735, -0.477650, -1.007043, 0.129776, 2.003954, 0.659767]  # t=106\nLIFT_107_JOINTS = [-0.226379, 0.293053, -0.471352, -0.984556, 0.133634, 1.996030, 0.659793]  # t=107\nLIFT_108_JOINTS = [-0.236442, 0.308661, -0.465502, -0.961357, 0.137020, 1.987750, 0.659274]  # t=108\nLIFT_109_JOINTS = [-0.246822, 0.324577, -0.459890, -0.937223, 0.140555, 1.978929, 0.658366]  # t=109\nLIFT_110_JOINTS = [-0.257445, 0.340813, -0.454285, -0.912236, 0.144442, 1.969816, 0.657307]  # t=110\nLIFT_111_JOINTS = [-0.268284, 0.357241, -0.448671, -0.886598, 0.148430, 1.960294, 0.656216]  # t=111\nLIFT_112_JOINTS = [-0.279477, 0.373269, -0.443139, -0.860834, 0.153431, 1.949726, 0.655782]  # t=112\nLIFT_113_JOINTS = [-0.290918, 0.386587, -0.437705, -0.836092, 0.159658, 1.932764, 0.654942]  # t=113\nLIFT_114_JOINTS = [-0.301968, 0.395960, -0.431856, -0.812986, 0.165431, 1.907847, 0.651138]  # t=114\nLIFT_115_JOINTS = [-0.312879, 0.397310, -0.427397, -0.794715, 0.168650, 1.869162, 0.642764]  # t=115\nLIFT_116_JOINTS = [-0.323165, 0.389994, -0.423046, -0.780839, 0.172913, 1.818660, 0.629766]  # t=116\nLIFT_117_JOINTS = [-0.333099, 0.378128, -0.419125, -0.771385, 0.178520, 1.768453, 0.613637]  # t=117\nLIFT_118_JOINTS = [-0.342633, 0.363875, -0.415921, -0.766486, 0.185027, 1.721894, 0.595852]  # t=118\nLIFT_119_JOINTS = [-0.351642, 0.347616, -0.413356, -0.765694, 0.193504, 1.680476, 0.576930]  # t=119\nLIFT_120_JOINTS = [-0.360107, 0.329479, -0.411762, -0.769216, 0.203961, 1.643132, 0.556848]  # t=120\nLIFT_121_JOINTS = [-0.367413, 0.308695, -0.410393, -0.776688, 0.217109, 1.608006, 0.536202]  # t=121\nPLACE_123_JOINTS = [-0.376658, 0.258219, -0.408094, -0.805364, 0.244391, 1.542207, 0.493313]  # t=123\nPLACE_125_JOINTS = [-0.376239, 0.195705, -0.405579, -0.857049, 0.261080, 1.483644, 0.448004]  # t=125\nPLACE_127_JOINTS = [-0.366328, 0.120819, -0.403682, -0.932639, 0.265699, 1.442668, 0.403462]  # t=127\nPLACE_129_JOINTS = [-0.347718, 0.031449, -0.401740, -1.028299, 0.261983, 1.423178, 0.359711]  # t=129\nPLACE_131_JOINTS = [-0.321851, -0.071975, -0.398336, -1.141435, 0.247819, 1.423123, 0.317557]  # t=131\nPLACE_133_JOINTS = [-0.291497, -0.186652, -0.393558, -1.268273, 0.224485, 1.440295, 0.278215]  # t=133\nPLACE_135_JOINTS = [-0.259656, -0.309480, -0.387910, -1.408921, 0.193929, 1.466983, 0.239958]  # t=135\nPLACE_137_JOINTS = [-0.228898, -0.436501, -0.380608, -1.563263, 0.154296, 1.488804, 0.204207]  # t=137\nPLACE_139_JOINTS = [-0.201294, -0.566202, -0.374985, -1.724316, 0.117325, 1.508487, 0.172781]  # t=139\nPLACE_141_JOINTS = [-0.178217, -0.692161, -0.371859, -1.877702, 0.075254, 1.516712, 0.143175]  # t=141\nPLACE_143_JOINTS = [-0.159081, -0.804679, -0.373351, -2.014370, 0.031109, 1.514902, 0.114466]  # t=143\nPLACE_145_JOINTS = [-0.141112, -0.890057, -0.378591, -2.132909, -0.006855, 1.512604, 0.088722]  # t=145\nPLACE_147_JOINTS = [-0.121892, -0.937579, -0.387399, -2.232130, -0.034652, 1.515184, 0.070688]  # t=147\nPLACE_149_JOINTS = [-0.101635, -0.951266, -0.396591, -2.309747, -0.058342, 1.515202, 0.058591]  # t=149\nPLACE_151_JOINTS = [-0.079102, -0.931197, -0.406395, -2.369824, -0.077107, 1.527682, 0.046599]  # t=151\nPLACE_153_JOINTS = [-0.053218, -0.874619, -0.418235, -2.413351, -0.090253, 1.556528, 0.032352]  # t=153\nPLACE_155_JOINTS = [-0.025745, -0.791620, -0.432385, -2.436535, -0.094677, 1.590701, 0.013514]  # t=155\nPLACE_157_JOINTS = [0.000416, -0.696381, -0.446753, -2.443591, -0.092529, 1.621439, -0.010828]  # t=157\nPLACE_159_JOINTS = [0.022296, -0.604018, -0.463098, -2.442835, -0.079948, 1.644866, -0.046723]  # t=159\nPLACE_161_JOINTS = [0.037572, -0.520304, -0.484621, -2.442300, -0.061290, 1.665602, -0.094555]  # t=161\nPLACE_163_JOINTS = [0.045844, -0.448980, -0.510577, -2.447329, -0.035888, 1.691154, -0.151646]  # t=163\nPLACE_164_JOINTS = [0.048006, -0.417025, -0.523175, -2.453112, -0.022148, 1.710218, -0.182127]  # t=164\nPLACE_165_JOINTS = [0.048972, -0.388075, -0.534352, -2.461928, -0.009107, 1.729022, -0.211657]  # t=165\nPLACE_167_JOINTS = [0.049028, -0.343389, -0.545782, -2.484295, 0.020692, 1.766953, -0.261698]  # t=167\nPLACE_169_JOINTS = [0.041633, -0.327668, -0.557814, -2.507054, 0.042376, 1.798673, -0.312542]  # t=169\nPLACE_170_JOINTS = [0.036397, -0.323721, -0.565031, -2.523577, 0.051173, 1.820655, -0.339157]  # t=170\nRELEASE_POSE_170_JOINTS = [0.036397, -0.323721, -0.565031, -2.523577, 0.051173, 1.820655, -0.339157]  # t=170\nRETRACT_172_JOINTS = [0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732]  # t=172\nRETRACT_173_JOINTS = [0.021222, -0.318874, -0.580942, -2.576580, 0.082095, 1.908551, -0.418362]  # t=173\nRETRACT_175_JOINTS = [0.010382, -0.328438, -0.590411, -2.593420, 0.102478, 1.951468, -0.466730]  # t=175\nRETRACT_176_JOINTS = [0.005210, -0.337133, -0.594429, -2.603242, 0.113762, 1.968488, -0.489771]  # t=176\nRETRACT_179_JOINTS = [-0.008781, -0.377116, -0.605297, -2.638021, 0.149563, 2.023474, -0.558458]  # t=179\nRETRACT_180_JOINTS = [-0.013649, -0.395481, -0.610921, -2.650444, 0.160262, 2.043328, -0.583560]  # t=180\nRETRACT_182_JOINTS = [-0.029405, -0.458175, -0.628284, -2.668794, 0.165363, 2.048568, -0.628877]  # t=182\nRETRACT_185_JOINTS = [-0.071741, -0.622578, -0.643669, -2.678980, 0.099437, 1.961004, -0.628216]  # t=185\nRETRACT_186_JOINTS = [-0.087087, -0.686391, -0.634929, -2.683969, 0.061225, 1.928563, -0.604315]  # t=186\nRETRACT_188_JOINTS = [-0.112931, -0.818688, -0.598856, -2.701005, -0.000323, 1.871734, -0.545260]  # t=188\nRETRACT_189_JOINTS = [-0.121667, -0.882658, -0.572820, -2.713291, -0.017641, 1.850537, -0.512990]  # t=189\nRETRACT_191_JOINTS = [-0.127858, -0.996322, -0.508450, -2.747042, -0.020599, 1.830529, -0.446896]  # t=191\nRETRACT_194_JOINTS = [-0.124530, -1.136584, -0.424254, -2.803239, 0.012682, 1.832552, -0.369788]  # t=194\nRETRACT_195_JOINTS = [-0.123843, -1.179709, -0.406332, -2.818219, 0.024026, 1.834540, -0.354517]  # t=195\nRETRACT_197_JOINTS = [-0.122953, -1.261988, -0.378983, -2.840957, 0.045006, 1.837060, -0.332321]  # t=197\nRETRACT_200_JOINTS = [-0.114772, -1.362155, -0.332800, -2.859222, 0.084271, 1.845671, -0.296921]  # t=200\nRETRACT_203_JOINTS = [-0.098273, -1.425409, -0.277340, -2.841668, 0.124582, 1.837572, -0.249782]  # t=203\nRETRACT_205_JOINTS = [-0.084044, -1.442534, -0.240915, -2.812875, 0.146108, 1.826019, -0.214675]  # t=205\nRETRACT_206_JOINTS = [-0.076783, -1.444431, -0.226000, -2.794917, 0.153722, 1.820234, -0.198926]  # t=206\nRETRACT_209_JOINTS = [-0.056583, -1.429737, -0.195843, -2.726378, 0.162400, 1.792407, -0.154159]  # t=209\nRETRACT_212_JOINTS = [-0.039000, -1.388439, -0.177712, -2.640689, 0.156073, 1.734262, -0.102339]  # t=212\nRETRACT_215_JOINTS = [-0.025183, -1.346184, -0.167539, -2.556639, 0.145221, 1.669597, -0.054477]  # t=215\nRETRACT_218_JOINTS = [-0.015462, -1.319436, -0.162572, -2.493377, 0.135560, 1.619030, -0.018680]  # t=218\nRETRACT_219_JOINTS = [-0.013282, -1.316872, -0.161613, -2.474925, 0.132523, 1.599873, -0.008301]  # t=219\nAPPROACH_000_JOINTS = [-0.010520, -1.025454, -0.058702, -2.297071, 0.053644, 1.544523, 0.706240]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_058_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_106_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_106_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_164_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_170_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_170_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_170_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_170_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_176_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_179_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_185_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_194_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_200_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_203_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_209_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_215_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_219_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 24907, "code_num_lines": 283, "code_num_nonblank_lines": 269, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 the ice cube from the cabinet and place it on the counter.\",\"layout_id\":52,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"ice_cube\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"ice_cube\",\"iced_item\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"singlecabinet_1_left_group_1\",\"pos\":[0,-1.0],\"size\":[0.5,0.2]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[0.45,0.34]},\"type\":\"object\"},{\"info\":{\"cat\":\"cake\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,-0.05],\"pos\":[0.0,1.0],\"sample_region_kwargs\":{\"min_size\":[0.07903809439999998,0.07907211679999998,0.06379868959999997],\"ref\":\"singlecabinet_1_left_group_1\"},\"size\":[1.0,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.009,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"glass_cup\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"glass_cup\",\"stackable\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup018/model.xml\",\"split\":\"train\"},\"name\":\"distr_cab\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"singlecabinet_1_left_group_1\",\"offset\":[0.0,0.0],\"pos\":[0.0,1.0],\"size\":[1.0,0.2]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[0.45,0.34]},\"type\":\"object\"}],\"style_id\":34},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12851083278656006,\"qx\":0.7136452794075012,\"qy\":-0.6852855086326599,\"qz\":-0.0676690861582756,\"x\":0.6217568688680383,\"y\":-0.9682779765721058,\"z\":1.2875032309308507},\"goal_pose\":{\"qw\":0.7073285357549186,\"qx\":0.000729019588639172,\"qy\":9.405190602178742e-05,\"qz\":0.7068845748716562,\"x\":0.2088923174029346,\"y\":-0.5888004480348967,\"z\":1.4643543642915482},\"object_pose\":{\"qw\":0.43397254840295807,\"qx\":-0.027998838038625785,\"qy\":-0.001050308073593292,\"qz\":0.9004903048640115,\"x\":0.2925342889804932,\"y\":-0.58348312861017,\"z\":1.4238700541103677}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCabinetToCounter\"}", "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\":\"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 the ice cube from the cabinet and place it on the counter.\",\"layout_id\":52,\"object_cfgs\":[{\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"ice_cube\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"ice_cube\",\"iced_item\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"singlecabinet_1_left_group_1\",\"pos\":[0,-1.0],\"size\":[0.5,0.2]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[0.45,0.34]},\"type\":\"object\"},{\"info\":{\"cat\":\"cake\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"cake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml\",\"split\":\"train\"},\"name\":\"distr_counter\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"counter_1_left_group_1\",\"offset\":[0.0,-0.05],\"pos\":[0.0,1.0],\"sample_region_kwargs\":{\"min_size\":[0.07903809439999998,0.07907211679999998,0.06379868959999997],\"ref\":\"singlecabinet_1_left_group_1\"},\"size\":[1.0,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.0,0.0,0.46],\"size\":[1.009,0.65]},\"type\":\"object\"},{\"info\":{\"cat\":\"glass_cup\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"glass_cup\",\"stackable\",\"receptacle\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup018/model.xml\",\"split\":\"train\"},\"name\":\"distr_cab\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"singlecabinet_1_left_group_1\",\"offset\":[0.0,0.0],\"pos\":[0.0,1.0],\"size\":[1.0,0.2]},\"reset_region\":{\"height\":0.2666666666666667,\"name\":\"level0\",\"offset\":[0.0,0.0,-0.43],\"size\":[0.45,0.34]},\"type\":\"object\"}],\"style_id\":34},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.12851083278656006,\"qx\":0.7136452794075012,\"qy\":-0.6852855086326599,\"qz\":-0.0676690861582756,\"x\":0.6217568688680383,\"y\":-0.9682779765721058,\"z\":1.2875032309308507},\"goal_pose\":{\"qw\":0.7073285357549186,\"qx\":0.000729019588639172,\"qy\":9.405190602178742e-05,\"qz\":0.7068845748716562,\"x\":0.2088923174029346,\"y\":-0.5888004480348967,\"z\":1.4643543642915482},\"object_pose\":{\"qw\":0.43397254840295807,\"qx\":-0.027998838038625785,\"qy\":-0.001050308073593292,\"qz\":0.9004903048640115,\"x\":0.2925342889804932,\"y\":-0.58348312861017,\"z\":1.4238700541103677}},\"initial_state\":[0.5000000000000003,10.981841234644104,9.12161227498226,2.230525092148164e-07,1.9520683876048883e-08,-0.010281601517937852,-1.0249677822935066,-0.05870653057242061,-2.2971580108686025,0.053644435834460547,1.5455173095784707,0.7062490726314693,0.020576112902559188,-0.020490446138629492,0.0,-0.00020284377081531045,0.0,0.0,0.0,-8.152680597451469e-05,9.955697536052966e-08,-1.9877386045883166e-08,-5.220418754463279e-09,2.7129934906827765e-07,-1.0222483735041039e-08,-4.524015980308443e-09,0.0,0.0,0.0,0.0,0.0,0.0,-3.251956427162038e-05,-0.0005574807452884392,0.0,0.0,0.0,0.0,0.0,0.0,-7.097017604614693e-08,4.832602420028502e-07,-0.0003601957712681754,0.0,0.0,0.0,-0.00477610831000553,-0.0047761074727118245,0.00290094856793356,0.0,0.0,-8.675822050340725e-16,-8.741588379485708e-16,-8.741588379485708e-16,-0.007518083611632636,0.0,-0.0004253021079268768,-0.007518083611632636,0.0,-0.0004253021079268227,-2.2691744243742382e-15,-2.2966495124883478e-15,-2.2966495124883478e-15,0.0,0.0,0.0,0.0,0.0,1.5596881792024433,0.0,0.0,0.0,0.0,0.2925342889804932,-0.58348312861017,1.4238700541103677,0.43397254840295807,-0.027998838038625785,-0.001050308073593292,0.9004903048640115,0.2669101795584275,-1.5680820136788969,0.9520033926203383,0.8835865568839826,-0.0008850229014641883,-0.0016222636553626182,0.4682642218758601,0.2088923174029346,-0.5888004480348967,1.4643543642915482,0.7073285357549186,0.000729019588639172,9.405190602178742e-05,0.7068845748716562,-6.446597953650531e-07,-1.8302101039639368e-07,-2.8999424182887547e-06,3.066417434270365e-07,-8.08023370730671e-06,2.688581521854137e-06,-0.0006361096193111161,0.001103034874305323,-0.0007901203374472652,-0.001029669671313554,-0.00010089823943201014,-0.0004299501616597964,0.0005060993566532019,0.0,-1.7685322745907842e-06,0.0,0.0,0.0,-7.308003991625047e-07,2.025805295183302e-07,-3.590096775188872e-10,-9.428708945474616e-11,5.520453548652957e-07,-1.846304448808313e-10,-8.170921137168247e-11,0.0,0.0,0.0,0.0,0.0,0.0,-7.182772187589991e-07,5.487419715133864e-12,0.0,0.0,0.0,0.0,0.0,0.0,-1.4441218218820641e-07,9.833520211079032e-07,2.4235724612562767e-12,0.0,0.0,0.0,-3.379999819772826e-07,-3.3799990490311823e-07,7.34086133194046e-05,0.0,0.0,-3.044630098752052e-17,-3.190734462781448e-17,-3.190734462781448e-17,-5.47058288483579e-07,0.0,-3.676500280343602e-08,-5.47058288483579e-07,0.0,-3.6765004264734007e-08,-9.286928045486722e-17,-9.990821008521975e-17,-9.990821008521975e-17,0.0,0.0,0.0,0.0,0.0,3.241034468843307e-05,0.0,0.0,0.0,0.0,0.005360798188640036,0.003436846323509306,-0.003637781821993436,0.07187505986223405,0.01426642495232453,0.0011596541461363157,-3.8003417427702456e-07,4.320878606029609e-07,1.7380388139820324e-06,-1.8056237647049484e-05,4.651267030606488e-06,6.059974245548594e-08,-7.549840740109664e-05,0.0001984050647944585,1.7710157376209085e-07,-0.0013983299571284676,0.00364325889087028,-1.0943044542951801e-05],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCabinetToCounter\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 107, "pretrain_task_id": 31, "retained_waypoint_count": 107, "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": 463455, "video_relpath": "videos/raw_extracted/31_PickPlaceCabinetToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToBlender\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_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': 'PickPlaceCounterToBlender',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 106,\n    'stable_release_contact_loss_t': 239,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.707522, y=-2.777146, z=0.949463, qw=0.988361, qx=0.032758, qy=-0.028550, qz=0.145789)\nGOAL_RECEPTACLE_POSE = pose(x=3.318372, y=-2.718032, z=0.995802, qw=0.933261, qx=-0.000052, qy=-0.000092, qz=-0.359199)\n\nAPPROACH_004_JOINTS = [-0.004513, -0.975402, -0.077698, -2.265469, 0.036446, 1.507853, 0.677439]  # t=4\nAPPROACH_008_JOINTS = [-0.029325, -1.020080, -0.161287, -2.289899, -0.045215, 1.478458, 0.712154]  # t=8\nAPPROACH_009_JOINTS = [-0.035408, -1.031687, -0.178755, -2.300794, -0.065054, 1.481180, 0.724926]  # t=9\nAPPROACH_012_JOINTS = [-0.050922, -1.045022, -0.233137, -2.340244, -0.126135, 1.512850, 0.750284]  # t=12\nAPPROACH_016_JOINTS = [-0.065083, -1.031710, -0.329651, -2.367206, -0.204112, 1.580631, 0.713938]  # t=16\nAPPROACH_020_JOINTS = [-0.068422, -0.978979, -0.419488, -2.349825, -0.264963, 1.624175, 0.647711]  # t=20\nAPPROACH_024_JOINTS = [-0.058039, -0.883668, -0.482363, -2.311338, -0.298088, 1.655040, 0.600849]  # t=24\nAPPROACH_028_JOINTS = [-0.040694, -0.755678, -0.557520, -2.265541, -0.334384, 1.690155, 0.550666]  # t=28\nAPPROACH_032_JOINTS = [-0.017861, -0.614016, -0.634389, -2.206449, -0.347746, 1.725950, 0.494810]  # t=32\nAPPROACH_036_JOINTS = [0.007392, -0.466072, -0.703855, -2.137802, -0.331738, 1.767585, 0.437588]  # t=36\nAPPROACH_039_JOINTS = [0.022765, -0.355429, -0.749111, -2.076491, -0.299406, 1.787387, 0.389070]  # t=39\nAPPROACH_040_JOINTS = [0.026530, -0.322779, -0.759231, -2.056245, -0.281052, 1.788756, 0.373595]  # t=40\nAPPROACH_044_JOINTS = [0.030217, -0.209049, -0.780202, -1.999595, -0.203095, 1.798628, 0.325751]  # t=44\nAPPROACH_048_JOINTS = [0.015513, -0.114840, -0.775760, -1.971489, -0.133306, 1.823450, 0.293118]  # t=48\nAPPROACH_052_JOINTS = [-0.014102, -0.034748, -0.749682, -1.948361, -0.072006, 1.850553, 0.269391]  # t=52\nAPPROACH_056_JOINTS = [-0.054415, 0.038675, -0.710776, -1.916947, -0.017497, 1.873280, 0.250175]  # t=56\nAPPROACH_060_JOINTS = [-0.101692, 0.109448, -0.669072, -1.881155, 0.039974, 1.884343, 0.224479]  # t=60\nAPPROACH_063_JOINTS = [-0.139238, 0.163528, -0.637393, -1.854043, 0.075441, 1.896252, 0.206615]  # t=63\nAPPROACH_064_JOINTS = [-0.152225, 0.179212, -0.628482, -1.845157, 0.084579, 1.897970, 0.199890]  # t=64\nAPPROACH_068_JOINTS = [-0.199686, 0.222983, -0.591017, -1.824498, 0.106362, 1.889292, 0.181713]  # t=68\nDESCEND_070_JOINTS = [-0.218945, 0.237318, -0.570229, -1.821045, 0.108114, 1.878609, 0.181292]  # t=70\nDESCEND_072_JOINTS = [-0.235353, 0.243820, -0.551484, -1.820253, 0.108413, 1.872933, 0.182594]  # t=72\nDESCEND_074_JOINTS = [-0.248541, 0.244451, -0.534871, -1.823299, 0.106907, 1.871317, 0.185426]  # t=74\nDESCEND_075_JOINTS = [-0.254327, 0.243829, -0.528440, -1.825763, 0.105171, 1.871656, 0.186644]  # t=75\nDESCEND_076_JOINTS = [-0.259748, 0.242425, -0.523682, -1.828718, 0.103008, 1.871846, 0.186879]  # t=76\nDESCEND_078_JOINTS = [-0.269061, 0.238576, -0.516920, -1.836291, 0.099023, 1.873138, 0.185925]  # t=78\nDESCEND_079_JOINTS = [-0.273011, 0.236052, -0.514917, -1.841524, 0.096875, 1.873814, 0.184855]  # t=79\nDESCEND_080_JOINTS = [-0.276645, 0.232928, -0.514194, -1.848269, 0.094539, 1.874635, 0.183683]  # t=80\nDESCEND_081_JOINTS = [-0.279958, 0.229024, -0.514493, -1.856498, 0.092136, 1.875838, 0.182444]  # t=81\nDESCEND_082_JOINTS = [-0.282893, 0.224363, -0.515420, -1.865756, 0.089538, 1.877772, 0.180743]  # t=82\nDESCEND_084_JOINTS = [-0.287206, 0.214241, -0.517201, -1.886166, 0.084479, 1.884829, 0.176067]  # t=84\nDESCEND_086_JOINTS = [-0.289064, 0.204870, -0.517150, -1.907112, 0.080522, 1.896112, 0.174026]  # t=86\nDESCEND_088_JOINTS = [-0.289002, 0.201615, -0.515225, -1.924898, 0.078008, 1.913484, 0.175186]  # t=88\nDESCEND_090_JOINTS = [-0.288565, 0.203365, -0.513772, -1.940216, 0.077993, 1.932643, 0.175758]  # t=90\nDESCEND_092_JOINTS = [-0.287807, 0.208907, -0.511405, -1.951538, 0.081093, 1.953196, 0.175841]  # t=92\nDESCEND_094_JOINTS = [-0.287061, 0.215797, -0.508696, -1.957555, 0.085392, 1.969396, 0.176144]  # t=94\nDESCEND_096_JOINTS = [-0.286690, 0.224644, -0.505764, -1.960687, 0.090243, 1.983188, 0.176286]  # t=96\nDESCEND_098_JOINTS = [-0.286767, 0.235549, -0.502319, -1.961816, 0.096029, 1.996000, 0.176290]  # t=98\nDESCEND_100_JOINTS = [-0.287467, 0.245647, -0.499685, -1.962353, 0.101024, 2.005285, 0.176033]  # t=100\nDESCEND_101_JOINTS = [-0.288079, 0.250185, -0.498671, -1.962887, 0.103153, 2.009162, 0.175582]  # t=101\nDESCEND_102_JOINTS = [-0.288776, 0.254152, -0.497641, -1.963783, 0.105126, 2.012502, 0.174993]  # t=102\nDESCEND_103_JOINTS = [-0.289451, 0.257524, -0.496340, -1.965106, 0.106949, 2.015489, 0.174598]  # t=103\nDESCEND_104_JOINTS = [-0.290076, 0.260419, -0.494748, -1.966875, 0.108555, 2.018459, 0.174531]  # t=104\nDESCEND_105_JOINTS = [-0.290521, 0.262489, -0.492625, -1.968726, 0.110126, 2.020945, 0.174733]  # t=105\nGRASP_HOLD_106_JOINTS = [-0.290769, 0.263359, -0.490261, -1.970053, 0.111119, 2.022247, 0.175562]  # t=106\nLIFT_107_JOINTS = [-0.291014, 0.263508, -0.488267, -1.970979, 0.111321, 2.022768, 0.176688]  # t=107\nLIFT_108_JOINTS = [-0.291266, 0.262862, -0.486765, -1.971352, 0.111090, 2.022390, 0.177774]  # t=108\nLIFT_109_JOINTS = [-0.291403, 0.262515, -0.485620, -1.970817, 0.108602, 2.020859, 0.179975]  # t=109\nLIFT_110_JOINTS = [-0.291362, 0.262975, -0.484539, -1.969034, 0.103224, 2.017146, 0.183993]  # t=110\nLIFT_111_JOINTS = [-0.291560, 0.261346, -0.484575, -1.967448, 0.098502, 2.010543, 0.186907]  # t=111\nLIFT_112_JOINTS = [-0.291930, 0.256502, -0.485690, -1.966100, 0.095018, 2.002607, 0.187691]  # t=112\nLIFT_113_JOINTS = [-0.291963, 0.246766, -0.487646, -1.962630, 0.089578, 1.991973, 0.188828]  # t=113\nLIFT_114_JOINTS = [-0.291344, 0.232841, -0.489436, -1.956970, 0.082021, 1.977156, 0.191483]  # t=114\nLIFT_115_JOINTS = [-0.290145, 0.215597, -0.490853, -1.948852, 0.074440, 1.957241, 0.194977]  # t=115\nLIFT_116_JOINTS = [-0.288487, 0.196406, -0.492234, -1.939259, 0.066535, 1.933358, 0.199110]  # t=116\nLIFT_117_JOINTS = [-0.286471, 0.177616, -0.493682, -1.928464, 0.057799, 1.908867, 0.203975]  # t=117\nTRANSPORT_120_JOINTS = [-0.280624, 0.114420, -0.505175, -1.898126, 0.045785, 1.838444, 0.206296]  # t=120\nTRANSPORT_122_JOINTS = [-0.274022, 0.063469, -0.511190, -1.886090, 0.051096, 1.799195, 0.203504]  # t=122\nTRANSPORT_123_JOINTS = [-0.268930, 0.035830, -0.511215, -1.882127, 0.054852, 1.781142, 0.205399]  # t=123\nTRANSPORT_126_JOINTS = [-0.247833, -0.059748, -0.503722, -1.880203, 0.054437, 1.733519, 0.214862]  # t=126\nTRANSPORT_129_JOINTS = [-0.219780, -0.175098, -0.483595, -1.894747, 0.029732, 1.709202, 0.235327]  # t=129\nTRANSPORT_132_JOINTS = [-0.188078, -0.297704, -0.454480, -1.923570, 0.013634, 1.728760, 0.265517]  # t=132\nTRANSPORT_134_JOINTS = [-0.166036, -0.379888, -0.430629, -1.948044, 0.013893, 1.754932, 0.280150]  # t=134\nTRANSPORT_135_JOINTS = [-0.154869, -0.421262, -0.416798, -1.961748, 0.017360, 1.768379, 0.285342]  # t=135\nTRANSPORT_138_JOINTS = [-0.121122, -0.533249, -0.376862, -1.999403, 0.045461, 1.800508, 0.285129]  # t=138\nTRANSPORT_141_JOINTS = [-0.087919, -0.621685, -0.339038, -2.017846, 0.089861, 1.832016, 0.270579]  # t=141\nTRANSPORT_144_JOINTS = [-0.056160, -0.688777, -0.296530, -2.021288, 0.142372, 1.865964, 0.257786]  # t=144\nTRANSPORT_147_JOINTS = [-0.025594, -0.725299, -0.251663, -2.018762, 0.197842, 1.905258, 0.243955]  # t=147\nTRANSPORT_150_JOINTS = [0.001807, -0.738807, -0.201902, -1.996298, 0.247728, 1.932035, 0.238851]  # t=150\nTRANSPORT_153_JOINTS = [0.024098, -0.735540, -0.156220, -1.960829, 0.292652, 1.920343, 0.251538]  # t=153\nTRANSPORT_156_JOINTS = [0.040959, -0.725199, -0.116250, -1.939655, 0.329371, 1.896967, 0.257157]  # t=156\nTRANSPORT_157_JOINTS = [0.045220, -0.720866, -0.099962, -1.935304, 0.336683, 1.888892, 0.261964]  # t=157\nTRANSPORT_159_JOINTS = [0.051395, -0.710122, -0.062173, -1.925462, 0.340927, 1.873150, 0.280557]  # t=159\nTRANSPORT_162_JOINTS = [0.055668, -0.684157, 0.003424, -1.904640, 0.333929, 1.846515, 0.340068]  # t=162\nTRANSPORT_164_JOINTS = [0.055908, -0.656762, 0.046388, -1.884675, 0.328320, 1.839514, 0.388271]  # t=164\nTRANSPORT_165_JOINTS = [0.054874, -0.641271, 0.061411, -1.875687, 0.323397, 1.837248, 0.406625]  # t=165\nTRANSPORT_166_JOINTS = [0.053188, -0.626836, 0.072040, -1.866978, 0.316848, 1.837439, 0.418864]  # t=166\nTRANSPORT_168_JOINTS = [0.048692, -0.605785, 0.084471, -1.851553, 0.296312, 1.828870, 0.427096]  # t=168\nTRANSPORT_171_JOINTS = [0.042069, -0.588831, 0.103844, -1.838500, 0.256557, 1.815302, 0.424532]  # t=171\nTRANSPORT_174_JOINTS = [0.036189, -0.581557, 0.127515, -1.834294, 0.218548, 1.807738, 0.427920]  # t=174\nTRANSPORT_177_JOINTS = [0.030879, -0.577598, 0.143830, -1.837812, 0.192985, 1.806440, 0.429586]  # t=177\nTRANSPORT_180_JOINTS = [0.026123, -0.573232, 0.154946, -1.844431, 0.172879, 1.800964, 0.429375]  # t=180\nTRANSPORT_183_JOINTS = [0.022499, -0.569694, 0.168483, -1.847480, 0.154331, 1.800403, 0.430261]  # t=183\nTRANSPORT_186_JOINTS = [0.019589, -0.568690, 0.179687, -1.849137, 0.143257, 1.800512, 0.434826]  # t=186\nTRANSPORT_189_JOINTS = [0.017291, -0.568755, 0.182256, -1.849039, 0.143218, 1.800511, 0.435625]  # t=189\nTRANSPORT_191_JOINTS = [0.016439, -0.569071, 0.184096, -1.849008, 0.143997, 1.799962, 0.434529]  # t=191\nTRANSPORT_192_JOINTS = [0.016230, -0.570660, 0.185157, -1.849104, 0.144220, 1.797570, 0.434124]  # t=192\nTRANSPORT_195_JOINTS = [0.015193, -0.598647, 0.180334, -1.854568, 0.141310, 1.765143, 0.441153]  # t=195\nTRANSPORT_198_JOINTS = [0.016119, -0.652166, 0.176938, -1.873006, 0.141455, 1.751153, 0.439126]  # t=198\nTRANSPORT_200_JOINTS = [0.016662, -0.681989, 0.177671, -1.895354, 0.142634, 1.762390, 0.438200]  # t=200\nTRANSPORT_201_JOINTS = [0.016856, -0.693963, 0.178061, -1.907342, 0.143901, 1.767804, 0.437995]  # t=201\nTRANSPORT_204_JOINTS = [0.017436, -0.724315, 0.178475, -1.935745, 0.148669, 1.773939, 0.437769]  # t=204\nTRANSPORT_206_JOINTS = [0.018131, -0.743472, 0.180593, -1.948579, 0.152390, 1.771797, 0.439437]  # t=206\nTRANSPORT_207_JOINTS = [0.018684, -0.752771, 0.183586, -1.953899, 0.154681, 1.769352, 0.441466]  # t=207\nTRANSPORT_210_JOINTS = [0.020776, -0.781517, 0.201125, -1.967053, 0.159967, 1.757589, 0.455015]  # t=210\nTRANSPORT_212_JOINTS = [0.021582, -0.794643, 0.217738, -1.974013, 0.161699, 1.756236, 0.467892]  # t=212\nTRANSPORT_213_JOINTS = [0.021607, -0.798258, 0.225972, -1.977802, 0.162298, 1.757946, 0.474533]  # t=213\nTRANSPORT_216_JOINTS = [0.021078, -0.799595, 0.244456, -1.994822, 0.167458, 1.756181, 0.490226]  # t=216\nTRANSPORT_219_JOINTS = [0.020153, -0.795697, 0.247801, -2.006464, 0.176333, 1.736125, 0.495250]  # t=219\nTRANSPORT_222_JOINTS = [0.018946, -0.786748, 0.247573, -2.010338, 0.185072, 1.710164, 0.495527]  # t=222\nTRANSPORT_225_JOINTS = [0.017866, -0.776441, 0.247540, -2.014771, 0.193200, 1.684290, 0.495810]  # t=225\nTRANSPORT_228_JOINTS = [0.016984, -0.764599, 0.247446, -2.020062, 0.201782, 1.657017, 0.496498]  # t=228\nTRANSPORT_231_JOINTS = [0.016266, -0.751176, 0.247141, -2.025713, 0.210743, 1.629404, 0.497471]  # t=231\nTRANSPORT_234_JOINTS = [0.015475, -0.742137, 0.246065, -2.016738, 0.213376, 1.615197, 0.497745]  # t=234\nTRANSPORT_237_JOINTS = [0.014926, -0.737648, 0.246055, -2.010546, 0.212990, 1.610049, 0.497755]  # t=237\nTRANSPORT_239_JOINTS = [0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281]  # t=239\nRELEASE_POSE_239_JOINTS = [0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281]  # t=239\nRETRACT_241_JOINTS = [0.015051, -0.754608, 0.248159, -2.000964, 0.207306, 1.584159, 0.521612]  # t=241\nRETRACT_243_JOINTS = [0.014914, -0.770842, 0.256362, -1.984471, 0.192206, 1.569199, 0.543310]  # t=243\nRETRACT_245_JOINTS = [0.015003, -0.793036, 0.262548, -1.956788, 0.175826, 1.552781, 0.564085]  # t=245\nRETRACT_247_JOINTS = [0.015563, -0.823848, 0.266044, -1.917965, 0.158803, 1.532784, 0.580994]  # t=247\nRETRACT_249_JOINTS = [0.016359, -0.857583, 0.268550, -1.873207, 0.144226, 1.513945, 0.592321]  # t=249\nRETRACT_251_JOINTS = [0.016893, -0.890040, 0.269548, -1.829886, 0.133160, 1.501468, 0.597343]  # t=251\nRETRACT_253_JOINTS = [0.017016, -0.922824, 0.271308, -1.795339, 0.122848, 1.493055, 0.600320]  # t=253\nRETRACT_254_JOINTS = [0.017421, -0.942154, 0.271240, -1.784988, 0.120858, 1.489875, 0.603615]  # t=254\nRETRACT_255_JOINTS = [0.018541, -0.967814, 0.268516, -1.781873, 0.119662, 1.486570, 0.607340]  # t=255\nRETRACT_257_JOINTS = [0.022947, -1.040814, 0.251505, -1.795549, 0.114346, 1.501836, 0.610932]  # t=257\nRETRACT_259_JOINTS = [0.029713, -1.132410, 0.232119, -1.837376, 0.107575, 1.538672, 0.605043]  # t=259\nRETRACT_260_JOINTS = [0.033332, -1.180994, 0.224703, -1.863793, 0.103660, 1.560443, 0.600548]  # t=260\nRETRACT_261_JOINTS = [0.036980, -1.230362, 0.218140, -1.891653, 0.100207, 1.583603, 0.596630]  # t=261\nRETRACT_263_JOINTS = [0.044109, -1.328874, 0.208523, -1.948672, 0.094236, 1.627653, 0.589389]  # t=263\nRETRACT_265_JOINTS = [0.050945, -1.425314, 0.203851, -2.004003, 0.090592, 1.661871, 0.584086]  # t=265\nRETRACT_266_JOINTS = [0.054397, -1.471632, 0.201748, -2.030222, 0.091119, 1.671089, 0.583635]  # t=266\nAPPROACH_000_JOINTS = [0.003835, -0.973922, -0.033819, -2.265038, 0.057100, 1.510168, 0.688931]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=4, 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_032_JOINTS, input_type='joint', steps=4, 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_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, 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_048_JOINTS, input_type='joint', steps=4, 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_056_JOINTS, input_type='joint', steps=4, 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_063_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_064_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_086_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_096_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_106_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_106_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_120_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_126_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_132_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_134_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_144_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_150_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_156_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_162_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_166_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_171_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_174_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_177_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_180_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_183_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_186_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_189_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_192_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_195_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_198_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_204_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_210_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_216_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_219_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_222_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_225_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_228_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_231_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_234_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_237_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    wait(duration=0.05, hold_target=RELEASE_POSE_239_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_239_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_239_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_254_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_255_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_260_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_261_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_266_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 28141, "code_num_lines": 317, "code_num_nonblank_lines": 302, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"},\"stack_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 the orange from the counter and place it in the blender.\",\"layout_id\":20,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"orange\",\"groups\":[\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"orange\",\"fruit\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"fruit\",\"object_scale\":0.8,\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.05471675639999998,0.052118302799999974,0.059862316799999975],\"ref\":\"blender_island_group_1\"},\"size\":[0.5,0.25]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.81366857477233,0.0,0.46],\"size\":[0.9726628504553402,0.65]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"fruit\",\"vegetable\"],\"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\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.14077271521858256,0.10846947206942971,0.15154676699999994],\"ref\":\"blender_island_group_1\"},\"size\":[0.5,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.24337225446150912,0.0,0.46],\"size\":[2.113255491076982,0.65]},\"type\":\"object\"}],\"style_id\":27},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.035871367901563644,\"qx\":0.04403950273990631,\"qy\":-0.9921342730522156,\"qz\":-0.11154981702566147,\"x\":3.3258419404512094,\"y\":-2.9277089934891594,\"z\":1.2851036772856699},\"goal_pose\":{\"qw\":0.9332004360145394,\"qx\":-5.601016932779169e-05,\"qy\":-9.466589922132764e-05,\"qz\":-0.3593562774232582,\"x\":3.3183004161641114,\"y\":-2.718065681390782,\"z\":0.9958038544254085},\"object_pose\":{\"qw\":0.9883609570069934,\"qx\":0.032758218092634545,\"qy\":-0.02855015146494271,\"qz\":0.14578891131682203,\"x\":3.7075222150197895,\"y\":-2.7771462672445937,\"z\":0.9494634619097742}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToBlender\"}", "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\":\"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\"},\"stack_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 the orange from the counter and place it in the blender.\",\"layout_id\":20,\"object_cfgs\":[{\"graspable\":true,\"info\":{\"cat\":\"orange\",\"groups\":[\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"orange\",\"fruit\",\"food\",\"in_container\",\"food_set1\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"fruit\",\"object_scale\":0.8,\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"loc\":\"left_right\",\"min_size\":[0.05471675639999998,0.052118302799999974,0.059862316799999975],\"ref\":\"blender_island_group_1\"},\"size\":[0.5,0.25]},\"reset_region\":{\"name\":\"geom_1\",\"offset\":[0.81366857477233,0.0,0.46],\"size\":[0.9726628504553402,0.65]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"fruit\",\"vegetable\"],\"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\",\"obj_groups\":\"all\",\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.14077271521858256,0.10846947206942971,0.15154676699999994],\"ref\":\"blender_island_group_1\"},\"size\":[0.5,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[0.24337225446150912,0.0,0.46],\"size\":[2.113255491076982,0.65]},\"type\":\"object\"}],\"style_id\":27},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.035871367901563644,\"qx\":0.04403950273990631,\"qy\":-0.9921342730522156,\"qz\":-0.11154981702566147,\"x\":3.3258419404512094,\"y\":-2.9277089934891594,\"z\":1.2851036772856699},\"goal_pose\":{\"qw\":0.9332004360145394,\"qx\":-5.601016932779169e-05,\"qy\":-9.466589922132764e-05,\"qz\":-0.3593562774232582,\"x\":3.3183004161641114,\"y\":-2.718065681390782,\"z\":0.9958038544254085},\"object_pose\":{\"qw\":0.9883609570069934,\"qx\":0.032758218092634545,\"qy\":-0.02855015146494271,\"qz\":0.14578891131682203,\"x\":3.7075222150197895,\"y\":-2.7771462672445937,\"z\":0.9494634619097742}},\"initial_state\":[0.5000000000000003,6.673184221341057,-13.189404758872056,2.258583726654903e-07,1.7592213214715323e-08,0.0044052269055523344,-0.973523494876924,-0.03391086327076694,-2.265075505523753,0.057030707750674973,1.510990313349359,0.6890935097668685,0.0205717900942102,-0.02049477066878498,-1.611181121473894e-05,-6.819024434167366e-12,-5.593287322986564e-10,-9.685009400709973e-10,-5.321780764182866e-10,-2.459080158325537e-10,1.5804216122406126e-10,-3.78881778003598e-09,0.0,1.4994305205213904e-07,-6.443417208404567e-08,-1.2118760512808927e-06,1.4994305205214876e-07,-6.443417208404567e-08,1.4994305205213928e-07,-6.443417208404567e-08,-6.590501786666389e-07,1.799928672315587e-06,-6.590501786666406e-07,1.2054676291497776e-06,-3.091119802796758e-06,2.4587331147491455e-07,2.4843920148052574e-07,1.7520936699164006e-06,-1.6889003516680248e-06,0.0,0.0,-2.4563685239965194e-07,8.027894101446965e-08,-2.235168939830892e-06,2.3153723172369093e-06,-2.2312104818326996e-06,1.6712479141993254e-06,0.0,0.0,0.0,-5.496334622263567e-07,-1.3296186779481646e-08,7.130456005287278e-08,-0.00036429705434938293,0.0,-1.4518482946004963e-06,2.024604559735704e-06,-1.3448650677119868e-05,-0.0022209042743508126,-0.0022203273617433204,0.0,0.0,-1.7160206975190674e-07,2.1272701378884183e-07,1.304437013126855e-07,3.1418065750285386e-06,-1.247377958011349e-06,1.777342496608424e-06,-2.161908352906118e-06,-9.07923665108593e-07,1.3930869005768832e-06,-3.0798522266396806e-06,1.3930869005768574e-06,-1.6249947695236846e-06,1.3930869005769014e-06,-4.436324968531787e-05,0.0,2.4047390534295e-16,-6.171432176151833e-08,-6.171432176151833e-08,-6.171432176151833e-08,-6.171432176151833e-08,-6.171432176151947e-08,-6.171432176151947e-08,0.0,0.0,0.0,0.0,0.0,-1.4319316544731692e-06,2.1866600700150394e-07,-2.46877423624597e-07,1.874328631890453e-06,-5.6906948162387854e-08,4.181802093488296e-06,-0.007252040054107128,1.4096919357082967e-09,-0.0003792093425867827,7.824003217948494e-07,2.0578384464470886e-07,7.897513114361898e-07,-1.7022206344808922e-06,5.632237637250735e-07,-6.811895140568154e-07,1.3633228651067742e-07,-9.517650417700407e-07,1.1482391871854568e-06,0.0,2.5514707037633562e-20,2.720365124770053e-20,0.0,3.7075222150197895,-2.7771462672445937,0.9494634619097742,0.9883609570069934,0.032758218092634545,-0.02855015146494271,0.14578891131682203,3.3183004161641114,-2.718065681390782,0.9958038544254085,0.9332004360145394,-5.601016932779169e-05,-9.466589922132764e-05,-0.3593562774232582,-7.404896888689628e-07,4.491359070701473e-07,-3.2596810434584344e-06,3.131324055544825e-08,-9.737170748935597e-06,0.0005561715189738452,-0.0006709085060242093,-2.7763048268985903e-05,-0.0007172841850093275,9.121063734564756e-05,-0.00011597839073450118,-0.0004433068117034444,0.0004927442602347451,-2.9174215735443525e-07,-1.2306603787648298e-13,-1.0094459575270791e-11,-1.7478976205811497e-11,-9.604459368679103e-12,-4.438013597950441e-12,3.215873519576777e-10,-6.837851304660094e-11,0.0,-2.2917210968784338e-07,-2.7500023978655532e-09,4.576203913158204e-07,-2.2917210968784148e-07,-2.7500023978655532e-09,-2.291721096878428e-07,-2.7500023978655532e-09,4.1052691961364414e-07,-1.877974862215715e-05,4.1052691961364075e-07,-5.600892854764092e-07,1.8461765007840337e-06,-5.044210967008637e-05,-4.538528274644895e-05,-5.252054278477702e-07,5.723005722193958e-07,0.0,0.0,2.3395659291304634e-07,2.0374602425006488e-05,2.6833059125883597e-06,2.3079633289962927e-05,-2.0757138755266355e-05,-1.1996498137556066e-06,0.0,0.0,0.0,-1.0893030176471397e-06,-2.705546063155318e-08,1.450925554302582e-07,-4.556768235719173e-08,0.0,-1.4638378648425621e-07,-6.784408748036646e-07,-3.046305664151937e-06,5.6394611145831924e-08,5.647905447795996e-08,0.0,0.0,2.000425590169219e-07,-2.155519427339039e-07,-3.615261769051554e-07,-8.542042109616435e-07,6.441438357957367e-07,2.6203469417872516e-05,7.217739190944364e-07,6.995545185387213e-05,-6.679527032350366e-07,-2.353844471033703e-05,-6.67952703235013e-07,7.46310491087451e-07,-6.679527032350512e-07,-9.635253837729991e-07,0.0,4.897924697930953e-16,-3.3751327084087286e-09,-3.3751327084087286e-09,-3.3751327084087286e-09,-3.3751327084087286e-09,-3.3751327084087977e-09,-3.3751327084087977e-09,0.0,0.0,0.0,0.0,0.0,-2.6677302211038972e-05,-3.3753303056604217e-07,-4.496046643172384e-05,-5.035785916953849e-07,7.467978691825722e-10,-1.1784264100587565e-06,-5.280216278185613e-07,2.868469411288246e-09,-1.7735445331198996e-07,-7.436907439438837e-07,-3.1586673626810975e-07,2.9318040738938145e-06,6.481619576210231e-07,-5.866081170983286e-07,5.017136220664468e-07,4.68403232652035e-05,5.854443311521277e-07,3.236583028867475e-05,-1.694934309763517e-06,5.099756106368637e-20,5.649615901896239e-20,0.0,2.930872410865328e-05,4.343180172844331e-05,-7.654475340999809e-06,-0.000501486653396203,-0.0015228864820342205,2.8982695562272887e-05,1.0480601764007894e-05,-4.493038779240681e-05,-5.586236228961907e-06,-0.0006358188255893121,-0.00044138980335289954,5.521063937932085e-05],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToBlender\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 122, "pretrain_task_id": 32, "retained_waypoint_count": 122, "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": 648124, "video_relpath": "videos/raw_extracted/32_PickPlaceCounterToBlender.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToCabinet\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_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': 'PickPlaceCounterToCabinet',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 91,\n    'stable_release_contact_loss_t': 195,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.468258, y=-1.823974, z=0.992418, qw=0.747907, qx=0.000000, qy=0.000000, qz=0.663803)\nGOAL_RECEPTACLE_POSE = pose(x=0.141651, y=-2.414321, z=1.435520, qw=0.652670, qx=0.000070, qy=-0.000314, qz=0.757642)\n\nAPPROACH_004_JOINTS = [-0.031540, -1.105440, -0.025354, -2.287643, 0.010668, 1.511874, 0.691151]  # t=4\nAPPROACH_006_JOINTS = [-0.032965, -1.144083, -0.047622, -2.292414, -0.009527, 1.470265, 0.678572]  # t=6\nAPPROACH_008_JOINTS = [-0.036075, -1.198781, -0.079405, -2.298075, -0.039432, 1.427257, 0.659960]  # t=8\nAPPROACH_012_JOINTS = [-0.047757, -1.338622, -0.161595, -2.312310, -0.115935, 1.373242, 0.614218]  # t=12\nAPPROACH_016_JOINTS = [-0.063244, -1.466508, -0.257879, -2.345251, -0.208643, 1.360355, 0.543038]  # t=16\nAPPROACH_019_JOINTS = [-0.077602, -1.536601, -0.338727, -2.370777, -0.281844, 1.387118, 0.499525]  # t=19\nAPPROACH_020_JOINTS = [-0.082341, -1.552429, -0.366502, -2.380266, -0.306128, 1.403769, 0.487938]  # t=20\nAPPROACH_024_JOINTS = [-0.097615, -1.577044, -0.477429, -2.411363, -0.389586, 1.477086, 0.427368]  # t=24\nAPPROACH_028_JOINTS = [-0.112510, -1.567817, -0.553160, -2.414790, -0.434595, 1.527183, 0.369286]  # t=28\nAPPROACH_030_JOINTS = [-0.120474, -1.557258, -0.579742, -2.415722, -0.448163, 1.547782, 0.350132]  # t=30\nAPPROACH_032_JOINTS = [-0.126312, -1.539578, -0.604616, -2.425846, -0.461839, 1.583743, 0.342280]  # t=32\nAPPROACH_036_JOINTS = [-0.128551, -1.478546, -0.661784, -2.459797, -0.496765, 1.683702, 0.331994]  # t=36\nAPPROACH_040_JOINTS = [-0.126149, -1.404449, -0.710818, -2.485058, -0.519101, 1.780240, 0.323616]  # t=40\nAPPROACH_044_JOINTS = [-0.116675, -1.316790, -0.754273, -2.509899, -0.534608, 1.883273, 0.320179]  # t=44\nAPPROACH_046_JOINTS = [-0.109885, -1.270624, -0.770036, -2.521292, -0.537172, 1.930795, 0.320129]  # t=46\nAPPROACH_048_JOINTS = [-0.103691, -1.226845, -0.779371, -2.532019, -0.535865, 1.970457, 0.322080]  # t=48\nAPPROACH_052_JOINTS = [-0.093833, -1.148566, -0.789519, -2.550526, -0.528411, 2.039710, 0.327971]  # t=52\nAPPROACH_056_JOINTS = [-0.079815, -1.063371, -0.809203, -2.562885, -0.527077, 2.117237, 0.330378]  # t=56\nAPPROACH_060_JOINTS = [-0.060171, -0.972502, -0.834603, -2.565130, -0.520831, 2.194487, 0.327877]  # t=60\nAPPROACH_064_JOINTS = [-0.038549, -0.882951, -0.859733, -2.563361, -0.508150, 2.265161, 0.321503]  # t=64\nAPPROACH_068_JOINTS = [-0.016664, -0.795942, -0.883786, -2.559870, -0.489598, 2.330910, 0.312120]  # t=68\nAPPROACH_072_JOINTS = [0.006855, -0.709277, -0.909010, -2.553053, -0.461261, 2.398042, 0.295587]  # t=72\nDESCEND_073_JOINTS = [0.013041, -0.687362, -0.915720, -2.550336, -0.452298, 2.414590, 0.289744]  # t=73\nDESCEND_074_JOINTS = [0.019185, -0.665773, -0.921723, -2.547517, -0.442595, 2.429590, 0.283574]  # t=74\nDESCEND_075_JOINTS = [0.024950, -0.645305, -0.926227, -2.544788, -0.432254, 2.442280, 0.277658]  # t=75\nDESCEND_076_JOINTS = [0.030063, -0.626468, -0.929191, -2.542698, -0.421552, 2.452374, 0.271634]  # t=76\nDESCEND_077_JOINTS = [0.034648, -0.608705, -0.931472, -2.540774, -0.410839, 2.461522, 0.264703]  # t=77\nDESCEND_078_JOINTS = [0.038499, -0.592358, -0.933224, -2.535635, -0.400028, 2.468466, 0.256012]  # t=78\nDESCEND_079_JOINTS = [0.041968, -0.576998, -0.934796, -2.527888, -0.388462, 2.471896, 0.244819]  # t=79\nDESCEND_080_JOINTS = [0.045163, -0.562893, -0.936103, -2.518529, -0.375750, 2.471718, 0.230869]  # t=80\nDESCEND_081_JOINTS = [0.047506, -0.551729, -0.935910, -2.509125, -0.362232, 2.466272, 0.215301]  # t=81\nDESCEND_082_JOINTS = [0.048833, -0.543536, -0.933867, -2.500739, -0.349030, 2.456977, 0.199484]  # t=82\nDESCEND_083_JOINTS = [0.049765, -0.536434, -0.930135, -2.493729, -0.337193, 2.446157, 0.183729]  # t=83\nDESCEND_084_JOINTS = [0.050874, -0.528580, -0.924786, -2.487210, -0.327387, 2.434483, 0.168542]  # t=84\nDESCEND_085_JOINTS = [0.052641, -0.519557, -0.917504, -2.480261, -0.318522, 2.420807, 0.153645]  # t=85\nDESCEND_086_JOINTS = [0.055459, -0.509181, -0.909405, -2.471996, -0.308023, 2.404766, 0.138097]  # t=86\nDESCEND_087_JOINTS = [0.058650, -0.500202, -0.902705, -2.461853, -0.292279, 2.383900, 0.118788]  # t=87\nGRASP_HOLD_091_JOINTS = [0.073073, -0.474081, -0.901983, -2.406476, -0.183114, 2.289464, 0.002119]  # t=91\nLIFT_092_JOINTS = [0.076166, -0.467396, -0.906191, -2.391128, -0.154420, 2.267242, -0.029474]  # t=92\nLIFT_093_JOINTS = [0.078550, -0.460447, -0.909847, -2.377099, -0.129611, 2.245781, -0.056713]  # t=93\nLIFT_094_JOINTS = [0.078740, -0.455933, -0.912818, -2.364725, -0.110467, 2.221003, -0.076366]  # t=94\nLIFT_095_JOINTS = [0.075422, -0.457467, -0.915474, -2.353265, -0.097917, 2.190496, -0.090069]  # t=95\nLIFT_096_JOINTS = [0.068916, -0.466149, -0.918563, -2.343778, -0.089519, 2.157471, -0.102097]  # t=96\nLIFT_097_JOINTS = [0.059434, -0.482141, -0.923222, -2.337293, -0.084028, 2.123133, -0.114936]  # t=97\nLIFT_098_JOINTS = [0.047437, -0.504737, -0.929540, -2.334247, -0.081032, 2.089104, -0.129082]  # t=98\nLIFT_099_JOINTS = [0.034031, -0.532003, -0.937404, -2.334895, -0.079101, 2.059014, -0.144439]  # t=99\nLIFT_100_JOINTS = [0.019795, -0.563137, -0.946734, -2.338507, -0.077367, 2.036618, -0.161714]  # t=100\nLIFT_101_JOINTS = [0.003992, -0.599160, -0.956653, -2.344035, -0.076018, 2.022743, -0.177344]  # t=101\nTRANSPORT_104_JOINTS = [-0.055328, -0.738918, -0.968052, -2.371095, -0.083836, 1.981762, -0.209918]  # t=104\nTRANSPORT_105_JOINTS = [-0.076691, -0.791024, -0.961044, -2.382390, -0.088844, 1.970663, -0.212506]  # t=105\nTRANSPORT_107_JOINTS = [-0.120081, -0.897713, -0.934661, -2.404905, -0.097383, 1.953087, -0.205485]  # t=107\nTRANSPORT_109_JOINTS = [-0.163995, -1.005795, -0.900615, -2.427400, -0.104616, 1.938366, -0.196126]  # t=109\nTRANSPORT_110_JOINTS = [-0.186845, -1.062199, -0.882262, -2.438775, -0.103412, 1.922639, -0.189781]  # t=110\nTRANSPORT_113_JOINTS = [-0.248995, -1.226384, -0.823019, -2.470510, -0.079105, 1.874532, -0.159535]  # t=113\nTRANSPORT_116_JOINTS = [-0.291067, -1.367720, -0.772369, -2.496516, -0.030418, 1.862909, -0.133904]  # t=116\nTRANSPORT_117_JOINTS = [-0.300711, -1.408926, -0.757102, -2.502645, -0.011745, 1.864578, -0.126370]  # t=117\nTRANSPORT_119_JOINTS = [-0.311830, -1.477744, -0.725199, -2.515034, 0.027659, 1.880874, -0.107087]  # t=119\nTRANSPORT_121_JOINTS = [-0.311297, -1.527474, -0.689985, -2.524976, 0.071263, 1.915627, -0.085744]  # t=121\nTRANSPORT_122_JOINTS = [-0.307254, -1.546848, -0.672740, -2.528787, 0.095442, 1.939271, -0.078030]  # t=122\nTRANSPORT_125_JOINTS = [-0.284895, -1.584043, -0.622310, -2.532304, 0.163011, 2.021073, -0.060591]  # t=125\nTRANSPORT_128_JOINTS = [-0.249536, -1.594784, -0.574661, -2.519843, 0.229235, 2.100614, -0.052036]  # t=128\nTRANSPORT_129_JOINTS = [-0.233861, -1.588164, -0.558639, -2.513480, 0.250280, 2.128931, -0.051132]  # t=129\nTRANSPORT_131_JOINTS = [-0.192072, -1.547969, -0.524062, -2.496514, 0.294496, 2.192367, -0.053823]  # t=131\nTRANSPORT_133_JOINTS = [-0.141478, -1.486289, -0.493042, -2.463913, 0.344846, 2.245071, -0.059257]  # t=133\nTRANSPORT_134_JOINTS = [-0.115267, -1.451665, -0.480698, -2.440628, 0.370109, 2.264129, -0.061831]  # t=134\nTRANSPORT_137_JOINTS = [-0.037653, -1.339787, -0.454109, -2.348984, 0.443827, 2.295256, -0.066616]  # t=137\nTRANSPORT_140_JOINTS = [0.028879, -1.233475, -0.434414, -2.236887, 0.501725, 2.289808, -0.069204]  # t=140\nTRANSPORT_141_JOINTS = [0.045973, -1.204533, -0.429051, -2.197407, 0.513720, 2.278900, -0.067308]  # t=141\nTRANSPORT_143_JOINTS = [0.074679, -1.147442, -0.418656, -2.116330, 0.530113, 2.256985, -0.055765]  # t=143\nTRANSPORT_145_JOINTS = [0.101527, -1.076486, -0.412475, -2.037979, 0.543136, 2.250338, -0.044523]  # t=145\nTRANSPORT_146_JOINTS = [0.114082, -1.036402, -0.412566, -2.004215, 0.545843, 2.250237, -0.043574]  # t=146\nTRANSPORT_149_JOINTS = [0.144494, -0.919440, -0.417665, -1.916740, 0.536549, 2.240607, -0.057530]  # t=149\nTRANSPORT_152_JOINTS = [0.161662, -0.829107, -0.421331, -1.845275, 0.509625, 2.210428, -0.086529]  # t=152\nTRANSPORT_153_JOINTS = [0.163688, -0.807510, -0.419547, -1.824884, 0.496170, 2.197870, -0.094146]  # t=153\nTRANSPORT_155_JOINTS = [0.163976, -0.771550, -0.410619, -1.789590, 0.465234, 2.174781, -0.103998]  # t=155\nTRANSPORT_157_JOINTS = [0.162090, -0.735626, -0.397522, -1.758908, 0.432757, 2.159521, -0.107446]  # t=157\nTRANSPORT_158_JOINTS = [0.160739, -0.717048, -0.390399, -1.744234, 0.416965, 2.153815, -0.107434]  # t=158\nTRANSPORT_161_JOINTS = [0.154632, -0.667183, -0.368499, -1.702652, 0.374761, 2.136451, -0.102140]  # t=161\nTRANSPORT_164_JOINTS = [0.143968, -0.636020, -0.347046, -1.672898, 0.337937, 2.106547, -0.081114]  # t=164\nTRANSPORT_165_JOINTS = [0.139565, -0.629462, -0.340042, -1.667182, 0.326268, 2.093340, -0.070570]  # t=165\nTRANSPORT_167_JOINTS = [0.130528, -0.619439, -0.326807, -1.660721, 0.306382, 2.063695, -0.045833]  # t=167\nTRANSPORT_168_JOINTS = [0.125980, -0.616030, -0.320816, -1.659543, 0.297967, 2.046225, -0.032420]  # t=168\nPLACE_170_JOINTS = [0.117166, -0.611776, -0.309391, -1.658625, 0.283165, 2.008533, -0.007749]  # t=170\nPLACE_172_JOINTS = [0.109156, -0.607655, -0.298451, -1.657935, 0.270840, 1.970701, 0.014225]  # t=172\nPLACE_174_JOINTS = [0.101949, -0.602376, -0.288315, -1.655563, 0.260157, 1.934354, 0.034508]  # t=174\nPLACE_176_JOINTS = [0.095737, -0.594631, -0.279649, -1.647630, 0.251778, 1.904980, 0.051092]  # t=176\nPLACE_178_JOINTS = [0.090724, -0.581360, -0.273835, -1.630392, 0.245260, 1.881690, 0.062391]  # t=178\nPLACE_179_JOINTS = [0.088644, -0.572889, -0.272146, -1.619265, 0.242996, 1.870043, 0.066535]  # t=179\nPLACE_180_JOINTS = [0.086801, -0.563615, -0.271086, -1.606822, 0.241424, 1.857864, 0.069979]  # t=180\nPLACE_182_JOINTS = [0.083718, -0.542513, -0.270303, -1.578815, 0.239811, 1.832477, 0.075628]  # t=182\nPLACE_184_JOINTS = [0.081166, -0.518287, -0.270648, -1.547242, 0.239307, 1.805117, 0.080511]  # t=184\nPLACE_185_JOINTS = [0.080023, -0.505630, -0.271073, -1.530659, 0.239459, 1.791243, 0.082533]  # t=185\nPLACE_186_JOINTS = [0.078988, -0.492816, -0.271430, -1.513888, 0.240097, 1.778448, 0.084013]  # t=186\nPLACE_188_JOINTS = [0.077197, -0.467150, -0.271307, -1.482323, 0.243006, 1.758462, 0.085056]  # t=188\nPLACE_190_JOINTS = [0.075496, -0.444519, -0.269413, -1.454881, 0.248002, 1.744511, 0.085615]  # t=190\nPLACE_192_JOINTS = [0.072937, -0.431212, -0.266865, -1.431030, 0.251713, 1.725895, 0.088380]  # t=192\nPLACE_194_JOINTS = [0.069706, -0.421935, -0.266788, -1.412957, 0.254599, 1.710229, 0.089216]  # t=194\nPLACE_195_JOINTS = [0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959]  # t=195\nRELEASE_POSE_195_JOINTS = [0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959]  # t=195\nRETRACT_197_JOINTS = [0.063975, -0.423560, -0.267689, -1.395361, 0.258525, 1.687009, 0.088194]  # t=197\nRETRACT_199_JOINTS = [0.059504, -0.437233, -0.267532, -1.391850, 0.258138, 1.676524, 0.088911]  # t=199\nRETRACT_201_JOINTS = [0.054971, -0.458060, -0.265837, -1.395112, 0.254706, 1.670551, 0.092140]  # t=201\nRETRACT_203_JOINTS = [0.050521, -0.487151, -0.262868, -1.404477, 0.248625, 1.665496, 0.097004]  # t=203\nRETRACT_205_JOINTS = [0.046318, -0.524797, -0.258975, -1.418642, 0.241317, 1.662437, 0.102033]  # t=205\nRETRACT_206_JOINTS = [0.044327, -0.546244, -0.256849, -1.428071, 0.237119, 1.661251, 0.104517]  # t=206\nRETRACT_207_JOINTS = [0.042378, -0.569176, -0.254661, -1.439513, 0.232285, 1.659577, 0.107181]  # t=207\nRETRACT_209_JOINTS = [0.038343, -0.620052, -0.250103, -1.467600, 0.219790, 1.652986, 0.114213]  # t=209\nRETRACT_211_JOINTS = [0.033998, -0.675000, -0.244443, -1.499245, 0.202986, 1.643975, 0.126186]  # t=211\nRETRACT_213_JOINTS = [0.029035, -0.734903, -0.236130, -1.535942, 0.182895, 1.624454, 0.146859]  # t=213\nRETRACT_215_JOINTS = [0.023400, -0.800707, -0.223943, -1.576477, 0.164541, 1.600502, 0.178941]  # t=215\nRETRACT_217_JOINTS = [0.017195, -0.869450, -0.209449, -1.619492, 0.149156, 1.579177, 0.220455]  # t=217\nRETRACT_219_JOINTS = [0.010683, -0.939176, -0.191842, -1.661904, 0.135698, 1.558941, 0.265152]  # t=219\nRETRACT_221_JOINTS = [0.004338, -1.007488, -0.173325, -1.700482, 0.125850, 1.535247, 0.312146]  # t=221\nRETRACT_223_JOINTS = [-0.001818, -1.073378, -0.155413, -1.733419, 0.119053, 1.507436, 0.361768]  # t=223\nRETRACT_225_JOINTS = [-0.007857, -1.136586, -0.137611, -1.760400, 0.113914, 1.474717, 0.413296]  # t=225\nRETRACT_227_JOINTS = [-0.013842, -1.198185, -0.119748, -1.782903, 0.109478, 1.437671, 0.465432]  # t=227\nRETRACT_229_JOINTS = [-0.019596, -1.259800, -0.102015, -1.803030, 0.106139, 1.398007, 0.515858]  # t=229\nRETRACT_231_JOINTS = [-0.024901, -1.322707, -0.086016, -1.822166, 0.104744, 1.358957, 0.564220]  # t=231\nAPPROACH_000_JOINTS = [-0.031285, -1.079367, -0.012311, -2.286808, 0.023426, 1.552287, 0.694803]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, 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_016_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, 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_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, 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_046_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=2, 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_056_JOINTS, input_type='joint', steps=4, 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\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_091_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_091_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_104_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_113_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_116_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_128_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_140_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_149_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_152_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_158_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_161_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_164_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_170_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_195_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_195_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_195_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 27178, "code_num_lines": 307, "code_num_nonblank_lines": 292, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": "{\"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}},\"initial_state\":[0.5000000000000003,12.192640285396122,9.196188154110779,1.7920975228949045e-07,2.125461669965794e-08,-0.031706837431045486,-1.0782981795148994,-0.01212756804426721,-2.2871075429178167,0.02363065290617959,1.5544831591050106,0.6947384533240119,0.02054678058552754,-0.02051977878662973,0.0,0.0,0.0,0.0,0.0,0.0,-1.5149892854543223,1.4245731976625309,0.0,0.0,0.0,0.0,-2.9169460939597402e-05,-1.5132056523483617e-09,-5.824391481041021e-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,-1.3935233852608057e-15,-1.4245590414755858e-15,-1.485973437402061e-16,-1.5081953039265186e-16,-1.5081953039265186e-16,-1.485973437402061e-16,-1.5081953039265186e-16,-1.5081953039265186e-16,0.0,0.0,0.0,-4.7327669781990384e-05,0.0,-1.0228315523585378e-12,-0.0015956507393275249,0.0,-8.54044515504536e-12,-5.88319437705791e-10,-1.9587822115847878e-10,0.0,-1.0068962445820147e-09,4.650828023166478e-08,0.0,0.0,0.0,0.0,0.0,-1.1188794433898117e-05,-0.002088599898113032,0.0,0.0,0.4682584057080437,-1.823973667697381,0.9924184143594238,0.7479074689681654,4.269400325528446e-17,6.0429604415217305e-18,0.6638029962734672,0.15097907718042222,-0.9769101839150661,0.9469614379754714,0.7017686957708555,-0.00012328166621059468,-0.00038681007813270963,0.7124047535044008,0.14162569505751144,-2.414320470678368,1.435530520234708,0.6526698729170355,-0.0003102304976494304,-0.0006171749810425088,0.7576421053759754,-6.293960289465253e-07,-2.0050482280344145e-07,-2.6549357536444186e-06,3.1037948996278053e-07,-8.688369009447209e-06,5.00134991730774e-06,-0.0006270061005833963,0.001102356812062545,-0.0007712847497610367,-0.0010181426817570157,-0.00010689089629339577,-0.00047782697870908674,0.00045822338352630274,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.845041820683992e-07,-2.7333629814392367e-11,-1.0520827911566752e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.527446692293884e-17,-8.467697973062449e-17,-7.530813670174492e-18,-8.285909089227375e-18,-8.285909089227375e-18,-7.530813670174492e-18,-8.285909089227375e-18,-8.285909089227375e-18,0.0,0.0,0.0,-1.0248084252058151e-06,0.0,-2.0659134048284527e-14,-7.313706207988874e-07,-1.3174852599192585e-06,-1.5426941528289607e-13,-1.0627045841864125e-11,-3.538225473186311e-12,0.0,-2.048861214315438e-09,9.463637592061511e-08,0.0,0.0,0.0,0.0,0.0,-1.5123950238183418e-06,1.841055193404388e-07,0.0,0.0,-4.6092348482408e-17,4.733310275325355e-17,0.00017839416019457813,-7.488361932981639e-16,-1.0553441737794414e-16,-7.257106600587169e-29,5.204691026397159e-06,2.811327229516458e-05,-1.604129725501298e-06,0.00019446589030820875,-0.000300929847640196,2.5916962921922768e-05,2.006094600578657e-05,4.0402817415789816e-06,3.25253952058888e-06,0.0008035510578340815,4.078396823756438e-05,3.096736326940076e-08],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 117, "pretrain_task_id": 33, "retained_waypoint_count": 117, "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": 531347, "video_relpath": "videos/raw_extracted/33_PickPlaceCounterToCabinet.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_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': 'PickPlaceCounterToDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 145,\n    'stable_release_contact_loss_t': 285,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.925240, y=-3.337099, z=0.948000, qw=0.995681, qx=-0.043014, qy=-0.078565, qz=-0.024412)\nGOAL_RECEPTACLE_POSE = pose(x=2.733786, y=-3.103936, z=0.944357, qw=0.937151, qx=-0.062491, qy=0.068873, qz=-0.336303)\n\nAPPROACH_005_JOINTS = [-0.019891, -1.024731, -0.053783, -2.274713, 0.061069, 1.453361, 0.699126]  # t=5\nAPPROACH_010_JOINTS = [-0.032322, -1.074667, -0.134811, -2.297602, 0.039763, 1.418623, 0.716398]  # t=10\nAPPROACH_015_JOINTS = [-0.044777, -1.118505, -0.204537, -2.335072, 0.022942, 1.417267, 0.734074]  # t=15\nAPPROACH_020_JOINTS = [-0.057539, -1.135014, -0.281051, -2.377871, -0.003829, 1.450273, 0.739314]  # t=20\nAPPROACH_023_JOINTS = [-0.068643, -1.138085, -0.312373, -2.408437, -0.064540, 1.502007, 0.756018]  # t=23\nAPPROACH_025_JOINTS = [-0.070044, -1.116205, -0.300871, -2.424112, -0.125493, 1.568959, 0.762726]  # t=25\nAPPROACH_030_JOINTS = [-0.065031, -0.965803, -0.266090, -2.426456, -0.300401, 1.757262, 0.813476]  # t=30\nAPPROACH_032_JOINTS = [-0.064427, -0.881025, -0.262272, -2.406958, -0.372933, 1.819931, 0.850956]  # t=32\nAPPROACH_035_JOINTS = [-0.064472, -0.740095, -0.304731, -2.350216, -0.424770, 1.888100, 0.888540]  # t=35\nAPPROACH_040_JOINTS = [-0.059267, -0.546390, -0.447730, -2.214307, -0.329852, 1.929120, 0.854513]  # t=40\nAPPROACH_045_JOINTS = [-0.050392, -0.374355, -0.604900, -2.070046, -0.192882, 1.917885, 0.740054]  # t=45\nAPPROACH_050_JOINTS = [-0.056437, -0.285662, -0.753473, -1.970997, -0.114721, 1.866768, 0.520689]  # t=50\nAPPROACH_055_JOINTS = [-0.052213, -0.210454, -0.842797, -1.904568, -0.009754, 1.846318, 0.344958]  # t=55\nAPPROACH_059_JOINTS = [-0.050607, -0.137625, -0.869852, -1.852720, 0.047500, 1.823694, 0.298466]  # t=59\nAPPROACH_060_JOINTS = [-0.052766, -0.123300, -0.873627, -1.844699, 0.056904, 1.819114, 0.289329]  # t=60\nAPPROACH_065_JOINTS = [-0.074379, -0.069422, -0.867210, -1.858968, 0.060301, 1.871151, 0.245325]  # t=65\nAPPROACH_070_JOINTS = [-0.103037, -0.053470, -0.829390, -1.900578, 0.018761, 1.939918, 0.167502]  # t=70\nAPPROACH_075_JOINTS = [-0.123947, 0.000116, -0.766174, -1.946156, -0.063566, 2.025409, 0.111975]  # t=75\nAPPROACH_079_JOINTS = [-0.142835, 0.074819, -0.712851, -1.943651, -0.089875, 2.058256, 0.077255]  # t=79\nAPPROACH_080_JOINTS = [-0.148333, 0.098650, -0.698180, -1.934721, -0.095414, 2.058572, 0.074380]  # t=80\nAPPROACH_084_JOINTS = [-0.177743, 0.177685, -0.646901, -1.883794, -0.105809, 2.032872, 0.071340]  # t=84\nAPPROACH_085_JOINTS = [-0.187570, 0.190052, -0.639093, -1.871173, -0.102529, 2.027592, 0.069676]  # t=85\nAPPROACH_090_JOINTS = [-0.249655, 0.266013, -0.623308, -1.808600, -0.066936, 2.048938, 0.022979]  # t=90\nAPPROACH_092_JOINTS = [-0.278396, 0.304130, -0.620407, -1.778287, -0.043401, 2.061724, -0.007005]  # t=92\nAPPROACH_095_JOINTS = [-0.325278, 0.373556, -0.608420, -1.722511, 0.011550, 2.074439, -0.058207]  # t=95\nAPPROACH_096_JOINTS = [-0.342231, 0.399888, -0.602867, -1.699310, 0.032678, 2.075612, -0.075726]  # t=96\nDESCEND_098_JOINTS = [-0.378302, 0.452879, -0.590867, -1.645250, 0.076603, 2.067007, -0.111898]  # t=98\nDESCEND_100_JOINTS = [-0.417894, 0.500556, -0.580535, -1.582839, 0.123174, 2.034256, -0.153389]  # t=100\nDESCEND_102_JOINTS = [-0.459749, 0.544559, -0.570595, -1.514363, 0.168545, 1.988586, -0.195236]  # t=102\nDESCEND_104_JOINTS = [-0.500460, 0.586386, -0.559692, -1.443064, 0.200307, 1.939881, -0.226636]  # t=104\nDESCEND_106_JOINTS = [-0.539660, 0.628166, -0.547013, -1.371621, 0.221472, 1.897105, -0.247440]  # t=106\nDESCEND_108_JOINTS = [-0.575306, 0.664848, -0.532524, -1.307274, 0.231870, 1.854625, -0.258915]  # t=108\nDESCEND_110_JOINTS = [-0.606604, 0.697771, -0.515071, -1.261250, 0.235995, 1.820655, -0.264628]  # t=110\nDESCEND_112_JOINTS = [-0.633999, 0.730680, -0.495195, -1.231466, 0.238351, 1.806531, -0.267520]  # t=112\nDESCEND_114_JOINTS = [-0.656978, 0.760086, -0.474702, -1.210829, 0.240848, 1.804844, -0.268266]  # t=114\nDESCEND_116_JOINTS = [-0.676685, 0.784193, -0.456635, -1.198161, 0.245825, 1.808992, -0.269873]  # t=116\nDESCEND_117_JOINTS = [-0.685777, 0.794355, -0.449015, -1.195482, 0.250264, 1.813387, -0.272385]  # t=117\nDESCEND_118_JOINTS = [-0.694249, 0.798577, -0.444090, -1.189580, 0.255342, 1.817804, -0.276156]  # t=118\nDESCEND_120_JOINTS = [-0.710244, 0.800571, -0.435660, -1.183358, 0.275611, 1.824026, -0.288962]  # t=120\nDESCEND_122_JOINTS = [-0.724920, 0.798335, -0.428969, -1.186013, 0.305527, 1.834744, -0.308382]  # t=122\nDESCEND_124_JOINTS = [-0.736755, 0.794042, -0.424020, -1.193927, 0.336233, 1.848920, -0.328771]  # t=124\nDESCEND_126_JOINTS = [-0.745248, 0.788254, -0.420643, -1.204442, 0.363557, 1.862544, -0.347201]  # t=126\nDESCEND_128_JOINTS = [-0.748307, 0.781828, -0.419470, -1.213823, 0.374100, 1.868730, -0.357573]  # t=128\nDESCEND_129_JOINTS = [-0.748413, 0.779533, -0.419392, -1.217400, 0.374896, 1.870786, -0.359648]  # t=129\nDESCEND_130_JOINTS = [-0.748210, 0.777562, -0.419516, -1.220558, 0.374967, 1.872385, -0.360774]  # t=130\nDESCEND_131_JOINTS = [-0.747961, 0.775765, -0.420055, -1.223612, 0.374868, 1.873490, -0.361664]  # t=131\nDESCEND_132_JOINTS = [-0.747618, 0.773579, -0.420887, -1.227075, 0.374782, 1.873324, -0.362657]  # t=132\nDESCEND_134_JOINTS = [-0.746536, 0.768229, -0.422999, -1.235034, 0.374727, 1.872582, -0.364412]  # t=134\nDESCEND_136_JOINTS = [-0.744893, 0.761967, -0.425271, -1.244343, 0.374707, 1.871802, -0.365499]  # t=136\nDESCEND_138_JOINTS = [-0.742620, 0.755081, -0.427479, -1.254768, 0.374594, 1.872109, -0.366213]  # t=138\nGRASP_142_JOINTS = [-0.738769, 0.744559, -0.433343, -1.273270, 0.374213, 1.877484, -0.370353]  # t=142\nGRASP_143_JOINTS = [-0.738736, 0.740532, -0.437402, -1.279751, 0.372898, 1.875723, -0.373507]  # t=143\nGRASP_145_JOINTS = [-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298]  # t=145\nGRASP_HOLD_145_JOINTS = [-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298]  # t=145\nLIFT_146_JOINTS = [-0.742503, 0.719262, -0.458648, -1.312609, 0.370257, 1.866182, -0.398804]  # t=146\nLIFT_147_JOINTS = [-0.744557, 0.709582, -0.467630, -1.327872, 0.369101, 1.864270, -0.414255]  # t=147\nLIFT_148_JOINTS = [-0.746898, 0.698745, -0.477282, -1.345399, 0.367735, 1.862869, -0.433441]  # t=148\nLIFT_149_JOINTS = [-0.749579, 0.686786, -0.487800, -1.365053, 0.366131, 1.861913, -0.455949]  # t=149\nLIFT_150_JOINTS = [-0.752446, 0.673680, -0.499014, -1.386165, 0.364301, 1.861666, -0.481346]  # t=150\nLIFT_151_JOINTS = [-0.755280, 0.659477, -0.510627, -1.407970, 0.361971, 1.861953, -0.509364]  # t=151\nPLACE_153_JOINTS = [-0.760469, 0.627769, -0.535103, -1.451623, 0.354929, 1.862444, -0.570711]  # t=153\nPLACE_155_JOINTS = [-0.764644, 0.593400, -0.560516, -1.493196, 0.344739, 1.862696, -0.635756]  # t=155\nPLACE_157_JOINTS = [-0.768158, 0.562112, -0.585618, -1.533512, 0.333226, 1.869028, -0.700908]  # t=157\nPLACE_159_JOINTS = [-0.771227, 0.535162, -0.609745, -1.575202, 0.322003, 1.882453, -0.767034]  # t=159\nPLACE_161_JOINTS = [-0.770158, 0.499064, -0.632715, -1.619703, 0.305944, 1.888738, -0.830276]  # t=161\nPLACE_163_JOINTS = [-0.759983, 0.444361, -0.652719, -1.667592, 0.278102, 1.890166, -0.878977]  # t=163\nPLACE_165_JOINTS = [-0.740111, 0.376981, -0.671016, -1.720211, 0.231009, 1.902205, -0.910154]  # t=165\nPLACE_167_JOINTS = [-0.712207, 0.304435, -0.691523, -1.778143, 0.155619, 1.933152, -0.926380]  # t=167\nPLACE_169_JOINTS = [-0.679759, 0.232126, -0.714806, -1.841740, 0.068017, 1.981295, -0.937898]  # t=169\nPLACE_171_JOINTS = [-0.646596, 0.167941, -0.741630, -1.912794, -0.014826, 2.045112, -0.959077]  # t=171\nPLACE_173_JOINTS = [-0.614198, 0.110847, -0.772807, -1.988464, -0.082244, 2.117424, -0.994114]  # t=173\nPLACE_175_JOINTS = [-0.582853, 0.061106, -0.807873, -2.068890, -0.128186, 2.193784, -1.037377]  # t=175\nPLACE_177_JOINTS = [-0.551486, 0.018796, -0.843794, -2.144982, -0.163146, 2.264761, -1.080083]  # t=177\nPLACE_179_JOINTS = [-0.519682, -0.020685, -0.878769, -2.205798, -0.195010, 2.319442, -1.119180]  # t=179\nPLACE_181_JOINTS = [-0.487777, -0.057465, -0.912761, -2.253381, -0.226176, 2.359970, -1.157190]  # t=181\nPLACE_183_JOINTS = [-0.457224, -0.095658, -0.949083, -2.294378, -0.261191, 2.390581, -1.200509]  # t=183\nPLACE_185_JOINTS = [-0.427764, -0.140220, -0.984910, -2.332829, -0.302633, 2.413541, -1.245210]  # t=185\nPLACE_187_JOINTS = [-0.398169, -0.188364, -1.017463, -2.364738, -0.344898, 2.426252, -1.283883]  # t=187\nPLACE_189_JOINTS = [-0.367834, -0.233582, -1.050408, -2.390330, -0.384628, 2.429681, -1.317805]  # t=189\nPLACE_191_JOINTS = [-0.333153, -0.265583, -1.089245, -2.410002, -0.405347, 2.425548, -1.355048]  # t=191\nPLACE_193_JOINTS = [-0.294604, -0.287618, -1.131081, -2.415783, -0.411663, 2.409960, -1.392168]  # t=193\nPLACE_195_JOINTS = [-0.254279, -0.303491, -1.169816, -2.413527, -0.418344, 2.393361, -1.414614]  # t=195\nPLACE_197_JOINTS = [-0.215562, -0.320478, -1.202531, -2.409758, -0.430533, 2.371298, -1.420198]  # t=197\nPLACE_199_JOINTS = [-0.180585, -0.342223, -1.228389, -2.406153, -0.450940, 2.342445, -1.412894]  # t=199\nPLACE_201_JOINTS = [-0.152176, -0.371955, -1.244197, -2.400018, -0.481417, 2.299222, -1.392165]  # t=201\nPLACE_203_JOINTS = [-0.130514, -0.409299, -1.251220, -2.390750, -0.520498, 2.247480, -1.359933]  # t=203\nPLACE_205_JOINTS = [-0.112179, -0.442222, -1.251615, -2.382176, -0.580622, 2.195343, -1.313969]  # t=205\nPLACE_207_JOINTS = [-0.091319, -0.463648, -1.253234, -2.379785, -0.655608, 2.154012, -1.257785]  # t=207\nPLACE_209_JOINTS = [-0.067146, -0.477634, -1.257801, -2.380088, -0.725800, 2.117219, -1.198239]  # t=209\nPLACE_211_JOINTS = [-0.040983, -0.486723, -1.265480, -2.380369, -0.785970, 2.081238, -1.136435]  # t=211\nPLACE_213_JOINTS = [-0.011208, -0.488062, -1.282167, -2.385202, -0.842246, 2.054293, -1.074686]  # t=213\nPLACE_215_JOINTS = [0.022657, -0.483675, -1.309702, -2.394010, -0.891277, 2.038817, -1.012632]  # t=215\nPLACE_217_JOINTS = [0.058134, -0.480502, -1.336901, -2.398341, -0.921464, 2.017168, -0.955113]  # t=217\nPLACE_219_JOINTS = [0.094984, -0.480099, -1.364601, -2.396852, -0.937417, 1.990887, -0.906074]  # t=219\nPLACE_221_JOINTS = [0.133514, -0.482390, -1.394481, -2.393175, -0.948326, 1.966511, -0.861891]  # t=221\nPLACE_223_JOINTS = [0.170766, -0.489655, -1.416672, -2.386886, -0.956333, 1.932356, -0.818194]  # t=223\nPLACE_225_JOINTS = [0.205739, -0.502335, -1.432415, -2.380528, -0.967591, 1.891677, -0.779930]  # t=225\nPLACE_227_JOINTS = [0.243048, -0.514005, -1.455755, -2.386556, -1.006541, 1.859010, -0.740289]  # t=227\nPLACE_229_JOINTS = [0.284867, -0.525301, -1.487326, -2.405460, -1.067272, 1.836548, -0.682129]  # t=229\nPLACE_231_JOINTS = [0.329028, -0.542409, -1.520395, -2.427418, -1.128068, 1.811712, -0.616829]  # t=231\nPLACE_233_JOINTS = [0.372261, -0.568325, -1.543578, -2.420149, -1.173080, 1.768002, -0.575170]  # t=233\nPLACE_235_JOINTS = [0.407858, -0.604370, -1.557807, -2.404099, -1.193781, 1.705323, -0.555493]  # t=235\nPLACE_237_JOINTS = [0.430852, -0.646471, -1.569826, -2.385527, -1.215201, 1.640736, -0.546306]  # t=237\nPLACE_239_JOINTS = [0.443129, -0.691498, -1.578185, -2.369088, -1.241532, 1.581438, -0.542611]  # t=239\nPLACE_241_JOINTS = [0.445637, -0.736369, -1.582365, -2.356909, -1.270443, 1.526579, -0.542171]  # t=241\nPLACE_243_JOINTS = [0.440184, -0.779106, -1.581374, -2.349443, -1.299505, 1.479468, -0.543909]  # t=243\nPLACE_245_JOINTS = [0.432893, -0.818450, -1.573064, -2.346971, -1.323482, 1.444578, -0.544242]  # t=245\nPLACE_247_JOINTS = [0.427689, -0.852360, -1.570267, -2.348164, -1.351835, 1.419603, -0.542082]  # t=247\nPLACE_249_JOINTS = [0.427994, -0.876579, -1.566657, -2.356204, -1.387875, 1.391457, -0.526390]  # t=249\nPLACE_251_JOINTS = [0.431096, -0.892799, -1.560679, -2.369860, -1.421886, 1.361599, -0.498022]  # t=251\nPLACE_253_JOINTS = [0.430596, -0.903736, -1.540714, -2.382444, -1.427446, 1.327942, -0.475300]  # t=253\nPLACE_255_JOINTS = [0.420659, -0.906631, -1.486698, -2.378877, -1.398554, 1.279764, -0.474442]  # t=255\nPLACE_257_JOINTS = [0.400491, -0.907104, -1.421960, -2.362624, -1.348891, 1.242522, -0.496499]  # t=257\nPLACE_259_JOINTS = [0.376002, -0.907903, -1.375070, -2.350687, -1.300016, 1.234751, -0.527943]  # t=259\nPLACE_261_JOINTS = [0.354350, -0.905632, -1.350194, -2.353180, -1.270741, 1.253054, -0.544271]  # t=261\nPLACE_263_JOINTS = [0.337551, -0.897360, -1.335450, -2.365262, -1.254876, 1.275461, -0.545869]  # t=263\nPLACE_265_JOINTS = [0.324247, -0.887942, -1.331124, -2.383219, -1.239569, 1.308800, -0.539881]  # t=265\nPLACE_267_JOINTS = [0.313792, -0.879782, -1.346430, -2.408097, -1.232890, 1.361761, -0.528114]  # t=267\nPLACE_269_JOINTS = [0.303965, -0.875428, -1.375137, -2.427632, -1.226763, 1.425080, -0.525572]  # t=269\nPLACE_271_JOINTS = [0.294832, -0.875681, -1.412899, -2.440242, -1.220777, 1.490794, -0.537558]  # t=271\nPLACE_273_JOINTS = [0.289095, -0.879812, -1.459263, -2.451060, -1.219615, 1.555810, -0.555936]  # t=273\nPLACE_275_JOINTS = [0.287900, -0.887791, -1.510043, -2.460014, -1.225906, 1.615739, -0.573472]  # t=275\nPLACE_277_JOINTS = [0.289974, -0.900133, -1.556758, -2.465466, -1.235540, 1.663133, -0.588323]  # t=277\nPLACE_279_JOINTS = [0.293349, -0.917712, -1.595583, -2.466394, -1.242569, 1.696230, -0.603064]  # t=279\nPLACE_281_JOINTS = [0.296185, -0.938276, -1.617711, -2.462304, -1.242544, 1.709654, -0.616238]  # t=281\nPLACE_283_JOINTS = [0.297658, -0.956268, -1.613553, -2.454835, -1.234718, 1.694878, -0.621048]  # t=283\nPLACE_285_JOINTS = [0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.678050, -0.619552]  # t=285\nRELEASE_POSE_285_JOINTS = [0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.678050, -0.619552]  # t=285\nRETRACT_287_JOINTS = [0.299250, -0.987709, -1.607130, -2.449153, -1.246033, 1.664139, -0.616809]  # t=287\nRETRACT_289_JOINTS = [0.299509, -1.001166, -1.604862, -2.447675, -1.252596, 1.652366, -0.614255]  # t=289\nRETRACT_291_JOINTS = [0.299250, -1.012410, -1.601420, -2.446538, -1.257580, 1.641442, -0.612067]  # t=291\nRETRACT_293_JOINTS = [0.296411, -1.020332, -1.586457, -2.444107, -1.252887, 1.624298, -0.611658]  # t=293\nRETRACT_294_JOINTS = [0.292462, -1.022865, -1.570188, -2.441451, -1.242829, 1.611552, -0.613406]  # t=294\nRETRACT_295_JOINTS = [0.286414, -1.024201, -1.547607, -2.437591, -1.227667, 1.595218, -0.616971]  # t=295\nRETRACT_297_JOINTS = [0.267913, -1.023969, -1.485278, -2.426208, -1.182916, 1.554497, -0.629979]  # t=297\nRETRACT_299_JOINTS = [0.242697, -1.022796, -1.414900, -2.412210, -1.123713, 1.512695, -0.651383]  # t=299\nRETRACT_301_JOINTS = [0.215451, -1.020718, -1.351584, -2.389794, -1.057126, 1.473308, -0.673163]  # t=301\nRETRACT_303_JOINTS = [0.189109, -1.017297, -1.295219, -2.358362, -0.981297, 1.434234, -0.679681]  # t=303\nRETRACT_304_JOINTS = [0.175473, -1.015261, -1.265200, -2.343703, -0.941420, 1.412334, -0.673999]  # t=304\nRETRACT_305_JOINTS = [0.160255, -1.013962, -1.231109, -2.332961, -0.900165, 1.387914, -0.660877]  # t=305\nRETRACT_307_JOINTS = [0.123525, -1.017741, -1.151759, -2.325200, -0.808688, 1.339621, -0.611031]  # t=307\nRETRACT_309_JOINTS = [0.078271, -1.033574, -1.071286, -2.328253, -0.714834, 1.302269, -0.537218]  # t=309\nRETRACT_311_JOINTS = [0.027022, -1.062634, -0.994901, -2.341291, -0.630668, 1.278593, -0.452563]  # t=311\nRETRACT_313_JOINTS = [-0.026572, -1.103637, -0.919983, -2.367281, -0.559656, 1.266689, -0.358997]  # t=313\nRETRACT_315_JOINTS = [-0.079750, -1.155420, -0.846562, -2.401083, -0.494069, 1.261975, -0.258207]  # t=315\nRETRACT_317_JOINTS = [-0.130210, -1.216551, -0.774877, -2.439482, -0.431841, 1.262624, -0.153610]  # t=317\nRETRACT_319_JOINTS = [-0.175965, -1.284968, -0.704014, -2.480717, -0.373865, 1.265443, -0.049349]  # t=319\nRETRACT_320_JOINTS = [-0.196575, -1.320822, -0.668873, -2.503874, -0.349251, 1.267220, 0.002180]  # t=320\nAPPROACH_000_JOINTS = [-0.013887, -1.007802, -0.019230, -2.272712, 0.080397, 1.477041, 0.683963]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_084_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_106_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_108_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_110_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_116_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_124_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_126_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_128_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_132_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_134_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_136_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_138_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    moveJoint(GRASP_142_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    wait(duration=0.05, hold_target=GRASP_HOLD_145_JOINTS, input_type='joint', gripper=-0.3)\n    grasp(hold_target=GRASP_HOLD_145_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_145_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_149_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_150_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_255_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_261_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_267_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_269_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_271_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_273_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_275_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_277_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_279_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_281_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_283_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_285_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_285_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_285_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_285_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_287_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_289_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_291_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_293_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_294_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_295_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_297_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_299_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_301_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_303_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_304_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_305_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_307_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_311_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_315_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_317_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_319_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_320_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 32918, "code_num_lines": 364, "code_num_nonblank_lines": 350, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 drawer.\",\"layout_id\":39,\"object_cfgs\":[{\"exclude_obj_groups\":[\"reamer\",\"strainer\",\"cheese_grater\"],\"graspable\":true,\"info\":{\"cat\":\"ladle\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"ladle\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.057608837187413324,0.2328650074257728,0.07522244119756101],\"ref\":\"stack_1_island_group_1_2\"},\"size\":[0.6,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.9750000000000001,2.0816681711721685e-17,0.46],\"size\":[0.6499999999999999,1.3]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"tool\",\"utensil\"],\"info\":{\"cat\":\"steak\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"steak\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.10464242249999998,0.12385554249999998,0.05342668],\"ref\":\"stack_1_island_group_1_2\"},\"size\":[0.6,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.9750000000000001,2.0816681711721685e-17,0.46],\"size\":[0.6499999999999999,1.3]},\"type\":\"object\"}],\"style_id\":16},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.040741998702287674,\"qx\":0.0458265021443367,\"qy\":-0.9921945929527283,\"qz\":-0.10858313739299774,\"x\":2.340176492636431,\"y\":-3.558229456369795,\"z\":1.286195523443408},\"goal_pose\":{\"qw\":0.9370905380230071,\"qx\":-0.06274927187142,\"qy\":0.06951001142318632,\"qz\":-0.3362918535131454,\"x\":2.733821974072971,\"y\":-3.1039350296325696,\"z\":0.9443305502607682},\"object_pose\":{\"qw\":0.9956813486340009,\"qx\":-0.043013799832471465,\"qy\":-0.0785654581990515,\"qz\":-0.02441175504384313,\"x\":2.925239866845879,\"y\":-3.337099147030719,\"z\":0.9479996628986032}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToDrawer\"}", "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\":\"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 drawer.\",\"layout_id\":39,\"object_cfgs\":[{\"exclude_obj_groups\":[\"reamer\",\"strainer\",\"cheese_grater\"],\"graspable\":true,\"info\":{\"cat\":\"ladle\",\"groups\":[\"tool\",\"utensil\"],\"groups_containing_sampled_obj\":[\"all\",\"ladle\",\"utensil\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"tool\",\"utensil\"],\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.057608837187413324,0.2328650074257728,0.07522244119756101],\"ref\":\"stack_1_island_group_1_2\"},\"size\":[0.6,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.9750000000000001,2.0816681711721685e-17,0.46],\"size\":[0.6499999999999999,1.3]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"tool\",\"utensil\"],\"info\":{\"cat\":\"steak\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"steak\",\"meat\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"island_island_group_1\",\"pos\":[\"ref\",-0.5],\"sample_region_kwargs\":{\"min_size\":[0.10464242249999998,0.12385554249999998,0.05342668],\"ref\":\"stack_1_island_group_1_2\"},\"size\":[0.6,0.3]},\"reset_region\":{\"name\":\"geom_0\",\"offset\":[-0.9750000000000001,2.0816681711721685e-17,0.46],\"size\":[0.6499999999999999,1.3]},\"type\":\"object\"}],\"style_id\":16},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.040741998702287674,\"qx\":0.0458265021443367,\"qy\":-0.9921945929527283,\"qz\":-0.10858313739299774,\"x\":2.340176492636431,\"y\":-3.558229456369795,\"z\":1.286195523443408},\"goal_pose\":{\"qw\":0.9370905380230071,\"qx\":-0.06274927187142,\"qy\":0.06951001142318632,\"qz\":-0.3362918535131454,\"x\":2.733821974072971,\"y\":-3.1039350296325696,\"z\":0.9443305502607682},\"object_pose\":{\"qw\":0.9956813486340009,\"qx\":-0.043013799832471465,\"qy\":-0.0785654581990515,\"qz\":-0.02441175504384313,\"x\":2.925239866845879,\"y\":-3.337099147030719,\"z\":0.9479996628986032}},\"initial_state\":[0.5000000000000003,7.6528162187880024,-13.805287911112046,2.327355004035111e-07,1.657394223966054e-08,-0.013900542540706043,-1.0078098191725706,-0.018954107569743597,-2.2727122102618598,0.08069109175195241,1.4770399263668932,0.683976502176795,0.020575712915108024,-0.02049084824072168,-1.0368348582462852e-07,1.3776471614307682e-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,-2.6214716924545696e-16,0.0,-2.6214716924545696e-16,-2.65464556885469e-16,-2.65464556885469e-16,-2.6214716924545696e-16,0.0,-2.6214716924545696e-16,0.0,-2.6063251057482085e-16,0.0,-2.6063251057482085e-16,0.0,0.0,-0.006258670496997922,-0.006258670496997922,-7.953636527061994e-06,0.0,0.0,-8.807913999180636e-05,-1.895886741051464e-09,-0.002472080767189386,-8.807732026199791e-05,-1.6617744109407316e-09,-0.00247208077267576,0.0,0.0,0.0,0.0,0.0,-0.29611114528873095,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.0544619934890343e-15,0.0,-2.0544619934890343e-15,0.0,-2.0544619934890362e-15,0.0,-2.0544619934890343e-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,-3.2210679811277458e-15,-2.5738993623800853e-05,5.527709942088919e-09,4.0903909684510864e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-5.864277373120385e-14,0.0,0.0,1.0780094447786738e-08,1.0780094447785943e-08,0.0,0.0,2.925239866845879,-3.337099147030719,0.9479996628986032,0.9956813486340009,-0.043013799832471465,-0.0785654581990515,-0.02441175504384313,2.733821974072971,-3.1039350296325696,0.9443305502607682,0.9370905380230071,-0.06274927187142,0.06951001142318632,-0.3362918535131454,-8.158227983103464e-07,4.880158763850365e-07,-3.387077775381882e-06,6.916560048223934e-08,-9.631084888714747e-06,0.0006534132602949576,-0.0007093256173441376,-2.1695525871441795e-05,-0.0007190543510843167,8.950074893842562e-05,-0.00012230260033775528,-0.00043768477650435645,0.0004983660847720225,-2.1097835052214996e-07,2.8032788663931924e-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,-1.0553704308942407e-17,0.0,-1.0553704308942407e-17,-1.1336092812704242e-17,-1.1336092812704242e-17,-1.0553704308942407e-17,0.0,-1.0553704308942407e-17,0.0,-1.0208777942637071e-17,0.0,-1.0208777942637071e-17,0.0,0.0,-4.6394227027988704e-07,-4.6394227027988704e-07,-1.4405349781950957e-07,0.0,0.0,-1.726930094400253e-06,-1.8211697673812887e-15,-1.2021006893593128e-06,-1.7269004288877416e-06,-1.5962850184590895e-15,-1.2021018393504594e-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,-8.273753442860256e-17,0.0,-8.273753442860256e-17,0.0,-8.273753442860274e-17,0.0,-8.273753442860256e-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,-1.5210112215365214e-16,-4.616363987897328e-07,1.1247894656154015e-08,8.32320925945182e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.3217879677036325e-15,0.0,-7.509322214068608e-07,2.1935552363365307e-08,2.193555236337127e-08,0.0,0.0,-0.014236942387334724,0.0006567460059983396,-0.003090478614935022,-0.001902291761586138,-0.5044948993706122,-0.041282389381486255,0.00015163566005858657,0.00034791694743916595,-2.211327844587013e-05,-0.013819000837505743,-0.003503509770364399,-0.001840056558718087],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToDrawer\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 147, "pretrain_task_id": 34, "retained_waypoint_count": 147, "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 ladle from the counter and place it in the drawer.", "task_name": "PickPlaceCounterToDrawer", "video_available": true, "video_bytes": 632243, "video_relpath": "videos/raw_extracted/34_PickPlaceCounterToDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToMicrowave\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_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': 'PickPlaceCounterToMicrowave',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 102,\n    'stable_release_contact_loss_t': 254,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=5.296058, y=-4.057625, z=0.953693, qw=0.949761, qx=0.004641, qy=-0.000584, qz=-0.312941)\nGOAL_RECEPTACLE_POSE = pose(x=5.295939, y=-4.060427, z=0.929162, qw=0.723819, qx=-0.000466, qy=0.001940, qz=-0.689987)\n\nAPPROACH_003_JOINTS = [-0.007745, -1.043038, -0.044796, -2.259154, -0.002859, 1.547567, 0.669778]  # t=3\nAPPROACH_006_JOINTS = [-0.016189, -1.071147, -0.082225, -2.286114, -0.037395, 1.522008, 0.654707]  # t=6\nAPPROACH_008_JOINTS = [-0.026888, -1.108952, -0.124084, -2.313083, -0.077544, 1.501579, 0.657366]  # t=8\nAPPROACH_009_JOINTS = [-0.033000, -1.128570, -0.146862, -2.329304, -0.101041, 1.497526, 0.660502]  # t=9\nAPPROACH_012_JOINTS = [-0.049529, -1.177300, -0.221363, -2.383149, -0.173315, 1.514259, 0.642929]  # t=12\nAPPROACH_015_JOINTS = [-0.062259, -1.192132, -0.306846, -2.440126, -0.249087, 1.552979, 0.591214]  # t=15\nAPPROACH_018_JOINTS = [-0.072711, -1.178274, -0.393141, -2.472074, -0.330813, 1.591804, 0.525742]  # t=18\nAPPROACH_021_JOINTS = [-0.073253, -1.126874, -0.478281, -2.485427, -0.406577, 1.658773, 0.436934]  # t=21\nAPPROACH_023_JOINTS = [-0.064015, -1.058825, -0.534188, -2.480208, -0.445833, 1.715948, 0.377672]  # t=23\nAPPROACH_024_JOINTS = [-0.057415, -1.019126, -0.561772, -2.469868, -0.460376, 1.740846, 0.346484]  # t=24\nAPPROACH_027_JOINTS = [-0.029362, -0.878925, -0.642201, -2.423018, -0.493801, 1.804403, 0.248691]  # t=27\nAPPROACH_030_JOINTS = [0.012949, -0.706561, -0.707646, -2.359669, -0.508965, 1.864187, 0.167579]  # t=30\nAPPROACH_033_JOINTS = [0.060958, -0.519061, -0.767587, -2.278472, -0.488544, 1.914734, 0.089100]  # t=33\nAPPROACH_036_JOINTS = [0.094876, -0.357643, -0.821978, -2.193089, -0.426639, 1.939717, -0.010876]  # t=36\nAPPROACH_039_JOINTS = [0.101064, -0.243722, -0.876235, -2.120789, -0.353061, 1.958718, -0.153329]  # t=39\nAPPROACH_042_JOINTS = [0.089931, -0.140821, -0.916632, -2.070287, -0.272000, 1.998319, -0.297469]  # t=42\nAPPROACH_045_JOINTS = [0.063544, -0.037636, -0.932308, -2.027580, -0.164506, 2.055427, -0.438926]  # t=45\nAPPROACH_048_JOINTS = [0.018478, 0.063149, -0.914579, -1.994905, -0.037544, 2.105990, -0.567833]  # t=48\nAPPROACH_051_JOINTS = [-0.043397, 0.140449, -0.860439, -1.967994, 0.084184, 2.142523, -0.672081]  # t=51\nAPPROACH_053_JOINTS = [-0.090896, 0.181778, -0.815208, -1.951779, 0.147151, 2.156903, -0.727187]  # t=53\nDESCEND_054_JOINTS = [-0.115257, 0.199664, -0.791703, -1.943732, 0.172390, 2.160720, -0.750556]  # t=54\nDESCEND_055_JOINTS = [-0.139547, 0.216185, -0.768164, -1.935890, 0.194246, 2.162999, -0.771120]  # t=55\nDESCEND_056_JOINTS = [-0.163311, 0.232797, -0.744361, -1.927584, 0.212320, 2.165763, -0.787860]  # t=56\nDESCEND_057_JOINTS = [-0.186139, 0.249190, -0.720482, -1.918277, 0.226348, 2.168700, -0.800212]  # t=57\nDESCEND_058_JOINTS = [-0.207876, 0.264942, -0.697006, -1.908206, 0.236960, 2.171611, -0.808387]  # t=58\nDESCEND_059_JOINTS = [-0.228517, 0.280155, -0.674221, -1.897940, 0.245264, 2.174620, -0.813667]  # t=59\nDESCEND_060_JOINTS = [-0.248264, 0.297181, -0.651705, -1.887341, 0.253158, 2.180859, -0.817391]  # t=60\nDESCEND_061_JOINTS = [-0.267099, 0.316575, -0.628936, -1.875649, 0.261930, 2.190022, -0.820413]  # t=61\nDESCEND_062_JOINTS = [-0.284872, 0.335691, -0.606804, -1.862451, 0.270333, 2.197670, -0.822537]  # t=62\nGRASP_064_JOINTS = [-0.314808, 0.355518, -0.568607, -1.832870, 0.275501, 2.184772, -0.817064]  # t=64\nGRASP_066_JOINTS = [-0.339085, 0.365195, -0.539061, -1.806857, 0.269795, 2.161572, -0.805505]  # t=66\nGRASP_072_JOINTS = [-0.390639, 0.382237, -0.491170, -1.764052, 0.255946, 2.113836, -0.797301]  # t=72\nGRASP_077_JOINTS = [-0.414967, 0.375846, -0.485304, -1.772075, 0.247873, 2.085659, -0.809713]  # t=77\nGRASP_079_JOINTS = [-0.419857, 0.368927, -0.483786, -1.784592, 0.247583, 2.086228, -0.815145]  # t=79\nGRASP_081_JOINTS = [-0.421317, 0.367649, -0.477672, -1.792297, 0.248682, 2.092193, -0.813197]  # t=81\nGRASP_086_JOINTS = [-0.420428, 0.375940, -0.464045, -1.791546, 0.249298, 2.097330, -0.797619]  # t=86\nGRASP_091_JOINTS = [-0.423042, 0.380002, -0.466912, -1.787660, 0.249213, 2.079495, -0.799537]  # t=91\nGRASP_100_JOINTS = [-0.425996, 0.367167, -0.479463, -1.832185, 0.246602, 2.093302, -0.816335]  # t=100\nGRASP_102_JOINTS = [-0.426176, 0.370650, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088]  # t=102\nGRASP_HOLD_102_JOINTS = [-0.426176, 0.370650, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088]  # t=102\nLIFT_103_JOINTS = [-0.426356, 0.372321, -0.478982, -1.826281, 0.249039, 2.097336, -0.817038]  # t=103\nLIFT_104_JOINTS = [-0.426558, 0.373495, -0.479067, -1.823695, 0.249182, 2.095628, -0.816935]  # t=104\nLIFT_105_JOINTS = [-0.426699, 0.373632, -0.479231, -1.821457, 0.249055, 2.092537, -0.816722]  # t=105\nLIFT_106_JOINTS = [-0.426877, 0.373794, -0.479417, -1.819534, 0.248959, 2.090256, -0.816584]  # t=106\nLIFT_107_JOINTS = [-0.427185, 0.373746, -0.479869, -1.817770, 0.248975, 2.087887, -0.816580]  # t=107\nLIFT_108_JOINTS = [-0.427582, 0.372720, -0.480850, -1.817164, 0.248640, 2.083982, -0.816916]  # t=108\nLIFT_109_JOINTS = [-0.428111, 0.371282, -0.482418, -1.817802, 0.247786, 2.079787, -0.817827]  # t=109\nLIFT_110_JOINTS = [-0.428896, 0.368914, -0.484895, -1.819920, 0.246929, 2.074261, -0.819847]  # t=110\nLIFT_111_JOINTS = [-0.430104, 0.364753, -0.488839, -1.824013, 0.246620, 2.066955, -0.823940]  # t=111\nLIFT_112_JOINTS = [-0.431714, 0.358961, -0.494168, -1.830097, 0.246795, 2.058802, -0.830349]  # t=112\nLIFT_113_JOINTS = [-0.433567, 0.352036, -0.500537, -1.837816, 0.247136, 2.050835, -0.838566]  # t=113\nLIFT_114_JOINTS = [-0.435571, 0.344117, -0.507811, -1.847108, 0.247563, 2.042924, -0.848230]  # t=114\nLIFT_115_JOINTS = [-0.437615, 0.335801, -0.515354, -1.857419, 0.249054, 2.035140, -0.859166]  # t=115\nLIFT_116_JOINTS = [-0.439643, 0.325851, -0.523746, -1.867637, 0.250632, 2.025288, -0.870885]  # t=116\nLIFT_117_JOINTS = [-0.441549, 0.312839, -0.533286, -1.876773, 0.252290, 2.012282, -0.883393]  # t=117\nLIFT_118_JOINTS = [-0.443145, 0.295514, -0.543979, -1.883651, 0.254219, 1.994759, -0.896460]  # t=118\nLIFT_119_JOINTS = [-0.444096, 0.273847, -0.555805, -1.887010, 0.253927, 1.970268, -0.908084]  # t=119\nPLACE_121_JOINTS = [-0.444440, 0.224654, -0.583208, -1.885506, 0.247389, 1.907276, -0.923389]  # t=121\nPLACE_123_JOINTS = [-0.443818, 0.171323, -0.617740, -1.881624, 0.237132, 1.841278, -0.936330]  # t=123\nPLACE_125_JOINTS = [-0.441559, 0.111320, -0.658579, -1.879891, 0.226149, 1.776554, -0.951771]  # t=125\nPLACE_127_JOINTS = [-0.434962, 0.040524, -0.700331, -1.882511, 0.211306, 1.713644, -0.958653]  # t=127\nPLACE_129_JOINTS = [-0.421957, -0.045835, -0.737570, -1.890987, 0.191144, 1.648600, -0.945850]  # t=129\nPLACE_131_JOINTS = [-0.402564, -0.149685, -0.767540, -1.904984, 0.162251, 1.582384, -0.908095]  # t=131\nPLACE_133_JOINTS = [-0.377376, -0.266121, -0.784678, -1.921147, 0.122565, 1.522092, -0.840359]  # t=133\nPLACE_135_JOINTS = [-0.346120, -0.384406, -0.780333, -1.937774, 0.083656, 1.477401, -0.743559]  # t=135\nPLACE_137_JOINTS = [-0.312085, -0.501418, -0.758162, -1.953896, 0.055424, 1.444848, -0.631120]  # t=137\nPLACE_139_JOINTS = [-0.279387, -0.614873, -0.723573, -1.968755, 0.030766, 1.419228, -0.513929]  # t=139\nPLACE_141_JOINTS = [-0.250385, -0.722382, -0.678828, -1.981118, 0.006678, 1.394705, -0.394358]  # t=141\nPLACE_143_JOINTS = [-0.225568, -0.821760, -0.627924, -1.990387, -0.010625, 1.371151, -0.274572]  # t=143\nPLACE_145_JOINTS = [-0.203386, -0.908191, -0.572741, -2.000867, -0.016925, 1.358548, -0.156146]  # t=145\nPLACE_147_JOINTS = [-0.182519, -0.979045, -0.514285, -2.009520, -0.011194, 1.357429, -0.040022]  # t=147\nPLACE_149_JOINTS = [-0.163131, -1.035634, -0.454296, -2.010956, 0.000520, 1.359983, 0.070373]  # t=149\nPLACE_151_JOINTS = [-0.145172, -1.078856, -0.393692, -2.003199, 0.016439, 1.367767, 0.175989]  # t=151\nPLACE_153_JOINTS = [-0.129087, -1.109581, -0.332637, -1.987049, 0.032041, 1.381045, 0.281043]  # t=153\nPLACE_155_JOINTS = [-0.116036, -1.130431, -0.270501, -1.965636, 0.041501, 1.401598, 0.391780]  # t=155\nPLACE_157_JOINTS = [-0.107148, -1.143015, -0.205156, -1.944564, 0.037483, 1.425341, 0.513110]  # t=157\nPLACE_159_JOINTS = [-0.101588, -1.145127, -0.135774, -1.929092, 0.022767, 1.456709, 0.640618]  # t=159\nPLACE_161_JOINTS = [-0.097873, -1.132620, -0.065376, -1.924476, 0.004945, 1.498177, 0.768486]  # t=161\nPLACE_163_JOINTS = [-0.095397, -1.106920, 0.001828, -1.921438, -0.009834, 1.544178, 0.893101]  # t=163\nPLACE_165_JOINTS = [-0.093124, -1.074545, 0.055887, -1.919261, -0.019813, 1.578579, 0.998580]  # t=165\nPLACE_167_JOINTS = [-0.090466, -1.039525, 0.091778, -1.917709, -0.025378, 1.609532, 1.074807]  # t=167\nPLACE_169_JOINTS = [-0.086931, -0.997739, 0.111872, -1.915935, -0.021255, 1.653409, 1.123401]  # t=169\nPLACE_171_JOINTS = [-0.083552, -0.950135, 0.116731, -1.914193, -0.011162, 1.709160, 1.154985]  # t=171\nPLACE_173_JOINTS = [-0.080594, -0.898990, 0.113964, -1.904704, 0.000797, 1.773275, 1.174014]  # t=173\nPLACE_175_JOINTS = [-0.077560, -0.844128, 0.113684, -1.882740, 0.013576, 1.836242, 1.182408]  # t=175\nPLACE_177_JOINTS = [-0.074840, -0.788780, 0.120340, -1.843962, 0.022421, 1.873892, 1.188876]  # t=177\nPLACE_179_JOINTS = [-0.073014, -0.735422, 0.136131, -1.796064, 0.023657, 1.886974, 1.201606]  # t=179\nPLACE_181_JOINTS = [-0.072721, -0.680700, 0.162378, -1.754377, 0.016300, 1.905792, 1.226194]  # t=181\nPLACE_183_JOINTS = [-0.073812, -0.629394, 0.190313, -1.721425, 0.000506, 1.943033, 1.256639]  # t=183\nPLACE_185_JOINTS = [-0.075870, -0.579515, 0.213082, -1.696420, -0.019228, 1.989221, 1.283908]  # t=185\nPLACE_187_JOINTS = [-0.078203, -0.529316, 0.233355, -1.674374, -0.040273, 2.037984, 1.308456]  # t=187\nPLACE_189_JOINTS = [-0.080844, -0.479001, 0.248827, -1.651877, -0.063240, 2.086325, 1.329452]  # t=189\nPLACE_191_JOINTS = [-0.082777, -0.430011, 0.259588, -1.627940, -0.084600, 2.135684, 1.343490]  # t=191\nPLACE_193_JOINTS = [-0.083277, -0.381600, 0.266959, -1.600180, -0.101427, 2.178814, 1.349866]  # t=193\nPLACE_195_JOINTS = [-0.082512, -0.336088, 0.272402, -1.571602, -0.116009, 2.206072, 1.354100]  # t=195\nPLACE_197_JOINTS = [-0.080695, -0.292558, 0.274094, -1.541009, -0.128251, 2.222256, 1.355277]  # t=197\nPLACE_199_JOINTS = [-0.077794, -0.248585, 0.274367, -1.506114, -0.141187, 2.234420, 1.356774]  # t=199\nPLACE_201_JOINTS = [-0.073437, -0.207755, 0.274352, -1.469730, -0.154847, 2.236361, 1.360028]  # t=201\nPLACE_203_JOINTS = [-0.067470, -0.171612, 0.273689, -1.433237, -0.165578, 2.225175, 1.362401]  # t=203\nPLACE_205_JOINTS = [-0.060396, -0.134843, 0.271928, -1.393603, -0.175548, 2.212649, 1.363556]  # t=205\nPLACE_207_JOINTS = [-0.052342, -0.097707, 0.269239, -1.352387, -0.186472, 2.202749, 1.364515]  # t=207\nPLACE_209_JOINTS = [-0.043251, -0.062415, 0.265810, -1.311613, -0.197344, 2.192134, 1.365500]  # t=209\nPLACE_211_JOINTS = [-0.033326, -0.026927, 0.261401, -1.271005, -0.208426, 2.185255, 1.366413]  # t=211\nPLACE_213_JOINTS = [-0.022676, 0.011589, 0.255924, -1.229245, -0.219787, 2.182983, 1.366962]  # t=213\nPLACE_215_JOINTS = [-0.011151, 0.045770, 0.249861, -1.188359, -0.229796, 2.174554, 1.367144]  # t=215\nPLACE_217_JOINTS = [0.001031, 0.070093, 0.243491, -1.151922, -0.237227, 2.155866, 1.367154]  # t=217\nPLACE_219_JOINTS = [0.013197, 0.094632, 0.236045, -1.118218, -0.243687, 2.143819, 1.367149]  # t=219\nPLACE_221_JOINTS = [0.025213, 0.116176, 0.228289, -1.087777, -0.248921, 2.129840, 1.367141]  # t=221\nPLACE_223_JOINTS = [0.036864, 0.128300, 0.220925, -1.065407, -0.252138, 2.107239, 1.367157]  # t=223\nPLACE_225_JOINTS = [0.047545, 0.135078, 0.213520, -1.053470, -0.253475, 2.084832, 1.367431]  # t=225\nPLACE_227_JOINTS = [0.056867, 0.138290, 0.206177, -1.050680, -0.253442, 2.066221, 1.368134]  # t=227\nPLACE_229_JOINTS = [0.064782, 0.138197, 0.199461, -1.056092, -0.253050, 2.052482, 1.369691]  # t=229\nPLACE_231_JOINTS = [0.071092, 0.134783, 0.193167, -1.068585, -0.252622, 2.044703, 1.372162]  # t=231\nPLACE_233_JOINTS = [0.074928, 0.129637, 0.185169, -1.077028, -0.250772, 2.047666, 1.373383]  # t=233\nPLACE_235_JOINTS = [0.077702, 0.125681, 0.179040, -1.083415, -0.247295, 2.051782, 1.373359]  # t=235\nPLACE_237_JOINTS = [0.079655, 0.122484, 0.174474, -1.088489, -0.244476, 2.055001, 1.373346]  # t=237\nPLACE_239_JOINTS = [0.081162, 0.120566, 0.171709, -1.091534, -0.242682, 2.058401, 1.373345]  # t=239\nPLACE_241_JOINTS = [0.082292, 0.120030, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342]  # t=241\nRELEASE_POSE_241_JOINTS = [0.082292, 0.120030, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342]  # t=241\nRETRACT_254_JOINTS = [0.085335, 0.097750, 0.169980, -1.101929, -0.242083, 2.039489, 1.374392]  # t=254\nRETRACT_257_JOINTS = [0.084887, 0.064583, 0.171189, -1.128623, -0.244265, 2.033831, 1.378200]  # t=257\nRETRACT_260_JOINTS = [0.081463, 0.023402, 0.170389, -1.168551, -0.244059, 2.038713, 1.380847]  # t=260\nRETRACT_263_JOINTS = [0.077018, -0.071641, 0.175062, -1.241431, -0.234668, 2.005105, 1.388167]  # t=263\nRETRACT_265_JOINTS = [0.071864, -0.147611, 0.177601, -1.308707, -0.224237, 1.992669, 1.391632]  # t=265\nRETRACT_266_JOINTS = [0.068631, -0.187661, 0.178832, -1.346752, -0.218896, 1.991255, 1.392924]  # t=266\nRETRACT_269_JOINTS = [0.056663, -0.316257, 0.180648, -1.475600, -0.199899, 2.006591, 1.396678]  # t=269\nRETRACT_272_JOINTS = [0.042576, -0.459531, 0.177099, -1.627676, -0.175859, 2.054557, 1.398414]  # t=272\nRETRACT_275_JOINTS = [0.029175, -0.619308, 0.169957, -1.806401, -0.149608, 2.137574, 1.401080]  # t=275\nRETRACT_277_JOINTS = [0.021614, -0.732599, 0.157693, -1.932524, -0.127084, 2.211076, 1.400671]  # t=277\nRETRACT_278_JOINTS = [0.018640, -0.787732, 0.150138, -1.992762, -0.112933, 2.244686, 1.397177]  # t=278\nRETRACT_281_JOINTS = [0.013961, -0.937438, 0.131484, -2.142867, -0.064157, 2.296717, 1.357740]  # t=281\nRETRACT_284_JOINTS = [0.017337, -1.065744, 0.121667, -2.242929, 0.002931, 2.275431, 1.291165]  # t=284\nRETRACT_287_JOINTS = [0.025123, -1.167809, 0.104241, -2.285768, 0.074175, 2.169729, 1.197415]  # t=287\nRETRACT_290_JOINTS = [0.033403, -1.237803, 0.081962, -2.274767, 0.136044, 1.994899, 1.089390]  # t=290\nRETRACT_292_JOINTS = [0.036861, -1.265304, 0.067061, -2.242780, 0.166354, 1.855407, 1.023918]  # t=292\nAPPROACH_000_JOINTS = [-0.006388, -1.041770, -0.042877, -2.252211, -0.000331, 1.551260, 0.671262]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_058_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_059_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    moveJoint(GRASP_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_072_JOINTS, input_type='joint', steps=6, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_077_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_086_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_091_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_100_JOINTS, input_type='joint', steps=9, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=GRASP_HOLD_102_JOINTS, input_type='joint', gripper=-0.3)\n    grasp(hold_target=GRASP_HOLD_102_JOINTS, input_type='joint', close_steps=2, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_102_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_241_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_241_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_241_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_254_JOINTS, input_type='joint', steps=13, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_257_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_260_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_263_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_266_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_269_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_272_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_275_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_277_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_278_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_281_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_284_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_287_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_290_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_292_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 30114, "code_num_lines": 338, "code_num_nonblank_lines": 324, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"PickPlaceCounterToMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToMicrowave\",\"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_4_right_group_1\",\"distr_counter\":\"counter_4_right_group_1\",\"microwave\":\"microwave_right_group_1\"},\"fixtures\":{\"coffee_machine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_front_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group_1\":{\"cls\":\"Box\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"cube_6_dining_area_group_1\":{\"cls\":\"Box\"},\"dining_dining_area_group_1\":{\"cls\":\"Counter\"},\"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_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_front_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_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_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_4_dining_area_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_5_dining_area_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_dining_area_group_1_base\":{\"cls\":\"Box\"},\"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 the hot dog from the counter and place it in the 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}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToMicrowave\"}", "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\":\"PickPlaceCounterToMicrowave\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToMicrowave\",\"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_4_right_group_1\",\"distr_counter\":\"counter_4_right_group_1\",\"microwave\":\"microwave_right_group_1\"},\"fixtures\":{\"coffee_machine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_front_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group_1\":{\"cls\":\"Box\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"cube_6_dining_area_group_1\":{\"cls\":\"Box\"},\"dining_dining_area_group_1\":{\"cls\":\"Counter\"},\"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_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_front_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_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_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_4_dining_area_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_5_dining_area_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_dining_area_group_1_base\":{\"cls\":\"Box\"},\"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 the hot dog from the counter and place it in the 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-07,2.8273193551727274e-06,7.34720364831874e-08,8.495839657494093e-06,0.0005337604445724821,0.0006194274559575989,-2.6282670312310575e-05,0.0007672529499161306,0.00012122147223134956,0.00011146497019670648,-0.0004580491216741473,0.0004780009772150298,0.0,0.0,0.0,1.2972955234717547e-08,-3.5470520799856e-11,-2.1765736741531658e-08,-1.3843386928400642e-07,0.0,0.0,0.0,0.0,-3.3801142480152364e-07,-3.380113478071956e-07,6.589470823715557e-05,0.0,0.0,0.0,-6.415187813858998e-17,-6.415187813858998e-17,-5.82095440013427e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-6.528948538816864e-07,6.495231164887974e-08,-9.841182531962547e-12,8.721988822749562e-08,2.55154277910342e-08,-1.2305294123743649e-11,-1.2070218288207716e-11,-4.0036345100318116e-12,0.0,9.45734293860419e-05,0.0,0.0,0.0,0.0,0.0,0.0,-5.119978153770182e-17,0.0,-1.934586436853284e-06,-1.1514824566584823e-11,9.56651733112441e-08,0.0,0.0,-5.19413037446199e-07,-7.313423665173651e-11,-1.1557652985734148e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.2047241582308442e-05,1.6025741606860496e-05,4.0494692093387654e-05,4.487852364573298e-05,9.004593844345213e-06,-0.002294981708808394,0.00022423643072247434,-1.7365002211598333e-06,-7.387959642478508e-08,-5.238902285063348e-08,1.43129917590811e-06,7.612442625497754e-06,4.456735428687345e-06,3.8433001555992176e-08,6.010347604344646e-08,-1.9507289382851837e-06,1.1088115695171454e-05,0.0001128651550579891,0.0001755169041659792,1.4944746080711525e-06,-0.009558607273776564,-0.013045049944044967,-0.0011855461855725877,-0.008325855424263196,0.5759718751274868,-0.006882660968491503],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToMicrowave\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 134, "pretrain_task_id": 35, "retained_waypoint_count": 134, "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": 719178, "video_relpath": "videos/raw_extracted/35_PickPlaceCounterToMicrowave.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_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': 'PickPlaceCounterToOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 54,\n    'stable_release_contact_loss_t': 285,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=1.957204, y=-0.459677, z=0.946215, qw=0.973609, qx=-0.023187, qy=-0.076198, qz=-0.213872)\nGOAL_RECEPTACLE_POSE = pose(x=1.959009, y=-0.464658, z=0.931733, qw=0.998276, qx=0.000003, qy=-0.000009, qz=-0.058701)\n\nPLACE_BODY_072 = pose(x=0.500837, y=-0.036091, z=1.024894, qx=-0.745707, qy=-0.662521, qz=-0.066061, qw=0.024978)  # body-frame t=72\nPLACE_BODY_074 = pose(x=0.491495, y=-0.036776, z=1.049932, qx=-0.726723, qy=-0.681917, qz=-0.075033, qw=0.035123)  # body-frame t=74\nPLACE_BODY_075 = pose(x=0.484651, y=-0.035637, z=1.062848, qx=-0.716865, qy=-0.691989, qz=-0.075638, qw=0.039191)  # body-frame t=75\nPLACE_BODY_076 = pose(x=0.476847, y=-0.034563, z=1.078308, qx=-0.706214, qy=-0.702556, qz=-0.078124, qw=0.039665)  # body-frame t=76\nPLACE_BODY_077 = pose(x=0.468007, y=-0.032556, z=1.094052, qx=-0.694566, qy=-0.713614, qz=-0.083113, qw=0.037748)  # body-frame t=77\nPLACE_BODY_078 = pose(x=0.458849, y=-0.029668, z=1.106662, qx=-0.682052, qy=-0.725563, qz=-0.084977, qw=0.033797)  # body-frame t=78\nPLACE_BODY_079 = pose(x=0.450558, y=-0.025725, z=1.114458, qx=-0.668404, qy=-0.739390, qz=-0.076954, qw=0.024835)  # body-frame t=79\nPLACE_BODY_080 = pose(x=0.441375, y=-0.022913, z=1.119802, qx=-0.654635, qy=-0.753380, qz=-0.060978, qw=0.012379)  # body-frame t=80\nPLACE_BODY_082 = pose(x=0.420380, y=-0.020264, z=1.130445, qx=-0.634957, qy=-0.771905, qz=-0.023570, qw=-0.020888)  # body-frame t=82\nPLACE_BODY_084 = pose(x=0.398710, y=-0.018656, z=1.143681, qx=-0.616737, qy=-0.784686, qz=0.005212, qw=-0.062263)  # body-frame t=84\nPLACE_BODY_086 = pose(x=0.374644, y=-0.018039, z=1.152331, qx=-0.603542, qy=-0.791552, qz=0.019696, qw=-0.093777)  # body-frame t=86\nPLACE_BODY_088 = pose(x=0.350868, y=-0.017938, z=1.158980, qx=-0.602898, qy=-0.788889, qz=0.007884, qw=-0.118769)  # body-frame t=88\nPLACE_BODY_089 = pose(x=0.338498, y=-0.017697, z=1.162700, qx=-0.603971, qy=-0.786191, qz=-0.005026, qw=-0.130757)  # body-frame t=89\nPLACE_BODY_090 = pose(x=0.325438, y=-0.017112, z=1.165884, qx=-0.605289, qy=-0.783437, qz=-0.021831, qw=-0.139196)  # body-frame t=90\nPLACE_BODY_092 = pose(x=0.301175, y=-0.016245, z=1.171067, qx=-0.610733, qy=-0.775537, qz=-0.061717, qw=-0.147439)  # body-frame t=92\nPLACE_BODY_094 = pose(x=0.286921, y=-0.016364, z=1.181700, qx=-0.618488, qy=-0.767849, qz=-0.092317, qw=-0.139131)  # body-frame t=94\nPLACE_BODY_096 = pose(x=0.275082, y=-0.017182, z=1.193439, qx=-0.626153, qy=-0.762084, qz=-0.110998, qw=-0.121818)  # body-frame t=96\nPLACE_BODY_097 = pose(x=0.269401, y=-0.017989, z=1.197379, qx=-0.628713, qy=-0.760296, qz=-0.114689, qw=-0.116259)  # body-frame t=97\nPLACE_BODY_098 = pose(x=0.263535, y=-0.017621, z=1.200245, qx=-0.629108, qy=-0.760224, qz=-0.115977, qw=-0.113282)  # body-frame t=98\nPLACE_BODY_099 = pose(x=0.258260, y=-0.016835, z=1.202253, qx=-0.629070, qy=-0.760230, qz=-0.116527, qw=-0.112878)  # body-frame t=99\nPLACE_BODY_100 = pose(x=0.254157, y=-0.016589, z=1.203970, qx=-0.629811, qy=-0.759954, qz=-0.115399, qw=-0.111763)  # body-frame t=100\nPLACE_BODY_102 = pose(x=0.246568, y=-0.016662, z=1.206607, qx=-0.631348, qy=-0.759819, qz=-0.111788, qw=-0.107605)  # body-frame t=102\nPLACE_BODY_104 = pose(x=0.243616, y=-0.016754, z=1.207069, qx=-0.632083, qy=-0.759810, qz=-0.109849, qw=-0.105320)  # body-frame t=104\nPLACE_BODY_106 = pose(x=0.244212, y=-0.016780, z=1.207697, qx=-0.632225, qy=-0.759278, qz=-0.111116, qw=-0.106966)  # body-frame t=106\nPLACE_BODY_107 = pose(x=0.244297, y=-0.016780, z=1.207787, qx=-0.632269, qy=-0.759180, qz=-0.111287, qw=-0.107218)  # body-frame t=107\nPLACE_BODY_108 = pose(x=0.243563, y=-0.016795, z=1.208096, qx=-0.632383, qy=-0.759154, qz=-0.111059, qw=-0.106968)  # body-frame t=108\nPLACE_BODY_110 = pose(x=0.236649, y=-0.016901, z=1.210079, qx=-0.633020, qy=-0.759638, qz=-0.107898, qw=-0.102928)  # body-frame t=110\nPLACE_BODY_112 = pose(x=0.231376, y=-0.016947, z=1.210966, qx=-0.633507, qy=-0.760191, qz=-0.104808, qw=-0.098966)  # body-frame t=112\nPLACE_BODY_114 = pose(x=0.229749, y=-0.016953, z=1.210709, qx=-0.633733, qy=-0.760476, qz=-0.103222, qw=-0.096971)  # body-frame t=114\nPLACE_BODY_116 = pose(x=0.226737, y=-0.017360, z=1.212815, qx=-0.633336, qy=-0.760717, qz=-0.103912, qw=-0.096936)  # body-frame t=116\nPLACE_BODY_118 = pose(x=0.223830, y=-0.017075, z=1.214380, qx=-0.634091, qy=-0.760207, qz=-0.103006, qw=-0.096968)  # body-frame t=118\nPLACE_BODY_120 = pose(x=0.224053, y=-0.017129, z=1.213843, qx=-0.634237, qy=-0.760217, qz=-0.102530, qw=-0.096442)  # body-frame t=120\nPLACE_BODY_122 = pose(x=0.224325, y=-0.017224, z=1.213468, qx=-0.634345, qy=-0.760187, qz=-0.102351, qw=-0.096162)  # body-frame t=122\nPLACE_BODY_124 = pose(x=0.224473, y=-0.017311, z=1.213249, qx=-0.634357, qy=-0.760210, qz=-0.102284, qw=-0.095975)  # body-frame t=124\nPLACE_BODY_126 = pose(x=0.224524, y=-0.017390, z=1.213146, qx=-0.634332, qy=-0.760245, qz=-0.102302, qw=-0.095838)  # body-frame t=126\nPLACE_BODY_128 = pose(x=0.224714, y=-0.017494, z=1.212967, qx=-0.633655, qy=-0.760815, qz=-0.102632, qw=-0.095435)  # body-frame t=128\nPLACE_BODY_130 = pose(x=0.225650, y=-0.017461, z=1.212226, qx=-0.633261, qy=-0.761226, qz=-0.102451, qw=-0.094969)  # body-frame t=130\nPLACE_BODY_132 = pose(x=0.225706, y=-0.016410, z=1.212429, qx=-0.633798, qy=-0.760719, qz=-0.101727, qw=-0.096220)  # body-frame t=132\nPLACE_BODY_134 = pose(x=0.224531, y=-0.015059, z=1.213382, qx=-0.635153, qy=-0.759573, qz=-0.100528, qw=-0.097587)  # body-frame t=134\nPLACE_BODY_135 = pose(x=0.224515, y=-0.015017, z=1.213334, qx=-0.635635, qy=-0.759184, qz=-0.100367, qw=-0.097650)  # body-frame t=135\nPLACE_BODY_136 = pose(x=0.224483, y=-0.016648, z=1.213223, qx=-0.635180, qy=-0.759517, qz=-0.101776, qw=-0.096553)  # body-frame t=136\nPLACE_BODY_138 = pose(x=0.224536, y=-0.018964, z=1.213020, qx=-0.632898, qy=-0.761336, qz=-0.104324, qw=-0.094470)  # body-frame t=138\nPLACE_BODY_140 = pose(x=0.225875, y=-0.018891, z=1.211887, qx=-0.632713, qy=-0.761623, qz=-0.103712, qw=-0.094061)  # body-frame t=140\nPLACE_BODY_141 = pose(x=0.226416, y=-0.018583, z=1.211547, qx=-0.632802, qy=-0.761574, qz=-0.103319, qw=-0.094294)  # body-frame t=141\nPLACE_BODY_142 = pose(x=0.225787, y=-0.018271, z=1.212268, qx=-0.632807, qy=-0.761478, qz=-0.103353, qw=-0.095001)  # body-frame t=142\nPLACE_BODY_144 = pose(x=0.223678, y=-0.017706, z=1.213794, qx=-0.636322, qy=-0.758544, qz=-0.101511, qw=-0.096957)  # body-frame t=144\nPLACE_BODY_145 = pose(x=0.223649, y=-0.016889, z=1.213687, qx=-0.636573, qy=-0.758399, qz=-0.100908, qw=-0.097072)  # body-frame t=145\nPLACE_BODY_146 = pose(x=0.224063, y=-0.016872, z=1.213242, qx=-0.636807, qy=-0.758258, qz=-0.100732, qw=-0.096819)  # body-frame t=146\nPLACE_BODY_148 = pose(x=0.226261, y=-0.019462, z=1.211232, qx=-0.636147, qy=-0.758872, qz=-0.102555, qw=-0.094407)  # body-frame t=148\nPLACE_BODY_150 = pose(x=0.226599, y=-0.021973, z=1.211276, qx=-0.632852, qy=-0.761394, qz=-0.105854, qw=-0.092589)  # body-frame t=150\nPLACE_BODY_152 = pose(x=0.226515, y=-0.020455, z=1.211805, qx=-0.631386, qy=-0.762586, qz=-0.105106, qw=-0.093633)  # body-frame t=152\nPLACE_BODY_154 = pose(x=0.223856, y=-0.020812, z=1.214259, qx=-0.631469, qy=-0.762276, qz=-0.105870, qw=-0.094726)  # body-frame t=154\nPLACE_BODY_156 = pose(x=0.222410, y=-0.020752, z=1.215199, qx=-0.631463, qy=-0.762314, qz=-0.105564, qw=-0.094802)  # body-frame t=156\nPLACE_BODY_158 = pose(x=0.223285, y=-0.020199, z=1.214374, qx=-0.632088, qy=-0.761954, qz=-0.104315, qw=-0.094909)  # body-frame t=158\nPLACE_BODY_160 = pose(x=0.223951, y=-0.019586, z=1.213832, qx=-0.632684, qy=-0.761544, qz=-0.103353, qw=-0.095292)  # body-frame t=160\nPLACE_BODY_162 = pose(x=0.224648, y=-0.019231, z=1.213257, qx=-0.633221, qy=-0.761158, qz=-0.102803, qw=-0.095402)  # body-frame t=162\nPLACE_BODY_164 = pose(x=0.224850, y=-0.019052, z=1.213073, qx=-0.633876, qy=-0.760631, qz=-0.102461, qw=-0.095618)  # body-frame t=164\nPLACE_BODY_165 = pose(x=0.224837, y=-0.019043, z=1.213048, qx=-0.634308, qy=-0.760277, qz=-0.102279, qw=-0.095761)  # body-frame t=165\nPLACE_BODY_166 = pose(x=0.224785, y=-0.019155, z=1.213051, qx=-0.634691, qy=-0.759956, qz=-0.102199, qw=-0.095865)  # body-frame t=166\nPLACE_BODY_168 = pose(x=0.224530, y=-0.019724, z=1.213069, qx=-0.636060, qy=-0.758820, qz=-0.101974, qw=-0.096028)  # body-frame t=168\nPLACE_BODY_170 = pose(x=0.224120, y=-0.020379, z=1.213114, qx=-0.637350, qy=-0.757758, qz=-0.101967, qw=-0.095866)  # body-frame t=170\nPLACE_BODY_171 = pose(x=0.223986, y=-0.020543, z=1.213121, qx=-0.637403, qy=-0.757720, qz=-0.102122, qw=-0.095653)  # body-frame t=171\nPLACE_BODY_172 = pose(x=0.223990, y=-0.020304, z=1.213090, qx=-0.636674, qy=-0.758338, qz=-0.102294, qw=-0.095423)  # body-frame t=172\nPLACE_BODY_174 = pose(x=0.224156, y=-0.019115, z=1.213102, qx=-0.635088, qy=-0.759666, qz=-0.102163, qw=-0.095574)  # body-frame t=174\nPLACE_BODY_175 = pose(x=0.223987, y=-0.018920, z=1.213337, qx=-0.634524, qy=-0.760095, qz=-0.102400, qw=-0.095653)  # body-frame t=175\nPLACE_BODY_176 = pose(x=0.224108, y=-0.018063, z=1.213276, qx=-0.634231, qy=-0.760373, qz=-0.101914, qw=-0.095908)  # body-frame t=176\nPLACE_BODY_178 = pose(x=0.224458, y=-0.014562, z=1.213180, qx=-0.635900, qy=-0.759084, qz=-0.098954, qw=-0.098138)  # body-frame t=178\nPLACE_BODY_179 = pose(x=0.224466, y=-0.014056, z=1.213188, qx=-0.636623, qy=-0.758481, qz=-0.098543, qw=-0.098526)  # body-frame t=179\nPLACE_BODY_180 = pose(x=0.224545, y=-0.014733, z=1.213066, qx=-0.636504, qy=-0.758554, qz=-0.099298, qw=-0.097975)  # body-frame t=180\nPLACE_BODY_182 = pose(x=0.224253, y=-0.016330, z=1.213246, qx=-0.635162, qy=-0.759553, qz=-0.101443, qw=-0.096739)  # body-frame t=182\nPLACE_BODY_184 = pose(x=0.223987, y=-0.016320, z=1.213411, qx=-0.634673, qy=-0.759946, qz=-0.101659, qw=-0.096631)  # body-frame t=184\nPLACE_BODY_186 = pose(x=0.224877, y=-0.016857, z=1.212649, qx=-0.633884, qy=-0.760731, qz=-0.101981, qw=-0.095283)  # body-frame t=186\nPLACE_BODY_188 = pose(x=0.226670, y=-0.017066, z=1.211384, qx=-0.633267, qy=-0.761256, qz=-0.102273, qw=-0.094882)  # body-frame t=188\nPLACE_BODY_190 = pose(x=0.226080, y=-0.017092, z=1.211981, qx=-0.633147, qy=-0.761208, qz=-0.102812, qw=-0.095482)  # body-frame t=190\nPLACE_BODY_192 = pose(x=0.225571, y=-0.017617, z=1.212432, qx=-0.633026, qy=-0.761255, qz=-0.103333, qw=-0.095351)  # body-frame t=192\nPLACE_BODY_194 = pose(x=0.224732, y=-0.019419, z=1.213050, qx=-0.631996, qy=-0.761997, qz=-0.105058, qw=-0.094360)  # body-frame t=194\nPLACE_BODY_196 = pose(x=0.224734, y=-0.019320, z=1.213070, qx=-0.631811, qy=-0.762182, qz=-0.104805, qw=-0.094389)  # body-frame t=196\nPLACE_BODY_198 = pose(x=0.224695, y=-0.019530, z=1.213140, qx=-0.631924, qy=-0.762094, qz=-0.104742, qw=-0.094413)  # body-frame t=198\nPLACE_BODY_200 = pose(x=0.225733, y=-0.015445, z=1.212329, qx=-0.633832, qy=-0.760771, qz=-0.100626, qw=-0.096740)  # body-frame t=200\nPLACE_BODY_201 = pose(x=0.225790, y=-0.014722, z=1.212384, qx=-0.635050, qy=-0.759764, qz=-0.099754, qw=-0.097569)  # body-frame t=201\nPLACE_BODY_202 = pose(x=0.227100, y=-0.011726, z=1.211197, qx=-0.634490, qy=-0.760391, qz=-0.099851, qw=-0.096211)  # body-frame t=202\nPLACE_BODY_203 = pose(x=0.229638, y=-0.004681, z=1.209028, qx=-0.634081, qy=-0.761007, qz=-0.100132, qw=-0.093715)  # body-frame t=203\nPLACE_BODY_204 = pose(x=0.232306, y=0.005102, z=1.206581, qx=-0.635583, qy=-0.760118, qz=-0.099770, qw=-0.091109)  # body-frame t=204\nPLACE_BODY_206 = pose(x=0.236863, y=0.028719, z=1.201399, qx=-0.639465, qy=-0.757685, qz=-0.097511, qw=-0.086546)  # body-frame t=206\nPLACE_BODY_208 = pose(x=0.242031, y=0.054474, z=1.196156, qx=-0.646272, qy=-0.752143, qz=-0.095990, qw=-0.086017)  # body-frame t=208\nPLACE_BODY_210 = pose(x=0.248245, y=0.080963, z=1.189216, qx=-0.657792, qy=-0.741956, qz=-0.094607, qw=-0.088660)  # body-frame t=210\nPLACE_BODY_212 = pose(x=0.255664, y=0.108057, z=1.178790, qx=-0.670333, qy=-0.730337, qz=-0.093172, qw=-0.092636)  # body-frame t=212\nPLACE_BODY_214 = pose(x=0.265297, y=0.135113, z=1.162542, qx=-0.683967, qy=-0.717272, qz=-0.091348, qw=-0.096779)  # body-frame t=214\nPLACE_BODY_215 = pose(x=0.271726, y=0.148280, z=1.151043, qx=-0.691130, qy=-0.710278, qz=-0.090320, qw=-0.098422)  # body-frame t=215\nPLACE_BODY_216 = pose(x=0.278417, y=0.161211, z=1.138605, qx=-0.697659, qy=-0.703571, qz=-0.090412, qw=-0.100432)  # body-frame t=216\nPLACE_BODY_218 = pose(x=0.292655, y=0.186038, z=1.111212, qx=-0.709148, qy=-0.691050, qz=-0.093256, qw=-0.104222)  # body-frame t=218\nPLACE_BODY_220 = pose(x=0.306543, y=0.209707, z=1.082012, qx=-0.718362, qy=-0.680291, qz=-0.098236, qw=-0.107283)  # body-frame t=220\nPLACE_BODY_222 = pose(x=0.320260, y=0.231549, z=1.051051, qx=-0.727904, qy=-0.668146, qz=-0.103256, qw=-0.114343)  # body-frame t=222\nPLACE_BODY_224 = pose(x=0.333962, y=0.251878, z=1.018989, qx=-0.738377, qy=-0.652401, qz=-0.109095, qw=-0.131415)  # body-frame t=224\nPLACE_BODY_225 = pose(x=0.340952, y=0.262293, z=1.002970, qx=-0.743334, qy=-0.643882, qz=-0.115367, qw=-0.139857)  # body-frame t=225\nPLACE_BODY_226 = pose(x=0.347748, y=0.272737, z=0.986133, qx=-0.747944, qy=-0.635813, qz=-0.123025, qw=-0.145557)  # body-frame t=226\nPLACE_BODY_228 = pose(x=0.360623, y=0.292862, z=0.951881, qx=-0.753766, qy=-0.623225, qz=-0.142462, qw=-0.152091)  # body-frame t=228\nPLACE_BODY_230 = pose(x=0.373093, y=0.310871, z=0.920614, qx=-0.756899, qy=-0.611094, qz=-0.167968, qw=-0.159546)  # body-frame t=230\nPLACE_BODY_231 = pose(x=0.379507, y=0.319322, z=0.905814, qx=-0.758583, qy=-0.604573, qz=-0.181417, qw=-0.161654)  # body-frame t=231\nPLACE_BODY_232 = pose(x=0.386955, y=0.326557, z=0.891737, qx=-0.760385, qy=-0.597855, qz=-0.194225, qw=-0.163283)  # body-frame t=232\nPLACE_BODY_234 = pose(x=0.404026, y=0.340188, z=0.865607, qx=-0.763695, qy=-0.585526, qz=-0.216061, qw=-0.165065)  # body-frame t=234\nPLACE_BODY_236 = pose(x=0.423843, y=0.345651, z=0.847448, qx=-0.774984, qy=-0.566253, qz=-0.226765, qw=-0.165335)  # body-frame t=236\nPLACE_BODY_238 = pose(x=0.441934, y=0.344444, z=0.838349, qx=-0.788165, qy=-0.550634, qz=-0.220945, qw=-0.163653)  # body-frame t=238\nPLACE_BODY_239 = pose(x=0.450630, y=0.343984, z=0.837071, qx=-0.791283, qy=-0.547370, qz=-0.217810, qw=-0.163755)  # body-frame t=239\nPLACE_BODY_240 = pose(x=0.458334, y=0.344452, z=0.836740, qx=-0.792963, qy=-0.546401, qz=-0.214870, qw=-0.162746)  # body-frame t=240\nPLACE_BODY_242 = pose(x=0.470238, y=0.344766, z=0.834434, qx=-0.795960, qy=-0.547694, qz=-0.204299, qw=-0.157290)  # body-frame t=242\nPLACE_BODY_243 = pose(x=0.475308, y=0.343716, z=0.831382, qx=-0.796423, qy=-0.549837, qz=-0.197172, qw=-0.156567)  # body-frame t=243\nPLACE_BODY_244 = pose(x=0.479878, y=0.342265, z=0.826244, qx=-0.795881, qy=-0.552991, qz=-0.188869, qw=-0.158439)  # body-frame t=244\nPLACE_BODY_246 = pose(x=0.488227, y=0.341127, z=0.814270, qx=-0.795445, qy=-0.558061, qz=-0.172683, qw=-0.161295)  # body-frame t=246\nPLACE_BODY_248 = pose(x=0.497934, y=0.341262, z=0.804745, qx=-0.797075, qy=-0.561391, qz=-0.156702, qw=-0.157974)  # body-frame t=248\nPLACE_BODY_249 = pose(x=0.503214, y=0.341138, z=0.800459, qx=-0.797951, qy=-0.563107, qz=-0.148467, qw=-0.155379)  # body-frame t=249\nPLACE_BODY_250 = pose(x=0.508986, y=0.340635, z=0.796278, qx=-0.797781, qy=-0.565333, qz=-0.141379, qw=-0.154781)  # body-frame t=250\nPLACE_BODY_252 = pose(x=0.519621, y=0.338753, z=0.785559, qx=-0.794926, qy=-0.570871, qz=-0.128824, qw=-0.160009)  # body-frame t=252\nPLACE_BODY_254 = pose(x=0.529352, y=0.337181, z=0.771752, qx=-0.791362, qy=-0.575859, qz=-0.117256, qw=-0.168476)  # body-frame t=254\nPLACE_BODY_256 = pose(x=0.538407, y=0.336068, z=0.758433, qx=-0.787562, qy=-0.580149, qz=-0.107445, qw=-0.177843)  # body-frame t=256\nPLACE_BODY_257 = pose(x=0.542813, y=0.335931, z=0.752442, qx=-0.785841, qy=-0.581821, qz=-0.103688, qw=-0.182171)  # body-frame t=257\nPLACE_BODY_258 = pose(x=0.547466, y=0.336119, z=0.747145, qx=-0.784525, qy=-0.582888, qz=-0.101162, qw=-0.185820)  # body-frame t=258\nPLACE_BODY_260 = pose(x=0.557985, y=0.336495, z=0.734762, qx=-0.782839, qy=-0.583908, qz=-0.097336, qw=-0.191677)  # body-frame t=260\nPLACE_BODY_262 = pose(x=0.569640, y=0.336254, z=0.719157, qx=-0.781737, qy=-0.584399, qz=-0.093843, qw=-0.196362)  # body-frame t=262\nPLACE_BODY_263 = pose(x=0.575144, y=0.335821, z=0.710862, qx=-0.781120, qy=-0.584853, qz=-0.091530, qw=-0.198550)  # body-frame t=263\nPLACE_BODY_264 = pose(x=0.582777, y=0.334793, z=0.707839, qx=-0.780196, qy=-0.584487, qz=-0.092341, qw=-0.202835)  # body-frame t=264\nPLACE_BODY_266 = pose(x=0.597753, y=0.332124, z=0.707673, qx=-0.778855, qy=-0.584185, qz=-0.091934, qw=-0.208951)  # body-frame t=266\nPLACE_BODY_267 = pose(x=0.603256, y=0.331043, z=0.707715, qx=-0.779088, qy=-0.584300, qz=-0.089940, qw=-0.208630)  # body-frame t=267\nPLACE_BODY_268 = pose(x=0.607676, y=0.329968, z=0.707726, qx=-0.779461, qy=-0.584585, qz=-0.087414, qw=-0.207509)  # body-frame t=268\nPLACE_BODY_269 = pose(x=0.610923, y=0.329105, z=0.707571, qx=-0.779870, qy=-0.585067, qz=-0.084484, qw=-0.205820)  # body-frame t=269\nPLACE_BODY_270 = pose(x=0.613398, y=0.328468, z=0.707277, qx=-0.780301, qy=-0.585898, qz=-0.080846, qw=-0.203268)  # body-frame t=270\nPLACE_BODY_271 = pose(x=0.615660, y=0.327993, z=0.707128, qx=-0.780671, qy=-0.586909, qz=-0.077035, qw=-0.200389)  # body-frame t=271\nAPPROACH_002_JOINTS = [-0.029272, -1.018643, -0.039459, -2.266466, 0.044612, 1.544212, 0.725297]  # t=2\nAPPROACH_004_JOINTS = [-0.030992, -1.018296, -0.032350, -2.290818, 0.035674, 1.541850, 0.761939]  # t=4\nAPPROACH_005_JOINTS = [-0.032431, -1.020744, -0.025222, -2.314059, 0.029341, 1.543229, 0.791581]  # t=5\nAPPROACH_006_JOINTS = [-0.033956, -1.024697, -0.019709, -2.341326, 0.023858, 1.547115, 0.820948]  # t=6\nAPPROACH_008_JOINTS = [-0.036486, -1.033674, -0.011789, -2.400552, 0.015379, 1.564937, 0.870992]  # t=8\nAPPROACH_009_JOINTS = [-0.037720, -1.039317, -0.009172, -2.432131, 0.011531, 1.577902, 0.893682]  # t=9\nAPPROACH_010_JOINTS = [-0.039121, -1.045973, -0.008601, -2.464504, 0.006594, 1.594748, 0.913354]  # t=10\nAPPROACH_012_JOINTS = [-0.042044, -1.061153, -0.012788, -2.533010, -0.004782, 1.632725, 0.940424]  # t=12\nAPPROACH_014_JOINTS = [-0.044580, -1.075992, -0.018267, -2.602783, -0.013819, 1.672338, 0.959831]  # t=14\nAPPROACH_015_JOINTS = [-0.045695, -1.081985, -0.020148, -2.635458, -0.017505, 1.688922, 0.969157]  # t=15\nAPPROACH_016_JOINTS = [-0.046625, -1.085139, -0.021236, -2.666233, -0.020609, 1.702985, 0.978003]  # t=16\nAPPROACH_017_JOINTS = [-0.047549, -1.086497, -0.022334, -2.693427, -0.023717, 1.717729, 0.986041]  # t=17\nAPPROACH_018_JOINTS = [-0.048311, -1.087645, -0.023552, -2.718074, -0.026200, 1.734120, 0.991875]  # t=18\nAPPROACH_020_JOINTS = [-0.049882, -1.089031, -0.026806, -2.765135, -0.031207, 1.770496, 0.999784]  # t=20\nAPPROACH_022_JOINTS = [-0.051888, -1.085720, -0.032995, -2.806208, -0.038128, 1.819181, 1.001053]  # t=22\nAPPROACH_024_JOINTS = [-0.053671, -1.070719, -0.040115, -2.842007, -0.044761, 1.876126, 0.998982]  # t=24\nAPPROACH_026_JOINTS = [-0.054121, -1.042475, -0.043609, -2.875116, -0.047506, 1.940762, 0.998743]  # t=26\nAPPROACH_028_JOINTS = [-0.054069, -1.005526, -0.044533, -2.903829, -0.048447, 2.008398, 0.999652]  # t=28\nAPPROACH_030_JOINTS = [-0.054057, -0.963544, -0.044420, -2.925483, -0.049009, 2.068843, 1.000934]  # t=30\nAPPROACH_031_JOINTS = [-0.054024, -0.939942, -0.044224, -2.934161, -0.049247, 2.098444, 1.001589]  # t=31\nDESCEND_033_JOINTS = [-0.054376, -0.893446, -0.044182, -2.945737, -0.050390, 2.145448, 1.002559]  # t=33\nDESCEND_035_JOINTS = [-0.057154, -0.853520, -0.048753, -2.955308, -0.056591, 2.177148, 1.001314]  # t=35\nDESCEND_037_JOINTS = [-0.058374, -0.808855, -0.051548, -2.967180, -0.059466, 2.219968, 1.000394]  # t=37\nDESCEND_039_JOINTS = [-0.058325, -0.764865, -0.051564, -2.971915, -0.059699, 2.264112, 1.000918]  # t=39\nDESCEND_041_JOINTS = [-0.058159, -0.727189, -0.051448, -2.972557, -0.059615, 2.300595, 1.001238]  # t=41\nDESCEND_043_JOINTS = [-0.057735, -0.694328, -0.051279, -2.969761, -0.058705, 2.330257, 1.001263]  # t=43\nDESCEND_045_JOINTS = [-0.056873, -0.671796, -0.053519, -2.966060, -0.052399, 2.343943, 0.996682]  # t=45\nDESCEND_047_JOINTS = [-0.056438, -0.658538, -0.058380, -2.962826, -0.044254, 2.349307, 0.988111]  # t=47\nDESCEND_048_JOINTS = [-0.056128, -0.654558, -0.059620, -2.961498, -0.041132, 2.350255, 0.985146]  # t=48\nDESCEND_049_JOINTS = [-0.055562, -0.650161, -0.061960, -2.961324, -0.035758, 2.353316, 0.980219]  # t=49\nDESCEND_050_JOINTS = [-0.054878, -0.645600, -0.064922, -2.961359, -0.029241, 2.358007, 0.974176]  # t=50\nDESCEND_051_JOINTS = [-0.054517, -0.644201, -0.066596, -2.959658, -0.025228, 2.359695, 0.970377]  # t=51\nDESCEND_053_JOINTS = [-0.054399, -0.644827, -0.066558, -2.956554, -0.023431, 2.357245, 0.969248]  # t=53\nGRASP_HOLD_054_JOINTS = [-0.054395, -0.644891, -0.066387, -2.955831, -0.023340, 2.356384, 0.969249]  # t=54\nLIFT_055_JOINTS = [-0.054395, -0.644929, -0.066333, -2.955507, -0.023337, 2.355868, 0.969251]  # t=55\nLIFT_056_JOINTS = [-0.054394, -0.644994, -0.066310, -2.955353, -0.023335, 2.355641, 0.969252]  # t=56\nLIFT_057_JOINTS = [-0.054394, -0.645096, -0.066307, -2.955312, -0.023334, 2.355570, 0.969253]  # t=57\nLIFT_058_JOINTS = [-0.054396, -0.645219, -0.066306, -2.955311, -0.023333, 2.355557, 0.969256]  # t=58\nLIFT_059_JOINTS = [-0.054404, -0.645335, -0.066307, -2.955311, -0.023333, 2.355548, 0.969258]  # t=59\nLIFT_060_JOINTS = [-0.054415, -0.645434, -0.066307, -2.955313, -0.023333, 2.355542, 0.969259]  # t=60\nLIFT_061_JOINTS = [-0.054378, -0.644728, -0.066265, -2.955218, -0.023290, 2.356962, 0.969262]  # t=61\nLIFT_062_JOINTS = [-0.054363, -0.644191, -0.066249, -2.955115, -0.023277, 2.357532, 0.969265]  # t=62\nLIFT_063_JOINTS = [-0.054683, -0.644130, -0.066879, -2.954917, -0.023916, 2.357515, 0.968553]  # t=63\nLIFT_064_JOINTS = [-0.054559, -0.649857, -0.067205, -2.951443, -0.023993, 2.348012, 0.962951]  # t=64\nLIFT_065_JOINTS = [-0.053712, -0.663117, -0.066528, -2.944857, -0.022869, 2.328951, 0.953791]  # t=65\nLIFT_066_JOINTS = [-0.052909, -0.680006, -0.066025, -2.937028, -0.022196, 2.305238, 0.943064]  # t=66\nLIFT_067_JOINTS = [-0.052172, -0.702964, -0.067020, -2.924081, -0.020737, 2.269868, 0.926842]  # t=67\nLIFT_068_JOINTS = [-0.052281, -0.729661, -0.075061, -2.906626, -0.016194, 2.226347, 0.898319]  # t=68\nLIFT_069_JOINTS = [-0.052235, -0.756174, -0.088693, -2.887406, -0.006304, 2.182689, 0.858219]  # t=69\nLIFT_070_JOINTS = [-0.051522, -0.783768, -0.103355, -2.867688, 0.008094, 2.138472, 0.815072]  # t=70\nRELEASE_POSE_271_JOINTS = [-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398]  # t=271\nRETRACT_285_JOINTS = [-0.910506, -1.756676, 1.884456, -2.171285, 1.648852, 2.081609, 1.155373]  # t=285\nRETRACT_287_JOINTS = [-0.887374, -1.739653, 1.866667, -2.193963, 1.627643, 2.065644, 1.159616]  # t=287\nRETRACT_289_JOINTS = [-0.849603, -1.713949, 1.843255, -2.228377, 1.593354, 2.056142, 1.171952]  # t=289\nRETRACT_290_JOINTS = [-0.824770, -1.698160, 1.831330, -2.248674, 1.571745, 2.056202, 1.182901]  # t=290\nRETRACT_291_JOINTS = [-0.796983, -1.680717, 1.820233, -2.270529, 1.548213, 2.057919, 1.196025]  # t=291\nRETRACT_293_JOINTS = [-0.732358, -1.639786, 1.795453, -2.320848, 1.494308, 2.061613, 1.225725]  # t=293\nRETRACT_295_JOINTS = [-0.653076, -1.591447, 1.763984, -2.380833, 1.428442, 2.067864, 1.262348]  # t=295\nRETRACT_297_JOINTS = [-0.563741, -1.540814, 1.730052, -2.443096, 1.355352, 2.084722, 1.309021]  # t=297\nRETRACT_299_JOINTS = [-0.466619, -1.488768, 1.691017, -2.503674, 1.277140, 2.103434, 1.365351]  # t=299\nRETRACT_301_JOINTS = [-0.363255, -1.434291, 1.637204, -2.561748, 1.200715, 2.111497, 1.426737]  # t=301\nRETRACT_303_JOINTS = [-0.253908, -1.381402, 1.562538, -2.616186, 1.127447, 2.111684, 1.488797]  # t=303\nRETRACT_304_JOINTS = [-0.198745, -1.357875, 1.520455, -2.641470, 1.091782, 2.111680, 1.519338]  # t=304\nRETRACT_305_JOINTS = [-0.144162, -1.337393, 1.476878, -2.664938, 1.054621, 2.110753, 1.549126]  # t=305\nRETRACT_307_JOINTS = [-0.034789, -1.308171, 1.383444, -2.703293, 0.972150, 2.097234, 1.609416]  # t=307\nRETRACT_309_JOINTS = [0.072731, -1.297321, 1.285493, -2.728114, 0.886956, 2.068744, 1.673397]  # t=309\nRETRACT_311_JOINTS = [0.171652, -1.303234, 1.192684, -2.741319, 0.811044, 2.031659, 1.735777]  # t=311\nRETRACT_313_JOINTS = [0.254122, -1.319426, 1.116260, -2.748371, 0.754743, 1.999050, 1.789431]  # t=313\nRETRACT_315_JOINTS = [0.316883, -1.341902, 1.052723, -2.752360, 0.711272, 1.974267, 1.828446]  # t=315\nRETRACT_317_JOINTS = [0.359155, -1.364493, 1.001465, -2.754404, 0.678239, 1.957559, 1.851279]  # t=317\nAPPROACH_000_JOINTS = [-0.028960, -1.018839, -0.039413, -2.264570, 0.046621, 1.544871, 0.718999]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=1, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_033_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_037_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_039_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_041_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_043_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_048_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_049_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_054_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_054_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_058_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_059_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_064_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveWholeBodyPath(body_waypoints=[PLACE_BODY_072, PLACE_BODY_074, PLACE_BODY_075, PLACE_BODY_076, PLACE_BODY_077, PLACE_BODY_078, PLACE_BODY_079, PLACE_BODY_080, PLACE_BODY_082, PLACE_BODY_084, PLACE_BODY_086, PLACE_BODY_088, PLACE_BODY_089, PLACE_BODY_090, PLACE_BODY_092, PLACE_BODY_094, PLACE_BODY_096, PLACE_BODY_097, PLACE_BODY_098, PLACE_BODY_099, PLACE_BODY_100, PLACE_BODY_102, PLACE_BODY_104, PLACE_BODY_106, PLACE_BODY_107, PLACE_BODY_108, PLACE_BODY_110, PLACE_BODY_112, PLACE_BODY_114, PLACE_BODY_116, PLACE_BODY_118, PLACE_BODY_120, PLACE_BODY_122, PLACE_BODY_124, PLACE_BODY_126, PLACE_BODY_128, PLACE_BODY_130, PLACE_BODY_132, PLACE_BODY_134, PLACE_BODY_135, PLACE_BODY_136, PLACE_BODY_138, PLACE_BODY_140, PLACE_BODY_141, PLACE_BODY_142, PLACE_BODY_144, PLACE_BODY_145, PLACE_BODY_146, PLACE_BODY_148, PLACE_BODY_150, PLACE_BODY_152, PLACE_BODY_154, PLACE_BODY_156, PLACE_BODY_158, PLACE_BODY_160, PLACE_BODY_162, PLACE_BODY_164, PLACE_BODY_165, PLACE_BODY_166, PLACE_BODY_168, PLACE_BODY_170, PLACE_BODY_171, PLACE_BODY_172, PLACE_BODY_174, PLACE_BODY_175, PLACE_BODY_176, PLACE_BODY_178, PLACE_BODY_179, PLACE_BODY_180, PLACE_BODY_182, PLACE_BODY_184, PLACE_BODY_186, PLACE_BODY_188, PLACE_BODY_190, PLACE_BODY_192, PLACE_BODY_194, PLACE_BODY_196, PLACE_BODY_198, PLACE_BODY_200, PLACE_BODY_201, PLACE_BODY_202, PLACE_BODY_203, PLACE_BODY_204, PLACE_BODY_206, PLACE_BODY_208, PLACE_BODY_210, PLACE_BODY_212, PLACE_BODY_214, PLACE_BODY_215, PLACE_BODY_216, PLACE_BODY_218, PLACE_BODY_220, PLACE_BODY_222, PLACE_BODY_224, PLACE_BODY_225, PLACE_BODY_226, PLACE_BODY_228, PLACE_BODY_230, PLACE_BODY_231, PLACE_BODY_232, PLACE_BODY_234, PLACE_BODY_236, PLACE_BODY_238, PLACE_BODY_239, PLACE_BODY_240, PLACE_BODY_242, PLACE_BODY_243, PLACE_BODY_244, PLACE_BODY_246, PLACE_BODY_248, PLACE_BODY_249, PLACE_BODY_250, PLACE_BODY_252, PLACE_BODY_254, PLACE_BODY_256, PLACE_BODY_257, PLACE_BODY_258, PLACE_BODY_260, PLACE_BODY_262, PLACE_BODY_263, PLACE_BODY_264, PLACE_BODY_266, PLACE_BODY_267, PLACE_BODY_268, PLACE_BODY_269, PLACE_BODY_270, PLACE_BODY_271], base_waypoints=[[1.9187956172219307, -0.9852392088549926, 1.5711702788420432], [1.918805897987461, -0.9852388119766309, 1.5710506059052312], [1.9188137502645966, -0.9852326992386449, 1.5709721294505492], [1.918813719560401, -0.9852246039889841, 1.570954843521606], [1.9188191671864383, -0.9852195503141373, 1.5708780463815704], [1.9188267419027927, -0.9852242129885482, 1.570777633677563], [1.918846742334182, -0.9852317461752893, 1.5705959961187748], [1.9188474183443858, -0.9852281927820868, 1.5705593566920466], [1.9188538463164373, -0.9852200961694362, 1.5705089716934966], [1.9188438873327596, -0.9852147005529488, 1.5705133516159935], [1.918825592411392, -0.9852142196738134, 1.5705744740876633], [1.9188132826049533, -0.9852121901626001, 1.5706021683133444], [1.9188076224090729, -0.9852118599740286, 1.5706001684851363], [1.9188025173180732, -0.9852136690599028, 1.570593713271676], [1.9187964406902411, -0.9852226158743745, 1.5706032032371056], [1.9187965453743654, -0.9852416217137908, 1.570613604738137], [1.9188013107416848, -0.9852426152147655, 1.570625743522612], [1.918807537621565, -0.9852431298576787, 1.5706314604775138], [1.9188168402003478, -0.9852419857820034, 1.5706162316282517], [1.9188194657122788, -0.9852430745184012, 1.5706241098028864], [1.918818081641552, -0.9852465025830842, 1.5706304004360712], [1.9188168419045066, -0.9852477189362774, 1.5706268452754368], [1.9188166027480165, -0.9852523530051326, 1.5706234178167193], [1.918816223229114, -0.9852526822730623, 1.570619015500171], [1.91881610905738, -0.9852527193445879, 1.5706180656372681], [1.918815951979718, -0.9852509399562597, 1.5706187991386142], [1.9188156723496388, -0.98524647874917, 1.570621018688371], [1.918760416634603, -0.9990844998195585, 1.5706201389448828], [1.918239783567009, -1.0440266318254188, 1.5706129184650366], [1.9100022530925287, -1.0917061376730997, 1.5710450056619234], [1.9112143479197319, -1.0923680354144303, 1.574512335813799], [1.9129540192581296, -1.0915722146558036, 1.5795149284999468], [1.9152426570257013, -1.0897633668699733, 1.5868506212102058], [1.9183280357949433, -1.0874321731933811, 1.5960018385495636], [1.921841252718281, -1.084767766902359, 1.6063100515231221], [1.9237512800905767, -1.0833484775685802, 1.611772702192252], [1.9240888681822923, -1.0909364403754946, 1.6111421074738363], [1.935435618020381, -1.112901560858467, 1.6118335543613787], [1.9689802141090404, -1.114204834491838, 1.6167509751800688], [1.9891541284293037, -1.1141802384762847, 1.6204866240075526], [1.9993175076038066, -1.114179627680914, 1.6242028165265587], [1.9992936227645242, -1.11440388707253, 1.6291583378043886], [1.9979920408229392, -1.1318459982208702, 1.6367578823023425], [1.9980235720089912, -1.1509499679889554, 1.6411211560400198], [1.9980377036748778, -1.1651938292876296, 1.6437752635298855], [2.0062670491926697, -1.167817629290829, 1.67811753471879], [2.017695589547062, -1.1678717547925408, 1.6939835659582958], [2.029511073432683, -1.1711403600594146, 1.7095821600798033], [2.0339279579451164, -1.211977192218003, 1.7471891645391209], [2.0074603749820903, -1.2811421595430736, 1.766856174374462], [1.979999627553408, -1.3549563020081592, 1.7697740098014938], [1.9339885281123903, -1.401151006022641, 1.7690434746022756], [1.8664736310624572, -1.4081386552206012, 1.7682191461025023], [1.7937954962817497, -1.4078549325358438, 1.7680642421416166], [1.7196678864731034, -1.4042319327590809, 1.7680358737892052], [1.6452846513390642, -1.4034041155441601, 1.767979385238206], [1.5714562091985718, -1.403520258706485, 1.7708600641408245], [1.5352642750978103, -1.4037296384622495, 1.7760155512431435], [1.49889041656625, -1.4038613382171652, 1.7841554095771142], [1.4258103745458914, -1.4039763108577505, 1.8162341607427166], [1.3520097917182867, -1.4038976594406067, 1.8633861667172797], [1.3145827372286147, -1.403900376514608, 1.885370713177207], [1.2780361861276819, -1.4038668485408914, 1.90055355710113], [1.2125235152852931, -1.4020972178263842, 1.9136420296868784], [1.178700791983016, -1.3975851382618711, 1.9164153987673902], [1.1496498048110622, -1.391233937745934, 1.9170255659087836], [1.1266906230977052, -1.3685077756579407, 1.9197807526793766], [1.1225415775626357, -1.3532264180628015, 1.9215588668567263], [1.1158300411340687, -1.3394819288349815, 1.9230375971750853], [1.0953013619769398, -1.3097461034230449, 1.9271740136819466], [1.0820412529303003, -1.267349740844745, 1.9307843695111582], [1.068996480864149, -1.2284944524299923, 1.9300010907782508], [1.0671621510482856, -1.2298271543543604, 1.9237333700527817], [1.0649311752299446, -1.2305199476763322, 1.9178856299463378], [1.0583642391213968, -1.2324351621769958, 1.9130853465203834], [1.0251431104174742, -1.2328909234163148, 1.9104759554425925], [0.9848684998961778, -1.232994497580333, 1.9089262477433597], [0.9338364995241959, -1.2332777024659076, 1.907622597362341], [0.9143343894739119, -1.2336649192595868, 1.9060215855449087], [0.9149459539902891, -1.2338294935610075, 1.905042132476006], [0.9150778864827849, -1.2338614470559874, 1.9048519224472347], [0.9151119071967423, -1.2338654314850657, 1.9048279013811684], [0.9151232703001801, -1.2338640498569877, 1.9048230652499083], [0.9151317219840807, -1.233861357407441, 1.904797494436173], [0.9151361866401649, -1.2338609392429403, 1.9047978180628933], [0.9151389988200992, -1.2338605845108648, 1.90480184934668], [0.9151403243726443, -1.2338608229524661, 1.9048029126658181], [0.9151445924720187, -1.2338656746479142, 1.9048403049650566], [0.9151448100960873, -1.2338668847552212, 1.904855060383139], [0.9151435672580148, -1.233867112816815, 1.9048626818774719], [0.9151414050043734, -1.2338688124984754, 1.9048823261454575], [0.9151390232223391, -1.2338685821969755, 1.9048872778283705], [0.9151407409160516, -1.2338677650946464, 1.90490957530166], [0.9151453453047349, -1.2338664593381563, 1.9049476691592702], [0.9151465956283154, -1.2338666374093243, 1.904971881724061], [0.9151490672108602, -1.233867966086736, 1.9050135713971152], [0.915156123520343, -1.2338682468703737, 1.9050719538463559], [0.9151697090601397, -1.2338687124425025, 1.9051672049101214], [0.9151827606700443, -1.233869941485831, 1.9052505821094587], [0.9151955755517717, -1.233872364009595, 1.9053472942176108], [0.9152199549287758, -1.2338774708264015, 1.9054958659156438], [0.9152224432967329, -1.2338808854073104, 1.9055439734445452], [0.9152147695254355, -1.2338822618363832, 1.9054822697284433], [0.9152096287929953, -1.2338817534351816, 1.9054440279933054], [0.9152043961036652, -1.2338790333026317, 1.9053851289279788], [0.9151946210145969, -1.2338759934902177, 1.905337435243094], [0.9151938779305123, -1.2338748953695033, 1.9053267398670461], [0.9151952121160044, -1.2338728198676594, 1.9053023541539436], [0.9151978743367374, -1.2338729507982205, 1.9052999772241133], [0.9151979213636481, -1.2338766093197393, 1.9053287632096407], [0.9151992217660408, -1.2338784358849637, 1.9053480189175065], [0.9151961117796859, -1.2338778580561454, 1.905324389232301], [0.9151914236488172, -1.2338749636428648, 1.9052710778542408], [0.9151896576440992, -1.233874815913468, 1.9052527805668205], [0.9151849019237743, -1.2338738924578536, 1.905223572209576], [0.9151833944817855, -1.2338737057500873, 1.905214016074887], [0.9151828556236956, -1.233874554549978, 1.9052200867742255], [0.9151844459361322, -1.2338787678961924, 1.9052631388407841], [0.9151858495613137, -1.233880822215032, 1.90527827772394], [0.9151847272151786, -1.2338808185454475, 1.9052680719762736], [0.9152033973138785, -1.233889688505275, 1.9052669612437696], [0.9152415597023119, -1.2338895689697018, 1.9051072434383858], [0.9152586943438612, -1.2338883440632014, 1.905031153178562], [0.9152715502506062, -1.2338858186397448, 1.904948433014543], [0.9152816481025324, -1.233883241041266, 1.9048807097323353], [0.9152914091551007, -1.2338830707342676, 1.904848296698447], [0.9153031134921913, -1.2338835078868622, 1.9048060577113892]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.00012905045829508005, 0.00012559856947120577, 0.0001243732300626805, 0.00012184402994652163, 0.0001243649124912942, 0.00012728433846213383, 0.00013148004032551404, 0.0001349610071875001, 0.00013916644511307672, 0.0001409664260910241, 0.00014980999190514406, 0.00015106192326086142, 0.00014980278930229785, 0.00014731110828949907, 0.00012952996379710855, 6.202734372421548e-05, 6.657765340876424e-05, 7.176243443139062e-05, 7.789399018200004e-05, 8.215424140859187e-05, 7.35816830849301e-05, 7.567004341338561e-05, 7.794744280953245e-05, 7.710014798006478e-05, 7.727601198787167e-05, 7.586669843721266e-05, 7.307749086762048e-05, 7.498401299302263e-05, 7.638720805968242e-05, 7.238864672382223e-05, 7.679308999532283e-05, 7.685593705737256e-05, 7.613623836046425e-05, 7.553507172740989e-05, 7.498270627064044e-05, 7.466130027913508e-05, 7.569968083145071e-05, 7.24548341453157e-05, 7.322837733253654e-05, 7.325355076898764e-05, 7.331746618014312e-05, 7.246242251330967e-05, 7.331123384442384e-05, 7.233977577891082e-05, 7.012799119944652e-05, 7.112453878907442e-05, 7.151330535551093e-05, 7.21082712706065e-05, 7.307954595098044e-05, 7.174795815476212e-05, 7.274384463266629e-05, 7.101991877692184e-05, 7.308337177616705e-05, 7.295566871716534e-05, 7.171033692279495e-05, 7.06861648688284e-05, 6.966720383371536e-05, 6.919416156192199e-05, 6.879485275880513e-05, 6.791650294501706e-05, 6.696366953436078e-05, 6.64709895870389e-05, 6.600593198344525e-05, 6.463357406905022e-05, 6.387368487760317e-05, 6.38443790056259e-05, 6.235276839488722e-05, 6.220401849013403e-05, 6.209689715907497e-05, 6.028889861165083e-05, 5.9336607660471646e-05, 5.86901408386692e-05, 6.042286201405142e-05, 5.6171206302121106e-05, 5.613528741125059e-05, 5.5718291865986855e-05, 5.518978717962644e-05, 5.4409789612561344e-05, 5.412161986193816e-05, 5.310011876400024e-05, 5.631656232661661e-05, 5.684382277758366e-05, 5.64183173592247e-05, 5.450795965333654e-05, 5.412302640663592e-05, 5.393800749884449e-05, 5.494124267253764e-05, 6.296046266001924e-05, 6.55107835361163e-05, 6.693903507162398e-05, 6.618542269440898e-05, 6.149151493075777e-05, 5.6305158763561824e-05, 4.804762753067518e-05, 4.223032101290682e-05, 3.7926944869109714e-05, 2.9306402038331954e-05, 2.501329846799148e-05, 2.4384969730661276e-05, 2.4930821479087537e-05, 3.27215912499824e-05, 2.5266445400953534e-05, 1.7511565317518013e-05, 1.750084860154583e-05, 1.646023635990039e-05, 2.2034146106524885e-05, 3.029649509497897e-05, 3.994426920835961e-05, 3.9902973938301344e-05, 3.449659847294056e-05, 3.6249491518501835e-05, 3.849807066423087e-05, 4.6428288972349776e-05, 4.9391069358646344e-05, 4.622257300896528e-05, 4.290952302374934e-05, 4.04708602350286e-05, 4.5284618564964084e-05, 4.827814679316688e-05, 4.6718651255580716e-05, 0.00012129376380016212, 0.00024669767589444023, 0.00028229614364432167, 0.00031133397469456324, 0.0003455162745888898, 0.00039208801720326775, 0.0004386939811010121], segment_steps=[2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 1, 1, 2, 2, 2, 1, 1, 2, 1, 1, 2, 2, 1, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1], settle_steps=0, gripper=1.000, gripper_cmds=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0], body_motion_priority=1.000000, base_xy_priority=1.000000, base_yaw_priority=1.000000, base_position_gain=5.500000, base_yaw_gain=4.800000, base_position_ff_gain=24.000000, base_yaw_ff_gain=24.000000, base_ee_anchor_mix=0.350000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_285_JOINTS, input_type='joint', steps=14, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_287_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_289_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_290_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_291_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_293_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_295_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_297_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_299_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_301_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_303_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_304_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_305_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_307_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_311_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_315_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_317_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 49342, "code_num_lines": 335, "code_num_nonblank_lines": 321, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"PickPlaceCounterToOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToOven\",\"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\",\"oven\":\"oven_main_group\"},\"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\"},\"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\"}", "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\":\"PickPlaceCounterToOven\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceCounterToOven\",\"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\",\"oven\":\"oven_main_group\"},\"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\"},\"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}},\"initial_state\":[0.5000000000000003,8.081126968165195,-10.78517374775991,1.9808638459749676e-07,2.1892835851628723e-08,-0.02920716508869332,-1.0188440124163984,-0.03932830504811928,-2.2645244166364757,0.0467698080129257,1.5448699948113038,0.7186802641246063,0.020570227822542222,-0.02049633253465754,0.0,1.1504399186204866,-7.266772662985949e-09,6.7267077779203e-22,0.3304510960421435,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.4497380400515866e-16,-2.4497380400515866e-16,-2.4404894024315324e-16,-2.4497380400515866e-16,-2.4497380400515866e-16,-2.4404894024315324e-16,-2.4497380400515866e-16,-2.4497380400515866e-16,-2.4404894024315324e-16,-7.075496768887758e-05,-0.005713593027484865,-0.005752289828143019,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,5.804057776942114e-09,5.861658712815818e-09,-1.7890560039286775e-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,-5.956813944215112e-16,-5.956813944215112e-16,-2.1022940359570053e-16,-2.1022940359570053e-16,-2.0954172838731495e-16,-2.1022940359570053e-16,-2.1022940359570053e-16,-2.0954172838731495e-16,-4.646155973112313e-05,-4.646155973112313e-05,-4.646155973112313e-05,-4.646155973112313e-05,-4.646155973112313e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.251970257681285e-05,-0.0005574807453684605,-0.007131073078791027,-6.300750640772037e-11,-0.0004100425614439292,-0.007131073078791027,-1.288766335773841e-10,-0.0004101410350463768,2.2745823633893322e-10,4.6472545537439314e-08,0.0,-9.51204312246953e-16,-9.51204312246953e-16,-9.48311895325087e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.9572038130706657,-0.4596770109067693,0.9462149467323487,0.9736092168057273,-0.023186808561842805,-0.0761980933023619,-0.21387219416450454,1.9583691302990849,-0.46557011398661036,0.9317155658143613,0.9980676878122593,-2.4486065500110844e-05,-4.604025294965766e-06,-0.06213605977470473,0.429732465776127,-0.771088365302521,0.7071449195159947,0.9990690195410759,3.1645790661023574e-06,1.6017782225372442e-06,0.043140400793837415,-7.165119456770543e-07,4.171014880998457e-07,-2.9712607947362784e-06,4.691500206011082e-08,-9.561718727949666e-06,0.0005194537298495279,-0.0006416473174662365,-2.9435355296388517e-05,-0.0007186130257283898,9.735824995618063e-05,-0.00011393943533144875,-0.00044533807397113145,0.0004907122947121132,0.0,-3.187778449989954e-10,-1.3093126288999353e-10,8.343699029410668e-36,-1.2652404354931037e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-8.877740649161742e-18,-8.877740649161742e-18,-8.684227562835754e-18,-8.877740649161742e-18,-8.877740649161742e-18,-8.684227562835754e-18,-8.877740649161742e-18,-8.877740649161742e-18,-8.684227562835754e-18,-4.597922915090589e-06,-1.0590007053553873e-07,-9.784044656601207e-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,-6.820524121065813e-07,1.1810213263530923e-08,1.1927420661051592e-08,-3.223485542241731e-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,-2.894464650789104e-17,-2.894464650789104e-17,-7.29133180813732e-18,-7.29133180813732e-18,-7.152361437969487e-18,-7.29133180813732e-18,-7.29133180813732e-18,-7.152361437969487e-18,-9.747166268118694e-07,-9.747166268118694e-07,-9.747166268118694e-07,-9.747166268118694e-07,-9.747166268118694e-07,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.164212202727918e-07,1.1141571862906946e-11,-5.129048391824296e-07,-1.1352567337891372e-12,-6.311611045342849e-08,-5.129048391824296e-07,-2.322073584987784e-12,-6.29009058248633e-08,4.6283847451412373e-10,9.456365453300021e-08,0.0,-3.2335583359112826e-17,-3.2335583359112826e-17,-3.176027256039044e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.00011417604904946387,-7.85225037302611e-05,-1.3236602778597732e-05,0.0013703667635463154,0.005533512294518484,0.00023649625483556248,1.2744317701883808e-05,4.488900948052263e-06,-2.5058534272998008e-05,-7.917865455778667e-05,4.844918157857219e-05,1.9204895608063e-05,-1.772958976538931e-07,1.2350549408337667e-05,-4.530325366286978e-08,-2.836854249393457e-05,-1.1592418901263849e-05,6.521536945573253e-08],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 70, "pretrain_task_id": 36, "retained_waypoint_count": 196, "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": 814036, "video_relpath": "videos/raw_extracted/36_PickPlaceCounterToOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToSink\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_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': 'PickPlaceCounterToSink',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 110,\n    'stable_release_contact_loss_t': 250,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.445043, y=-2.195294, z=0.981758, qw=0.712927, qx=0.000077, qy=-0.000136, qz=0.701238)\nGOAL_RECEPTACLE_POSE = pose(x=0.193074, y=-1.700796, z=0.743581, qw=0.591091, qx=0.017680, qy=-0.057225, qz=0.804378)\n\nAPPROACH_005_JOINTS = [-0.031341, -1.088239, -0.024933, -2.261884, 0.028008, 1.486757, 0.755944]  # t=5\nAPPROACH_009_JOINTS = [-0.021981, -1.139775, 0.056128, -2.265180, 0.090660, 1.435554, 0.815427]  # t=9\nAPPROACH_010_JOINTS = [-0.018932, -1.152020, 0.079590, -2.266311, 0.110234, 1.426744, 0.829935]  # t=10\nAPPROACH_015_JOINTS = [-0.003404, -1.197276, 0.194632, -2.265992, 0.208754, 1.405005, 0.901927]  # t=15\nAPPROACH_020_JOINTS = [0.004639, -1.195171, 0.266642, -2.261633, 0.266225, 1.430012, 0.959690]  # t=20\nAPPROACH_025_JOINTS = [0.009396, -1.170089, 0.325995, -2.243756, 0.311276, 1.440665, 1.013785]  # t=25\nAPPROACH_029_JOINTS = [0.009682, -1.120487, 0.368989, -2.216768, 0.372973, 1.436437, 1.066034]  # t=29\nAPPROACH_030_JOINTS = [0.009681, -1.104872, 0.381224, -2.210649, 0.396887, 1.434369, 1.082587]  # t=30\nAPPROACH_035_JOINTS = [0.007645, -1.015301, 0.453765, -2.193689, 0.537083, 1.444235, 1.173988]  # t=35\nAPPROACH_036_JOINTS = [0.007059, -0.996586, 0.468886, -2.195558, 0.567497, 1.450150, 1.190529]  # t=36\nAPPROACH_040_JOINTS = [0.003938, -0.926953, 0.530239, -2.220910, 0.663709, 1.496624, 1.232145]  # t=40\nAPPROACH_041_JOINTS = [0.003442, -0.913558, 0.543796, -2.226552, 0.676084, 1.508990, 1.237167]  # t=41\nAPPROACH_045_JOINTS = [0.004257, -0.878499, 0.590336, -2.238566, 0.701340, 1.555133, 1.251975]  # t=45\nAPPROACH_049_JOINTS = [0.006901, -0.859768, 0.626125, -2.242484, 0.713037, 1.593213, 1.266921]  # t=49\nAPPROACH_050_JOINTS = [0.007731, -0.858717, 0.629260, -2.240946, 0.710899, 1.598713, 1.269127]  # t=50\nAPPROACH_053_JOINTS = [0.010595, -0.858407, 0.635835, -2.240071, 0.706790, 1.611492, 1.272970]  # t=53\nAPPROACH_055_JOINTS = [0.012429, -0.859186, 0.639697, -2.244780, 0.704791, 1.619774, 1.273043]  # t=55\nAPPROACH_060_JOINTS = [0.017985, -0.863396, 0.652482, -2.272470, 0.708252, 1.645629, 1.269005]  # t=60\nAPPROACH_063_JOINTS = [0.021053, -0.864653, 0.663028, -2.297171, 0.714657, 1.667842, 1.263316]  # t=63\nAPPROACH_065_JOINTS = [0.022471, -0.864129, 0.669994, -2.314074, 0.719308, 1.685308, 1.258083]  # t=65\nAPPROACH_070_JOINTS = [0.026236, -0.862252, 0.687859, -2.353909, 0.731461, 1.725961, 1.245713]  # t=70\nAPPROACH_075_JOINTS = [0.027584, -0.851037, 0.713647, -2.401053, 0.747406, 1.783056, 1.228315]  # t=75\nAPPROACH_080_JOINTS = [0.025733, -0.824513, 0.751133, -2.458230, 0.769738, 1.867754, 1.202703]  # t=80\nAPPROACH_085_JOINTS = [0.014944, -0.771816, 0.788123, -2.505153, 0.787296, 1.975814, 1.168917]  # t=85\nAPPROACH_086_JOINTS = [0.011472, -0.757777, 0.794437, -2.511479, 0.788867, 1.997862, 1.161830]  # t=86\nAPPROACH_090_JOINTS = [-0.004127, -0.696138, 0.813391, -2.521511, 0.786331, 2.075335, 1.139032]  # t=90\nAPPROACH_094_JOINTS = [-0.019415, -0.628857, 0.831323, -2.509285, 0.772815, 2.139545, 1.132760]  # t=94\nAPPROACH_095_JOINTS = [-0.022446, -0.613108, 0.834227, -2.499834, 0.767350, 2.150382, 1.133309]  # t=95\nAPPROACH_100_JOINTS = [-0.040823, -0.520727, 0.858554, -2.451765, 0.725541, 2.212003, 1.155899]  # t=100\nAPPROACH_104_JOINTS = [-0.060118, -0.421564, 0.889836, -2.413123, 0.674310, 2.285251, 1.186676]  # t=104\nDESCEND_105_JOINTS = [-0.063961, -0.397520, 0.895732, -2.403005, 0.658151, 2.299797, 1.196191]  # t=105\nDESCEND_106_JOINTS = [-0.067065, -0.373996, 0.900976, -2.393515, 0.641268, 2.313063, 1.206317]  # t=106\nDESCEND_107_JOINTS = [-0.069405, -0.350696, 0.905868, -2.385101, 0.623934, 2.326144, 1.216876]  # t=107\nDESCEND_108_JOINTS = [-0.071021, -0.326924, 0.910885, -2.378268, 0.606325, 2.340429, 1.227753]  # t=108\nDESCEND_109_JOINTS = [-0.071668, -0.303424, 0.915815, -2.373179, 0.588562, 2.355004, 1.238985]  # t=109\nDESCEND_110_JOINTS = [-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571]  # t=110\nGRASP_HOLD_110_JOINTS = [-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571]  # t=110\nLIFT_112_JOINTS = [-0.067688, -0.254044, 0.910051, -2.353328, 0.535493, 2.377395, 1.272190]  # t=112\nLIFT_114_JOINTS = [-0.060542, -0.227096, 0.900120, -2.339742, 0.504118, 2.383802, 1.291230]  # t=114\nLIFT_115_JOINTS = [-0.055800, -0.217273, 0.892845, -2.332094, 0.489376, 2.382794, 1.300303]  # t=115\nLIFT_116_JOINTS = [-0.050432, -0.208716, 0.884580, -2.324410, 0.475996, 2.380259, 1.308299]  # t=116\nLIFT_118_JOINTS = [-0.037441, -0.199207, 0.866039, -2.307728, 0.454849, 2.365843, 1.321269]  # t=118\nLIFT_120_JOINTS = [-0.022951, -0.195867, 0.848605, -2.295227, 0.436352, 2.354188, 1.332347]  # t=120\nLIFT_121_JOINTS = [-0.014996, -0.200230, 0.840364, -2.290168, 0.428171, 2.349947, 1.337792]  # t=121\nLIFT_122_JOINTS = [-0.006124, -0.210936, 0.832164, -2.285472, 0.424993, 2.343558, 1.341907]  # t=122\nLIFT_123_JOINTS = [0.003414, -0.228103, 0.823802, -2.282230, 0.426215, 2.335268, 1.344920]  # t=123\nLIFT_124_JOINTS = [0.013087, -0.250617, 0.815542, -2.281513, 0.428776, 2.326668, 1.347994]  # t=124\nLIFT_125_JOINTS = [0.023053, -0.279844, 0.807083, -2.282877, 0.432758, 2.315345, 1.350418]  # t=125\nLIFT_126_JOINTS = [0.033364, -0.315737, 0.797569, -2.286821, 0.439868, 2.301536, 1.349919]  # t=126\nLIFT_127_JOINTS = [0.044099, -0.359504, 0.785359, -2.294402, 0.450250, 2.284189, 1.345492]  # t=127\nLIFT_128_JOINTS = [0.055520, -0.412214, 0.769869, -2.306386, 0.462962, 2.263304, 1.337087]  # t=128\nLIFT_129_JOINTS = [0.067671, -0.471761, 0.751958, -2.323182, 0.478121, 2.241472, 1.325039]  # t=129\nTRANSPORT_132_JOINTS = [0.106624, -0.674928, 0.680642, -2.400565, 0.532356, 2.175107, 1.267656]  # t=132\nTRANSPORT_133_JOINTS = [0.119935, -0.745720, 0.656050, -2.434310, 0.549505, 2.157851, 1.245946]  # t=133\nTRANSPORT_135_JOINTS = [0.145504, -0.884214, 0.608357, -2.507472, 0.579044, 2.132281, 1.201287]  # t=135\nTRANSPORT_137_JOINTS = [0.170648, -1.024908, 0.563238, -2.583467, 0.594978, 2.110203, 1.161280]  # t=137\nTRANSPORT_138_JOINTS = [0.183364, -1.097492, 0.541531, -2.621344, 0.597931, 2.098287, 1.145215]  # t=138\nTRANSPORT_141_JOINTS = [0.219937, -1.318080, 0.475744, -2.732875, 0.595655, 2.060308, 1.109713]  # t=141\nTRANSPORT_144_JOINTS = [0.242942, -1.517916, 0.401339, -2.838453, 0.575178, 2.028529, 1.082392]  # t=144\nTRANSPORT_145_JOINTS = [0.245451, -1.575542, 0.372920, -2.870786, 0.563163, 2.022641, 1.073397]  # t=145\nTRANSPORT_147_JOINTS = [0.242423, -1.678337, 0.308785, -2.927634, 0.528196, 2.013126, 1.053282]  # t=147\nTRANSPORT_149_JOINTS = [0.229161, -1.766263, 0.234363, -2.972189, 0.479697, 2.003272, 1.030944]  # t=149\nTRANSPORT_150_JOINTS = [0.218175, -1.765388, 0.188870, -2.970284, 0.445656, 1.997806, 1.017619]  # t=150\nTRANSPORT_153_JOINTS = [0.171981, -1.762789, 0.032683, -2.934549, 0.337354, 1.946054, 0.973240]  # t=153\nTRANSPORT_156_JOINTS = [0.116847, -1.760251, -0.108004, -2.901923, 0.253670, 1.901868, 0.921688]  # t=156\nTRANSPORT_157_JOINTS = [0.098137, -1.755958, -0.149040, -2.892182, 0.231541, 1.893153, 0.903433]  # t=157\nTRANSPORT_159_JOINTS = [0.062613, -1.737886, -0.219710, -2.873264, 0.197637, 1.879960, 0.868654]  # t=159\nTRANSPORT_161_JOINTS = [0.030130, -1.714750, -0.276733, -2.849066, 0.172790, 1.861747, 0.832271]  # t=161\nTRANSPORT_162_JOINTS = [0.014702, -1.702574, -0.302852, -2.837338, 0.161715, 1.852277, 0.813339]  # t=162\nTRANSPORT_165_JOINTS = [-0.026556, -1.663267, -0.365600, -2.808352, 0.139241, 1.824093, 0.764503]  # t=165\nTRANSPORT_168_JOINTS = [-0.056622, -1.615682, -0.380284, -2.786646, 0.137130, 1.781502, 0.752680]  # t=168\nTRANSPORT_169_JOINTS = [-0.063650, -1.596085, -0.376406, -2.779335, 0.139392, 1.762736, 0.756437]  # t=169\nTRANSPORT_171_JOINTS = [-0.074290, -1.555161, -0.365396, -2.761677, 0.144687, 1.726481, 0.763517]  # t=171\nTRANSPORT_173_JOINTS = [-0.081688, -1.512550, -0.356107, -2.745734, 0.147425, 1.699019, 0.768523]  # t=173\nTRANSPORT_174_JOINTS = [-0.084577, -1.490212, -0.353221, -2.737526, 0.146176, 1.686403, 0.771318]  # t=174\nTRANSPORT_177_JOINTS = [-0.085004, -1.407790, -0.337226, -2.717338, 0.149892, 1.670188, 0.783739]  # t=177\nTRANSPORT_180_JOINTS = [-0.080734, -1.316135, -0.328411, -2.695925, 0.145537, 1.659282, 0.792431]  # t=180\nTRANSPORT_181_JOINTS = [-0.079377, -1.287447, -0.328141, -2.688051, 0.142385, 1.652179, 0.794301]  # t=181\nTRANSPORT_183_JOINTS = [-0.076392, -1.234030, -0.327971, -2.674668, 0.137710, 1.640487, 0.796501]  # t=183\nTRANSPORT_185_JOINTS = [-0.073446, -1.184689, -0.327975, -2.666629, 0.133100, 1.633756, 0.798747]  # t=185\nTRANSPORT_186_JOINTS = [-0.071854, -1.160927, -0.327846, -2.665196, 0.131095, 1.632546, 0.799797]  # t=186\nTRANSPORT_189_JOINTS = [-0.067443, -1.093839, -0.328978, -2.670563, 0.124766, 1.640876, 0.800132]  # t=189\nTRANSPORT_192_JOINTS = [-0.063303, -1.031292, -0.332346, -2.688788, 0.119664, 1.670777, 0.795852]  # t=192\nTRANSPORT_193_JOINTS = [-0.061457, -1.010138, -0.333080, -2.695599, 0.119755, 1.687208, 0.792958]  # t=193\nTRANSPORT_195_JOINTS = [-0.057385, -0.968393, -0.334588, -2.708520, 0.121864, 1.724801, 0.784695]  # t=195\nTRANSPORT_197_JOINTS = [-0.052720, -0.926590, -0.335637, -2.720494, 0.126812, 1.768133, 0.774184]  # t=197\nTRANSPORT_198_JOINTS = [-0.050018, -0.905354, -0.335682, -2.725328, 0.130786, 1.791876, 0.768327]  # t=198\nTRANSPORT_201_JOINTS = [-0.040102, -0.838191, -0.333177, -2.732108, 0.147403, 1.861608, 0.751946]  # t=201\nTRANSPORT_204_JOINTS = [-0.027373, -0.762864, -0.326191, -2.724799, 0.170769, 1.927331, 0.738009]  # t=204\nTRANSPORT_205_JOINTS = [-0.022624, -0.734955, -0.323514, -2.720431, 0.179823, 1.949591, 0.732888]  # t=205\nTRANSPORT_207_JOINTS = [-0.012735, -0.673867, -0.318498, -2.711979, 0.199319, 1.997117, 0.720852]  # t=207\nTRANSPORT_209_JOINTS = [-0.002176, -0.606200, -0.312763, -2.699864, 0.222302, 2.045566, 0.707214]  # t=209\nTRANSPORT_210_JOINTS = [0.003132, -0.571227, -0.309720, -2.691004, 0.235444, 2.068520, 0.699134]  # t=210\nTRANSPORT_213_JOINTS = [0.016345, -0.470579, -0.302152, -2.659330, 0.276516, 2.126544, 0.669698]  # t=213\nTRANSPORT_216_JOINTS = [0.026027, -0.371289, -0.293048, -2.625519, 0.320717, 2.178723, 0.637210]  # t=216\nTRANSPORT_217_JOINTS = [0.028805, -0.336477, -0.288789, -2.612976, 0.337345, 2.197469, 0.625594]  # t=217\nTRANSPORT_219_JOINTS = [0.033384, -0.261635, -0.279668, -2.587180, 0.374827, 2.239350, 0.597491]  # t=219\nTRANSPORT_221_JOINTS = [0.036558, -0.181351, -0.267941, -2.557699, 0.418499, 2.282286, 0.564249]  # t=221\nTRANSPORT_222_JOINTS = [0.036967, -0.141997, -0.261777, -2.541917, 0.440556, 2.300167, 0.546563]  # t=222\nTRANSPORT_223_JOINTS = [0.036472, -0.103524, -0.255593, -2.525814, 0.462413, 2.317016, 0.527790]  # t=223\nPLACE_225_JOINTS = [0.032741, -0.029864, -0.242893, -2.493933, 0.504527, 2.346057, 0.488370]  # t=225\nPLACE_227_JOINTS = [0.025154, 0.037009, -0.230533, -2.463421, 0.542184, 2.369141, 0.448741]  # t=227\nPLACE_229_JOINTS = [0.014707, 0.099159, -0.216927, -2.434282, 0.576379, 2.389161, 0.410139]  # t=229\nPLACE_231_JOINTS = [0.002874, 0.162857, -0.199007, -2.400268, 0.609570, 2.410781, 0.374252]  # t=231\nPLACE_233_JOINTS = [-0.010365, 0.227269, -0.179088, -2.361182, 0.639642, 2.430509, 0.342097]  # t=233\nPLACE_235_JOINTS = [-0.025021, 0.287433, -0.160419, -2.319038, 0.662882, 2.444651, 0.314505]  # t=235\nPLACE_237_JOINTS = [-0.040312, 0.342406, -0.143397, -2.275917, 0.678590, 2.452845, 0.291853]  # t=237\nPLACE_239_JOINTS = [-0.055298, 0.393009, -0.127228, -2.231863, 0.687795, 2.456385, 0.273638]  # t=239\nPLACE_241_JOINTS = [-0.069884, 0.428302, -0.115815, -2.197493, 0.689156, 2.450043, 0.261562]  # t=241\nPLACE_242_JOINTS = [-0.076949, 0.434143, -0.113517, -2.188378, 0.686229, 2.441571, 0.258142]  # t=242\nPLACE_243_JOINTS = [-0.083612, 0.436141, -0.112539, -2.182293, 0.681852, 2.433524, 0.256323]  # t=243\nPLACE_244_JOINTS = [-0.089845, 0.437150, -0.112055, -2.177560, 0.677188, 2.426864, 0.254961]  # t=244\nRELEASE_POSE_244_JOINTS = [-0.089845, 0.437150, -0.112055, -2.177560, 0.677188, 2.426864, 0.254961]  # t=244\nRETRACT_250_JOINTS = [-0.117678, 0.372833, -0.119285, -2.177932, 0.646894, 2.348515, 0.263920]  # t=250\nRETRACT_252_JOINTS = [-0.125802, 0.306601, -0.138050, -2.197598, 0.626473, 2.304524, 0.264303]  # t=252\nRETRACT_253_JOINTS = [-0.129067, 0.267776, -0.147323, -2.212801, 0.619341, 2.286947, 0.260601]  # t=253\nRETRACT_254_JOINTS = [-0.131596, 0.228522, -0.156292, -2.230069, 0.612548, 2.272744, 0.257099]  # t=254\nRETRACT_256_JOINTS = [-0.133639, 0.154331, -0.170660, -2.261512, 0.598060, 2.251586, 0.257465]  # t=256\nRETRACT_258_JOINTS = [-0.133055, 0.083576, -0.183901, -2.286687, 0.578265, 2.228260, 0.268494]  # t=258\nRETRACT_260_JOINTS = [-0.132658, 0.005006, -0.203405, -2.312875, 0.557266, 2.199016, 0.274939]  # t=260\nRETRACT_262_JOINTS = [-0.133199, -0.086651, -0.231531, -2.348153, 0.536947, 2.168279, 0.269531]  # t=262\nRETRACT_264_JOINTS = [-0.133883, -0.189793, -0.264351, -2.392117, 0.513114, 2.139256, 0.260615]  # t=264\nRETRACT_266_JOINTS = [-0.134925, -0.302489, -0.299393, -2.439742, 0.480600, 2.112042, 0.256052]  # t=266\nRETRACT_268_JOINTS = [-0.137111, -0.421540, -0.335008, -2.485440, 0.437539, 2.082335, 0.259804]  # t=268\nRETRACT_270_JOINTS = [-0.141793, -0.546219, -0.370670, -2.525138, 0.383403, 2.051851, 0.269099]  # t=270\nRETRACT_272_JOINTS = [-0.149010, -0.673194, -0.403867, -2.557252, 0.324021, 2.017821, 0.283098]  # t=272\nRETRACT_273_JOINTS = [-0.153523, -0.736343, -0.418899, -2.569710, 0.293749, 1.998080, 0.291859]  # t=273\nAPPROACH_000_JOINTS = [-0.036613, -1.061190, -0.066937, -2.263774, -0.004139, 1.527686, 0.724749]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_049_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_063_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_094_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_104_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_110_JOINTS, input_type='joint', close_steps=6, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_110_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_132_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_144_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_150_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_156_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_168_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_177_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_180_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_189_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_192_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_198_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_201_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_204_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_205_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_210_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_213_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_216_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_217_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_222_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_223_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_242_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_243_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_244_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_244_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_244_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_244_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_250_JOINTS, input_type='joint', steps=6, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_252_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_253_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_254_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_256_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_258_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_260_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_262_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_264_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_266_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_268_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_270_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_272_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_273_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 28850, "code_num_lines": 325, "code_num_nonblank_lines": 310, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"}", "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\":\"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}},\"initial_state\":[0.5000000000000003,11.703000513256253,9.221950427677688,2.014325848775042e-07,1.5077607495004266e-08,-0.03706129759001995,-1.0611307426179009,-0.06797186058657666,-2.2637722835084024,-0.005216261758228973,1.527825861726785,0.7242502582112974,0.020559957290248943,-0.020506602272118916,0.0,0.0,0.0,0.0,0.0,-3.3360358212762815e-08,1.933566676963955e-09,-3.4668417242404234e-10,-6.289427155754785e-05,9.942397969075118e-09,8.99941396009619e-09,8.595920015827602e-10,9.234355958160073e-09,-7.85477209356457e-10,3.171428247081086e-10,0.0,0.0,0.0,0.0,0.0,-1.1414993784319388e-08,1.4370887490378497e-07,-1.3626376095507653e-09,5.872267040715596e-10,-1.3102602282505481e-09,5.872267040716401e-10,-3.2790836974997847e-09,5.861684538229655e-10,-3.466748499341054e-10,-1.5876311256740087e-09,1.0920518067098364e-08,-3.466748499341054e-10,0.0,1.1401764038912547e-12,-0.0008915674203656312,0.0,3.5700297013028716e-13,-0.000891570861001934,0.0,-7.880315324899979e-10,-1.5318938081801565e-09,0.0,3.759983614102805e-09,2.1693063222376656e-07,0.0,-3.035056177111588e-08,1.7834172347604088e-09,2.3772140107686375e-09,-3.3590469694149823e-10,-3.8369188545329486e-09,2.8113116315283046e-09,-2.5725916392151495e-09,-3.373734043974139e-10,-0.007137240960937223,-3.259684888343489e-05,0.0,0.0,-7.43039335353017e-05,0.0,0.0,0.44504320355940563,-2.1952944613296284,0.9817582969000788,0.7129267738255881,7.693724070843254e-05,-0.0001356134245182648,0.7012384693186037,0.18815646038331574,-1.2443820000064436,0.9580448288498896,0.7496795857124777,0.063906199388151,0.05363762755494535,0.6565207699349713,0.19447532525815722,-1.6977085644515075,0.7433081285850107,0.5711909128523304,0.00734629511232687,0.011565338446671404,0.820702879225885,-6.275165290866488e-07,-2.043638700908629e-07,-2.8063159063518495e-06,2.840664102000435e-07,-7.727992272032433e-06,1.2626142378435828e-06,-0.0006121720794530006,0.0010768485702490544,-0.0007438730221401216,-0.0009772666115562695,-0.00011131582842045077,-0.0004581972356706342,0.0004778528538759664,0.0,0.0,0.0,0.0,0.0,3.9681169832392767e-07,5.126286982549385e-07,-1.5123208310881744e-11,-1.070620648381834e-06,2.0230990676528644e-08,1.8312187939859614e-08,1.749115034793041e-09,1.8790252627432733e-08,-1.4171210745762755e-11,6.453285863685141e-10,0.0,0.0,0.0,0.0,0.0,-9.598890561676752e-08,3.12659998405369e-07,1.8295406964231675e-09,7.876323679502064e-12,1.8606941292792865e-09,7.876323679491177e-12,2.5261063527431647e-09,1.7482795005694374e-11,-1.535397635459944e-11,1.9558605125236866e-09,-2.899790668147104e-09,-1.535397635459944e-11,0.0,2.3222888095226316e-12,-2.6809520635585415e-10,0.0,7.271366076953947e-13,-2.681536024314081e-10,-1.8604258844990348e-06,-1.4217294176952258e-11,-2.7637707799476197e-11,0.0,7.650922672584623e-09,4.414166820055438e-07,0.0,1.2191906546201484e-08,-1.5605584611798385e-09,-2.2958859139302385e-09,-1.2222037051549951e-11,1.8676662721350476e-09,-2.1023186345513873e-09,2.034833920821713e-09,-1.253167857656085e-11,-5.194782623278612e-07,-5.799392391731718e-07,0.0,0.0,-1.4946608297985744e-06,0.0,0.0,-1.0060440524510723e-05,-1.6840595203224474e-05,1.3141562627701952e-05,-0.00015832074474302107,-0.0002752595112496786,-3.550805196583829e-09,3.101288779657166e-05,0.00023799281082377964,2.9919435166157616e-06,-1.9058625191621156e-05,0.006177498242796439,-0.0010493396025381752,7.199802625802538e-07,-8.1161812589295e-07,-2.181199720397726e-08,1.2137115736074886e-05,-3.945483921551447e-05,1.0671452954092385e-06],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 126, "pretrain_task_id": 37, "retained_waypoint_count": 126, "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": 530407, "video_relpath": "videos/raw_extracted/37_PickPlaceCounterToSink.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToStandMixer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_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': 'PickPlaceCounterToStandMixer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 103,\n    'stable_release_contact_loss_t': 205,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.450597, y=-2.724891, z=0.945693, qw=0.780276, qx=-0.015604, qy=0.038384, qz=0.624061)\nGOAL_RECEPTACLE_POSE = pose(x=0.514671, y=-2.520127, z=0.976133, qw=0.764566, qx=-0.047227, qy=0.518679, qz=0.379711)\n\nAPPROACH_003_JOINTS = [-0.012990, -1.077401, -0.006991, -2.255860, 0.042297, 1.533706, 0.709825]  # t=3\nAPPROACH_006_JOINTS = [-0.008342, -1.076983, 0.079505, -2.260973, 0.052826, 1.535837, 0.751832]  # t=6\nAPPROACH_007_JOINTS = [-0.006859, -1.077014, 0.114771, -2.265794, 0.052448, 1.538381, 0.769514]  # t=7\nAPPROACH_009_JOINTS = [-0.003476, -1.077217, 0.187703, -2.281297, 0.053462, 1.547415, 0.806455]  # t=9\nAPPROACH_012_JOINTS = [0.003318, -1.076005, 0.297482, -2.308323, 0.062312, 1.571917, 0.856292]  # t=12\nAPPROACH_014_JOINTS = [0.006799, -1.067403, 0.370898, -2.322806, 0.066712, 1.597943, 0.892110]  # t=14\nAPPROACH_015_JOINTS = [0.007422, -1.058077, 0.407902, -2.329633, 0.068030, 1.615851, 0.912445]  # t=15\nAPPROACH_018_JOINTS = [0.005630, -1.014764, 0.518844, -2.342261, 0.072048, 1.674452, 0.980954]  # t=18\nAPPROACH_021_JOINTS = [-0.003717, -0.949513, 0.627938, -2.353936, 0.082826, 1.751865, 1.063624]  # t=21\nAPPROACH_022_JOINTS = [-0.011160, -0.922789, 0.659658, -2.362844, 0.078457, 1.782352, 1.097709]  # t=22\nAPPROACH_024_JOINTS = [-0.031441, -0.868345, 0.705534, -2.386096, 0.057795, 1.840496, 1.168827]  # t=24\nAPPROACH_027_JOINTS = [-0.071458, -0.777306, 0.746070, -2.412687, 0.022007, 1.915432, 1.281348]  # t=27\nAPPROACH_030_JOINTS = [-0.121482, -0.662738, 0.758855, -2.394826, -0.019066, 1.934505, 1.374027]  # t=30\nAPPROACH_033_JOINTS = [-0.159159, -0.553630, 0.772092, -2.337997, -0.046658, 1.882599, 1.466678]  # t=33\nAPPROACH_034_JOINTS = [-0.166170, -0.523988, 0.777795, -2.317642, -0.049819, 1.856134, 1.499815]  # t=34\nAPPROACH_036_JOINTS = [-0.171910, -0.479510, 0.784261, -2.284070, -0.046084, 1.795115, 1.563011]  # t=36\nAPPROACH_039_JOINTS = [-0.167860, -0.436018, 0.776954, -2.253901, -0.023635, 1.708737, 1.630957]  # t=39\nAPPROACH_041_JOINTS = [-0.163347, -0.407416, 0.764163, -2.237789, -0.009108, 1.660904, 1.661931]  # t=41\nAPPROACH_042_JOINTS = [-0.161274, -0.390919, 0.757875, -2.230481, -0.005271, 1.643561, 1.679040]  # t=42\nAPPROACH_045_JOINTS = [-0.152634, -0.340828, 0.743999, -2.213251, -0.006280, 1.620389, 1.742598]  # t=45\nAPPROACH_046_JOINTS = [-0.148617, -0.324662, 0.740815, -2.211000, -0.009295, 1.621738, 1.765688]  # t=46\nAPPROACH_048_JOINTS = [-0.139214, -0.291919, 0.734992, -2.213286, -0.016236, 1.633440, 1.811288]  # t=48\nAPPROACH_051_JOINTS = [-0.120711, -0.249995, 0.728789, -2.232199, -0.035272, 1.679642, 1.885662]  # t=51\nAPPROACH_054_JOINTS = [-0.097442, -0.227111, 0.722772, -2.263674, -0.064298, 1.749324, 1.964003]  # t=54\nAPPROACH_057_JOINTS = [-0.072525, -0.224343, 0.715441, -2.305821, -0.102186, 1.830915, 2.035471]  # t=57\nAPPROACH_060_JOINTS = [-0.048972, -0.251797, 0.701164, -2.353295, -0.139632, 1.896773, 2.085149]  # t=60\nDESCEND_061_JOINTS = [-0.041955, -0.266969, 0.694813, -2.370965, -0.149118, 1.915359, 2.096721]  # t=61\nDESCEND_062_JOINTS = [-0.035734, -0.283929, 0.687337, -2.389590, -0.157319, 1.933582, 2.105160]  # t=62\nDESCEND_064_JOINTS = [-0.027233, -0.319987, 0.663456, -2.430211, -0.167622, 1.960909, 2.101963]  # t=64\nDESCEND_066_JOINTS = [-0.022218, -0.358725, 0.633058, -2.471297, -0.169599, 1.980122, 2.076788]  # t=66\nDESCEND_068_JOINTS = [-0.017118, -0.397276, 0.609972, -2.509624, -0.160544, 1.995087, 2.048120]  # t=68\nDESCEND_070_JOINTS = [-0.011920, -0.431503, 0.598081, -2.542019, -0.146024, 2.008930, 2.026241]  # t=70\nDESCEND_071_JOINTS = [-0.010343, -0.445197, 0.594280, -2.556116, -0.140108, 2.017743, 2.018020]  # t=71\nDESCEND_072_JOINTS = [-0.009664, -0.455462, 0.591724, -2.569288, -0.135435, 2.029022, 2.011553]  # t=72\nDESCEND_074_JOINTS = [-0.010427, -0.464970, 0.591598, -2.595486, -0.129438, 2.058860, 2.005958]  # t=74\nDESCEND_075_JOINTS = [-0.011238, -0.465835, 0.594144, -2.606823, -0.127327, 2.075243, 2.006596]  # t=75\nDESCEND_076_JOINTS = [-0.012225, -0.465104, 0.598004, -2.615041, -0.125715, 2.090661, 2.008990]  # t=76\nDESCEND_078_JOINTS = [-0.015577, -0.458656, 0.606634, -2.624401, -0.125704, 2.117341, 2.016261]  # t=78\nDESCEND_080_JOINTS = [-0.019680, -0.447906, 0.616541, -2.624338, -0.127183, 2.135677, 2.025206]  # t=80\nDESCEND_082_JOINTS = [-0.025157, -0.430868, 0.626703, -2.620473, -0.132582, 2.153401, 2.037029]  # t=82\nDESCEND_084_JOINTS = [-0.031498, -0.408929, 0.636682, -2.613907, -0.142373, 2.170460, 2.051870]  # t=84\nDESCEND_086_JOINTS = [-0.037542, -0.385217, 0.646077, -2.605081, -0.154929, 2.183032, 2.068584]  # t=86\nDESCEND_088_JOINTS = [-0.043151, -0.359177, 0.653833, -2.603842, -0.169737, 2.197397, 2.086853]  # t=88\nDESCEND_090_JOINTS = [-0.049936, -0.322432, 0.660964, -2.614913, -0.193919, 2.236107, 2.113801]  # t=90\nDESCEND_092_JOINTS = [-0.053507, -0.291119, 0.667864, -2.600256, -0.217672, 2.267319, 2.142363]  # t=92\nDESCEND_093_JOINTS = [-0.053465, -0.281997, 0.669963, -2.592726, -0.226943, 2.264702, 2.153445]  # t=93\nDESCEND_094_JOINTS = [-0.052379, -0.276793, 0.670364, -2.586970, -0.232858, 2.257449, 2.160471]  # t=94\nDESCEND_095_JOINTS = [-0.050756, -0.273089, 0.669475, -2.582170, -0.236547, 2.251017, 2.164362]  # t=95\nDESCEND_096_JOINTS = [-0.048791, -0.270066, 0.667941, -2.578228, -0.239113, 2.246131, 2.166813]  # t=96\nDESCEND_098_JOINTS = [-0.044256, -0.265482, 0.663914, -2.572682, -0.242949, 2.239418, 2.170152]  # t=98\nDESCEND_100_JOINTS = [-0.039320, -0.262421, 0.659413, -2.569477, -0.246204, 2.235752, 2.172955]  # t=100\nDESCEND_101_JOINTS = [-0.036811, -0.261565, 0.657185, -2.568613, -0.248068, 2.235002, 2.174750]  # t=101\nGRASP_HOLD_103_JOINTS = [-0.030764, -0.262860, 0.654591, -2.568577, -0.248061, 2.230090, 2.177405]  # t=103\nLIFT_104_JOINTS = [-0.026343, -0.269429, 0.655538, -2.568506, -0.245856, 2.222751, 2.180157]  # t=104\nLIFT_105_JOINTS = [-0.020743, -0.281714, 0.658531, -2.568274, -0.242607, 2.213691, 2.185278]  # t=105\nLIFT_106_JOINTS = [-0.013466, -0.302424, 0.664957, -2.566879, -0.238999, 2.201463, 2.194948]  # t=106\nLIFT_107_JOINTS = [-0.004383, -0.332503, 0.674751, -2.564177, -0.233795, 2.185312, 2.208486]  # t=107\nLIFT_108_JOINTS = [0.005887, -0.370641, 0.686012, -2.560289, -0.226313, 2.165935, 2.222848]  # t=108\nLIFT_109_JOINTS = [0.016623, -0.415129, 0.697403, -2.557163, -0.217722, 2.145311, 2.237009]  # t=109\nTRANSPORT_112_JOINTS = [0.046445, -0.569787, 0.723628, -2.563222, -0.194432, 2.096567, 2.270721]  # t=112\nTRANSPORT_114_JOINTS = [0.064422, -0.680690, 0.731562, -2.576330, -0.175482, 2.072639, 2.276967]  # t=114\nTRANSPORT_115_JOINTS = [0.072332, -0.737157, 0.728226, -2.585021, -0.165155, 2.062889, 2.272902]  # t=115\nTRANSPORT_117_JOINTS = [0.085299, -0.850885, 0.704031, -2.608701, -0.149293, 2.050973, 2.249109]  # t=117\nTRANSPORT_118_JOINTS = [0.089874, -0.906416, 0.681250, -2.624504, -0.144422, 2.046568, 2.226103]  # t=118\nTRANSPORT_120_JOINTS = [0.097321, -1.013234, 0.619301, -2.657988, -0.136667, 2.035054, 2.154292]  # t=120\nTRANSPORT_121_JOINTS = [0.099180, -1.061444, 0.583219, -2.673228, -0.135485, 2.027197, 2.107380]  # t=121\nTRANSPORT_124_JOINTS = [0.089663, -1.173028, 0.463551, -2.703228, -0.149981, 2.007946, 1.962765]  # t=124\nTRANSPORT_125_JOINTS = [0.081971, -1.196285, 0.424398, -2.704718, -0.157912, 2.005196, 1.916734]  # t=125\nTRANSPORT_127_JOINTS = [0.060062, -1.219721, 0.350204, -2.696100, -0.179229, 2.006575, 1.833760]  # t=127\nTRANSPORT_128_JOINTS = [0.048447, -1.225025, 0.316184, -2.686482, -0.187929, 1.998158, 1.793762]  # t=128\nTRANSPORT_130_JOINTS = [0.027316, -1.225099, 0.259756, -2.665985, -0.194712, 1.964450, 1.716251]  # t=130\nTRANSPORT_131_JOINTS = [0.017961, -1.218683, 0.238409, -2.655731, -0.192986, 1.941606, 1.679488]  # t=131\nTRANSPORT_133_JOINTS = [0.003339, -1.191363, 0.217996, -2.631929, -0.174900, 1.881852, 1.615595]  # t=133\nTRANSPORT_134_JOINTS = [-0.003282, -1.172089, 0.215094, -2.615509, -0.165009, 1.848571, 1.590789]  # t=134\nTRANSPORT_136_JOINTS = [-0.016034, -1.128007, 0.214683, -2.579674, -0.149449, 1.785569, 1.553243]  # t=136\nTRANSPORT_139_JOINTS = [-0.031293, -1.065567, 0.222278, -2.544872, -0.133485, 1.722158, 1.523381]  # t=139\nTRANSPORT_142_JOINTS = [-0.042209, -1.019349, 0.227611, -2.511998, -0.127456, 1.675839, 1.506543]  # t=142\nTRANSPORT_144_JOINTS = [-0.048324, -0.995979, 0.226100, -2.499623, -0.129228, 1.658735, 1.499809]  # t=144\nTRANSPORT_145_JOINTS = [-0.050747, -0.986839, 0.225130, -2.502981, -0.130241, 1.659402, 1.498800]  # t=145\nTRANSPORT_147_JOINTS = [-0.054056, -0.975822, 0.223234, -2.525651, -0.132287, 1.674831, 1.499582]  # t=147\nTRANSPORT_148_JOINTS = [-0.055047, -0.973728, 0.222143, -2.541105, -0.133391, 1.686360, 1.500411]  # t=148\nTRANSPORT_151_JOINTS = [-0.056641, -0.976280, 0.216092, -2.588784, -0.138502, 1.723536, 1.501075]  # t=151\nTRANSPORT_154_JOINTS = [-0.056360, -0.983632, 0.211911, -2.634996, -0.140839, 1.760897, 1.502257]  # t=154\nTRANSPORT_157_JOINTS = [-0.055300, -0.993329, 0.210691, -2.666409, -0.141514, 1.786533, 1.504015]  # t=157\nTRANSPORT_160_JOINTS = [-0.054870, -0.999526, 0.208890, -2.691799, -0.142483, 1.807130, 1.504546]  # t=160\nTRANSPORT_163_JOINTS = [-0.054876, -1.002184, 0.207370, -2.721179, -0.144108, 1.832864, 1.506685]  # t=163\nTRANSPORT_165_JOINTS = [-0.055552, -1.003537, 0.203736, -2.735227, -0.148137, 1.849157, 1.506849]  # t=165\nTRANSPORT_166_JOINTS = [-0.056123, -1.002978, 0.201258, -2.740327, -0.150628, 1.857463, 1.506601]  # t=166\nTRANSPORT_169_JOINTS = [-0.055940, -1.002098, 0.196573, -2.743673, -0.150783, 1.871852, 1.500330]  # t=169\nTRANSPORT_172_JOINTS = [-0.055333, -1.000370, 0.192548, -2.746635, -0.148287, 1.884743, 1.493255]  # t=172\nTRANSPORT_175_JOINTS = [-0.054895, -0.998944, 0.189317, -2.749196, -0.146587, 1.895978, 1.487916]  # t=175\nTRANSPORT_178_JOINTS = [-0.055602, -0.990106, 0.186579, -2.749254, -0.147204, 1.914387, 1.485513]  # t=178\nTRANSPORT_179_JOINTS = [-0.055961, -0.986896, 0.186124, -2.748230, -0.147661, 1.917527, 1.485465]  # t=179\nTRANSPORT_180_JOINTS = [-0.056201, -0.984681, 0.186037, -2.747008, -0.147853, 1.917857, 1.485494]  # t=180\nTRANSPORT_181_JOINTS = [-0.056321, -0.983289, 0.186045, -2.745867, -0.147867, 1.917274, 1.485500]  # t=181\nTRANSPORT_184_JOINTS = [-0.056389, -0.981243, 0.186047, -2.744051, -0.147873, 1.916233, 1.485507]  # t=184\nTRANSPORT_187_JOINTS = [-0.056389, -0.980909, 0.186047, -2.743825, -0.147875, 1.916176, 1.485510]  # t=187\nPLACE_188_JOINTS = [-0.056389, -0.980910, 0.186045, -2.743825, -0.147876, 1.916173, 1.485509]  # t=188\nPLACE_189_JOINTS = [-0.056535, -0.981251, 0.185449, -2.743792, -0.148401, 1.915670, 1.485277]  # t=189\nPLACE_190_JOINTS = [-0.056701, -0.982146, 0.184333, -2.743938, -0.149092, 1.914522, 1.484359]  # t=190\nPLACE_191_JOINTS = [-0.056834, -0.983497, 0.182967, -2.744333, -0.149829, 1.913240, 1.483015]  # t=191\nPLACE_192_JOINTS = [-0.057004, -0.985302, 0.181360, -2.744831, -0.150892, 1.911556, 1.481542]  # t=192\nPLACE_193_JOINTS = [-0.057221, -0.987492, 0.179532, -2.745215, -0.152236, 1.909831, 1.480106]  # t=193\nPLACE_194_JOINTS = [-0.057398, -0.990682, 0.177687, -2.743947, -0.153665, 1.908007, 1.479085]  # t=194\nPLACE_195_JOINTS = [-0.056931, -0.998980, 0.176824, -2.738318, -0.153870, 1.898687, 1.478771]  # t=195\nPLACE_196_JOINTS = [-0.055424, -1.014688, 0.177223, -2.727963, -0.152357, 1.879585, 1.478555]  # t=196\nPLACE_197_JOINTS = [-0.053545, -1.035892, 0.177195, -2.715909, -0.151072, 1.856638, 1.477915]  # t=197\nPLACE_198_JOINTS = [-0.051442, -1.061879, 0.176438, -2.702889, -0.150142, 1.831039, 1.476558]  # t=198\nPLACE_199_JOINTS = [-0.049180, -1.091298, 0.175038, -2.689716, -0.149462, 1.805951, 1.474746]  # t=199\nPLACE_200_JOINTS = [-0.046951, -1.122571, 0.172951, -2.676591, -0.149343, 1.783142, 1.472666]  # t=200\nPLACE_201_JOINTS = [-0.044882, -1.154577, 0.170235, -2.663052, -0.149742, 1.762684, 1.470341]  # t=201\nPLACE_202_JOINTS = [-0.043099, -1.185877, 0.166971, -2.649283, -0.150671, 1.745413, 1.467819]  # t=202\nPLACE_203_JOINTS = [-0.041673, -1.215408, 0.163320, -2.635401, -0.152086, 1.731778, 1.465356]  # t=203\nPLACE_204_JOINTS = [-0.040596, -1.242792, 0.159497, -2.621346, -0.153795, 1.720548, 1.462918]  # t=204\nPLACE_205_JOINTS = [-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328]  # t=205\nRELEASE_POSE_205_JOINTS = [-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328]  # t=205\nRETRACT_206_JOINTS = [-0.039095, -1.291440, 0.153035, -2.591079, -0.156270, 1.699012, 1.457962]  # t=206\nRETRACT_207_JOINTS = [-0.038529, -1.313985, 0.150796, -2.576054, -0.156812, 1.687373, 1.456045]  # t=207\nRETRACT_208_JOINTS = [-0.038129, -1.335821, 0.148639, -2.562245, -0.157551, 1.676509, 1.454461]  # t=208\nRETRACT_209_JOINTS = [-0.037765, -1.357800, 0.146476, -2.549909, -0.157867, 1.666104, 1.453395]  # t=209\nRETRACT_210_JOINTS = [-0.037289, -1.380950, 0.144274, -2.540074, -0.157052, 1.657814, 1.453682]  # t=210\nRETRACT_211_JOINTS = [-0.036665, -1.405095, 0.141896, -2.534607, -0.154829, 1.651686, 1.454938]  # t=211\nRETRACT_212_JOINTS = [-0.035946, -1.428758, 0.139800, -2.534737, -0.152393, 1.650662, 1.455967]  # t=212\nRETRACT_213_JOINTS = [-0.035192, -1.451490, 0.138444, -2.540466, -0.150511, 1.654750, 1.456591]  # t=213\nRETRACT_214_JOINTS = [-0.034418, -1.474039, 0.137751, -2.549226, -0.149153, 1.660732, 1.456897]  # t=214\nRETRACT_215_JOINTS = [-0.033568, -1.497013, 0.137342, -2.558709, -0.147929, 1.665032, 1.456613]  # t=215\nRETRACT_216_JOINTS = [-0.032583, -1.520431, 0.137063, -2.567817, -0.146475, 1.666875, 1.455501]  # t=216\nRETRACT_217_JOINTS = [-0.031469, -1.543767, 0.136772, -2.576470, -0.144680, 1.666468, 1.453162]  # t=217\nRETRACT_218_JOINTS = [-0.030243, -1.566661, 0.136285, -2.584400, -0.142542, 1.664465, 1.449420]  # t=218\nRETRACT_219_JOINTS = [-0.028908, -1.588744, 0.135460, -2.591710, -0.139989, 1.661725, 1.444159]  # t=219\nRETRACT_220_JOINTS = [-0.027525, -1.609224, 0.134169, -2.598869, -0.137082, 1.659221, 1.437377]  # t=220\nAPPROACH_000_JOINTS = [-0.014476, -1.078757, -0.024756, -2.256547, 0.035256, 1.537006, 0.704026]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_007_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_068_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_086_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_103_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_103_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_112_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_124_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_130_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_136_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_139_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_142_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_144_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_151_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_154_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_160_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_163_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_166_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_169_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_172_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_175_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_178_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_184_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_187_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_200_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_203_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_204_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_205_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_205_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_205_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_205_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_209_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_211_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_214_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_217_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_219_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 29805, "code_num_lines": 333, "code_num_nonblank_lines": 318, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 130, "pretrain_task_id": 38, "retained_waypoint_count": 130, "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": 379912, "video_relpath": "videos/raw_extracted/38_PickPlaceCounterToStandMixer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToStove\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_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': 'PickPlaceCounterToStove',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 108,\n    'stable_release_contact_loss_t': 204,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.676318, y=-0.456473, z=0.956975, qw=0.982452, qx=-0.051797, qy=0.011214, qz=-0.178828)\nGOAL_RECEPTACLE_POSE = pose(x=3.334379, y=-0.452215, z=0.945905, qw=0.844765, qx=0.013306, qy=-0.005060, qz=-0.534949)\n\nAPPROACH_005_JOINTS = [-0.013523, -1.068459, -0.025862, -2.282748, 0.013932, 1.499470, 0.739696]  # t=5\nAPPROACH_007_JOINTS = [-0.018256, -1.095183, -0.043147, -2.292639, -0.003733, 1.470068, 0.741090]  # t=7\nAPPROACH_010_JOINTS = [-0.026420, -1.145320, -0.070119, -2.321847, -0.033100, 1.441413, 0.745715]  # t=10\nAPPROACH_015_JOINTS = [-0.042241, -1.225255, -0.131431, -2.366543, -0.099343, 1.414468, 0.741065]  # t=15\nAPPROACH_020_JOINTS = [-0.061820, -1.272265, -0.195526, -2.389705, -0.178132, 1.414667, 0.764632]  # t=20\nAPPROACH_024_JOINTS = [-0.081748, -1.284664, -0.247144, -2.388523, -0.259621, 1.420666, 0.826054]  # t=24\nAPPROACH_025_JOINTS = [-0.086789, -1.281757, -0.263620, -2.387872, -0.284999, 1.429072, 0.844540]  # t=25\nAPPROACH_030_JOINTS = [-0.109261, -1.232803, -0.368123, -2.373415, -0.417885, 1.486614, 0.939193]  # t=30\nAPPROACH_035_JOINTS = [-0.123058, -1.149410, -0.485106, -2.339887, -0.529992, 1.556457, 1.020827]  # t=35\nAPPROACH_037_JOINTS = [-0.124969, -1.110229, -0.534872, -2.321330, -0.565070, 1.590559, 1.045560]  # t=37\nAPPROACH_040_JOINTS = [-0.122028, -1.045274, -0.614118, -2.284639, -0.600064, 1.643308, 1.063747]  # t=40\nAPPROACH_045_JOINTS = [-0.097513, -0.925213, -0.739944, -2.198257, -0.603469, 1.719110, 1.037918]  # t=45\nAPPROACH_050_JOINTS = [-0.048186, -0.794508, -0.837563, -2.113282, -0.561824, 1.792431, 0.984193]  # t=50\nAPPROACH_055_JOINTS = [0.018316, -0.642289, -0.948432, -2.067278, -0.513246, 1.917503, 0.974777]  # t=55\nAPPROACH_056_JOINTS = [0.033453, -0.608535, -0.972498, -2.061797, -0.500833, 1.948407, 0.978531]  # t=56\nAPPROACH_060_JOINTS = [0.099726, -0.463432, -1.077828, -2.043284, -0.431265, 2.081724, 0.982416]  # t=60\nAPPROACH_065_JOINTS = [0.197907, -0.243531, -1.224470, -2.035284, -0.265995, 2.276179, 0.940692]  # t=65\nAPPROACH_068_JOINTS = [0.251799, -0.073357, -1.309990, -2.045342, -0.085121, 2.407460, 0.862100]  # t=68\nAPPROACH_070_JOINTS = [0.251893, 0.051713, -1.338788, -2.058072, 0.086767, 2.486238, 0.759932]  # t=70\nAPPROACH_075_JOINTS = [0.021091, 0.256535, -1.159847, -2.013315, 0.441302, 2.512504, 0.520628]  # t=75\nAPPROACH_080_JOINTS = [-0.285187, 0.363482, -0.905783, -1.834820, 0.524751, 2.352827, 0.433355]  # t=80\nAPPROACH_082_JOINTS = [-0.378722, 0.402809, -0.829224, -1.747501, 0.504047, 2.270454, 0.436930]  # t=82\nAPPROACH_085_JOINTS = [-0.478767, 0.455291, -0.734332, -1.621982, 0.446005, 2.167258, 0.474638]  # t=85\nAPPROACH_086_JOINTS = [-0.503506, 0.472790, -0.706860, -1.583783, 0.426340, 2.141235, 0.492983]  # t=86\nAPPROACH_090_JOINTS = [-0.571262, 0.526356, -0.615896, -1.469422, 0.377142, 2.057670, 0.561140]  # t=90\nAPPROACH_095_JOINTS = [-0.609947, 0.579908, -0.544343, -1.410979, 0.346832, 2.029508, 0.611461]  # t=95\nDESCEND_096_JOINTS = [-0.613999, 0.592244, -0.534049, -1.403411, 0.341876, 2.032724, 0.619677]  # t=96\nDESCEND_097_JOINTS = [-0.617457, 0.605114, -0.524872, -1.396244, 0.337558, 2.036868, 0.627247]  # t=97\nDESCEND_098_JOINTS = [-0.620286, 0.618567, -0.516191, -1.389047, 0.333960, 2.041933, 0.634488]  # t=98\nDESCEND_099_JOINTS = [-0.622570, 0.632286, -0.507318, -1.381068, 0.332527, 2.048252, 0.641662]  # t=99\nDESCEND_100_JOINTS = [-0.624724, 0.647233, -0.498474, -1.371630, 0.332827, 2.057047, 0.648800]  # t=100\nDESCEND_101_JOINTS = [-0.627205, 0.664174, -0.490040, -1.360150, 0.334254, 2.068164, 0.655304]  # t=101\nDESCEND_102_JOINTS = [-0.630482, 0.681016, -0.484014, -1.346042, 0.335493, 2.078368, 0.661146]  # t=102\nGRASP_104_JOINTS = [-0.642183, 0.708840, -0.484475, -1.306522, 0.336662, 2.085654, 0.665818]  # t=104\nGRASP_107_JOINTS = [-0.671236, 0.763885, -0.487105, -1.226833, 0.349429, 2.085540, 0.658269]  # t=107\nGRASP_108_JOINTS = [-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245]  # t=108\nGRASP_HOLD_108_JOINTS = [-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245]  # t=108\nLIFT_109_JOINTS = [-0.693918, 0.803603, -0.483324, -1.162822, 0.361107, 2.070217, 0.653704]  # t=109\nLIFT_110_JOINTS = [-0.705169, 0.821470, -0.480350, -1.130542, 0.365039, 2.055253, 0.653429]  # t=110\nLIFT_111_JOINTS = [-0.715744, 0.837225, -0.476352, -1.100163, 0.367322, 2.036005, 0.654297]  # t=111\nLIFT_112_JOINTS = [-0.725455, 0.851454, -0.471569, -1.072048, 0.367003, 2.014830, 0.655310]  # t=112\nLIFT_113_JOINTS = [-0.734069, 0.863918, -0.466420, -1.045442, 0.363423, 1.992632, 0.655984]  # t=113\nLIFT_114_JOINTS = [-0.741428, 0.874607, -0.460880, -1.020208, 0.357194, 1.970399, 0.657560]  # t=114\nLIFT_115_JOINTS = [-0.747937, 0.883896, -0.455486, -0.996855, 0.348878, 1.949154, 0.659801]  # t=115\nLIFT_116_JOINTS = [-0.753687, 0.890825, -0.449418, -0.976319, 0.341463, 1.926826, 0.662180]  # t=116\nLIFT_117_JOINTS = [-0.758218, 0.893897, -0.442564, -0.959080, 0.335326, 1.901493, 0.665142]  # t=117\nLIFT_118_JOINTS = [-0.761870, 0.893477, -0.436311, -0.945338, 0.328716, 1.874748, 0.666876]  # t=118\nLIFT_119_JOINTS = [-0.764847, 0.890066, -0.430780, -0.935042, 0.321909, 1.847855, 0.665674]  # t=119\nLIFT_120_JOINTS = [-0.767581, 0.882215, -0.426149, -0.927547, 0.317036, 1.820302, 0.660589]  # t=120\nLIFT_121_JOINTS = [-0.770185, 0.870277, -0.422476, -0.923953, 0.314331, 1.791533, 0.651049]  # t=121\nLIFT_122_JOINTS = [-0.772725, 0.854721, -0.420312, -0.924963, 0.312929, 1.762105, 0.637515]  # t=122\nLIFT_123_JOINTS = [-0.774998, 0.836256, -0.419558, -0.930586, 0.312597, 1.733445, 0.621043]  # t=123\nTRANSPORT_125_JOINTS = [-0.777792, 0.791236, -0.421423, -0.955498, 0.313640, 1.679666, 0.582954]  # t=125\nTRANSPORT_127_JOINTS = [-0.774915, 0.736829, -0.425642, -0.999075, 0.312046, 1.630089, 0.540754]  # t=127\nTRANSPORT_129_JOINTS = [-0.763644, 0.675883, -0.430207, -1.061318, 0.306235, 1.591732, 0.503050]  # t=129\nTRANSPORT_131_JOINTS = [-0.744398, 0.609808, -0.435351, -1.142628, 0.299442, 1.572581, 0.471743]  # t=131\nTRANSPORT_133_JOINTS = [-0.717507, 0.538786, -0.441111, -1.237928, 0.293073, 1.573837, 0.450113]  # t=133\nTRANSPORT_135_JOINTS = [-0.682270, 0.466226, -0.445516, -1.339233, 0.280160, 1.590844, 0.442916]  # t=135\nTRANSPORT_137_JOINTS = [-0.640860, 0.392177, -0.450252, -1.442899, 0.258461, 1.614621, 0.447649]  # t=137\nTRANSPORT_139_JOINTS = [-0.596011, 0.316240, -0.455875, -1.546950, 0.234450, 1.643416, 0.459577]  # t=139\nTRANSPORT_141_JOINTS = [-0.549193, 0.239906, -0.461280, -1.648802, 0.209807, 1.675770, 0.479070]  # t=141\nTRANSPORT_143_JOINTS = [-0.501847, 0.163639, -0.466509, -1.746823, 0.184799, 1.709794, 0.510119]  # t=143\nTRANSPORT_145_JOINTS = [-0.454965, 0.087688, -0.470611, -1.840355, 0.158577, 1.744329, 0.551173]  # t=145\nTRANSPORT_147_JOINTS = [-0.410293, 0.015766, -0.474824, -1.927142, 0.132943, 1.780006, 0.595233]  # t=147\nTRANSPORT_149_JOINTS = [-0.368719, -0.046368, -0.479277, -2.002443, 0.110073, 1.819447, 0.638471]  # t=149\nTRANSPORT_151_JOINTS = [-0.329769, -0.093501, -0.481195, -2.062727, 0.093438, 1.861690, 0.680742]  # t=151\nTRANSPORT_153_JOINTS = [-0.293125, -0.123470, -0.479670, -2.107202, 0.083959, 1.904810, 0.722078]  # t=153\nTRANSPORT_155_JOINTS = [-0.259446, -0.132203, -0.477572, -2.141374, 0.081989, 1.952888, 0.757928]  # t=155\nTRANSPORT_157_JOINTS = [-0.229296, -0.122081, -0.475841, -2.173143, 0.088097, 2.008301, 0.784048]  # t=157\nTRANSPORT_159_JOINTS = [-0.203269, -0.100906, -0.473851, -2.198551, 0.100411, 2.065781, 0.800460]  # t=159\nTRANSPORT_160_JOINTS = [-0.192257, -0.087203, -0.473747, -2.207516, 0.107732, 2.093638, 0.804563]  # t=160\nPLACE_162_JOINTS = [-0.174650, -0.056786, -0.475590, -2.216851, 0.124477, 2.141823, 0.804894]  # t=162\nPLACE_163_JOINTS = [-0.167672, -0.041722, -0.476182, -2.217450, 0.133615, 2.160329, 0.802705]  # t=163\nPLACE_164_JOINTS = [-0.161878, -0.028677, -0.476500, -2.215345, 0.142120, 2.173344, 0.800029]  # t=164\nPLACE_166_JOINTS = [-0.153151, -0.006252, -0.475764, -2.204991, 0.156495, 2.188094, 0.794774]  # t=166\nPLACE_168_JOINTS = [-0.147965, 0.010191, -0.474712, -2.191089, 0.166139, 2.189145, 0.788045]  # t=168\nPLACE_170_JOINTS = [-0.146187, 0.018868, -0.475277, -2.179877, 0.170512, 2.181699, 0.779651]  # t=170\nPLACE_172_JOINTS = [-0.146373, 0.022487, -0.475759, -2.173057, 0.174029, 2.175534, 0.768720]  # t=172\nPLACE_174_JOINTS = [-0.148161, 0.019845, -0.478287, -2.172248, 0.178464, 2.171791, 0.751780]  # t=174\nPLACE_176_JOINTS = [-0.150878, 0.010530, -0.482771, -2.178551, 0.185614, 2.172967, 0.728589]  # t=176\nPLACE_178_JOINTS = [-0.153476, -0.002760, -0.487549, -2.191009, 0.197497, 2.182924, 0.703179]  # t=178\nPLACE_180_JOINTS = [-0.155614, -0.019214, -0.492896, -2.208763, 0.212550, 2.199446, 0.674629]  # t=180\nPLACE_182_JOINTS = [-0.157673, -0.042860, -0.501081, -2.232493, 0.231523, 2.219564, 0.640464]  # t=182\nPLACE_184_JOINTS = [-0.158473, -0.069138, -0.509703, -2.261475, 0.261344, 2.252750, 0.598501]  # t=184\nPLACE_186_JOINTS = [-0.156848, -0.085578, -0.515461, -2.292613, 0.297457, 2.298464, 0.552977]  # t=186\nPLACE_188_JOINTS = [-0.153648, -0.087806, -0.519165, -2.321115, 0.316522, 2.336766, 0.512594]  # t=188\nPLACE_190_JOINTS = [-0.149721, -0.075801, -0.523546, -2.337335, 0.333526, 2.365826, 0.462455]  # t=190\nPLACE_192_JOINTS = [-0.146254, -0.048288, -0.530490, -2.340059, 0.362405, 2.388548, 0.394100]  # t=192\nPLACE_194_JOINTS = [-0.140793, -0.014421, -0.525248, -2.320075, 0.396199, 2.390628, 0.335439]  # t=194\nPLACE_196_JOINTS = [-0.137659, 0.012376, -0.517882, -2.294712, 0.415059, 2.367375, 0.284923]  # t=196\nPLACE_198_JOINTS = [-0.139021, 0.028787, -0.516173, -2.273240, 0.428959, 2.337977, 0.212813]  # t=198\nPLACE_199_JOINTS = [-0.140636, 0.036895, -0.515461, -2.263538, 0.438561, 2.328740, 0.167135]  # t=199\nPLACE_200_JOINTS = [-0.142743, 0.043259, -0.514715, -2.255725, 0.449553, 2.320391, 0.115892]  # t=200\nPLACE_202_JOINTS = [-0.149265, 0.043359, -0.516969, -2.247732, 0.477876, 2.297442, 0.000846]  # t=202\nPLACE_204_JOINTS = [-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883]  # t=204\nRELEASE_POSE_204_JOINTS = [-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883]  # t=204\nRETRACT_207_JOINTS = [-0.171551, 0.000371, -0.543277, -2.266790, 0.578583, 2.242458, -0.334314]  # t=207\nRETRACT_210_JOINTS = [-0.182509, -0.048035, -0.571633, -2.290541, 0.637924, 2.200724, -0.540127]  # t=210\nRETRACT_212_JOINTS = [-0.186946, -0.087379, -0.594384, -2.300589, 0.661666, 2.159935, -0.650597]  # t=212\nRETRACT_213_JOINTS = [-0.187847, -0.108226, -0.605307, -2.300873, 0.665574, 2.136095, -0.689391]  # t=213\nRETRACT_216_JOINTS = [-0.186517, -0.176143, -0.638312, -2.287607, 0.648910, 2.057096, -0.751537]  # t=216\nRETRACT_219_JOINTS = [-0.182742, -0.257018, -0.681763, -2.275827, 0.613176, 1.981591, -0.771756]  # t=219\nRETRACT_220_JOINTS = [-0.181382, -0.287882, -0.699684, -2.276668, 0.601058, 1.961720, -0.776146]  # t=220\nRETRACT_222_JOINTS = [-0.178410, -0.349816, -0.741778, -2.286700, 0.572849, 1.935256, -0.787111]  # t=222\nRETRACT_224_JOINTS = [-0.173492, -0.406992, -0.792359, -2.302536, 0.546118, 1.921772, -0.804746]  # t=224\nRETRACT_225_JOINTS = [-0.169384, -0.432726, -0.818796, -2.310446, 0.535648, 1.918719, -0.814587]  # t=225\nRETRACT_228_JOINTS = [-0.150062, -0.505994, -0.900072, -2.334680, 0.525338, 1.915240, -0.861252]  # t=228\nRETRACT_231_JOINTS = [-0.125851, -0.579580, -0.977615, -2.349797, 0.514836, 1.907509, -0.904092]  # t=231\nRETRACT_234_JOINTS = [-0.091304, -0.630211, -1.030752, -2.362471, 0.477955, 1.927039, -0.906370]  # t=234\nRETRACT_237_JOINTS = [-0.053709, -0.672496, -1.074843, -2.360546, 0.433483, 1.939101, -0.887312]  # t=237\nRETRACT_240_JOINTS = [-0.016426, -0.711477, -1.112759, -2.353070, 0.388285, 1.945200, -0.860533]  # t=240\nRETRACT_243_JOINTS = [0.020853, -0.746813, -1.148917, -2.341426, 0.348200, 1.948308, -0.831000]  # t=243\nRETRACT_246_JOINTS = [0.058153, -0.778230, -1.184464, -2.323670, 0.307972, 1.950821, -0.806235]  # t=246\nRETRACT_249_JOINTS = [0.095791, -0.806941, -1.218852, -2.301289, 0.268268, 1.952542, -0.784848]  # t=249\nRETRACT_251_JOINTS = [0.121301, -0.825146, -1.241665, -2.283829, 0.242654, 1.951418, -0.771544]  # t=251\nAPPROACH_000_JOINTS = [-0.008776, -1.053450, -0.007885, -2.280536, 0.030928, 1.524001, 0.744791]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, 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_010_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, 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_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_037_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=1, 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_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    moveJoint(GRASP_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_107_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    wait(duration=0.05, hold_target=GRASP_HOLD_108_JOINTS, input_type='joint', gripper=-0.3)\n    grasp(hold_target=GRASP_HOLD_108_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_108_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_109_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_162_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_164_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_166_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_170_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_199_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_200_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_204_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_204_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_204_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_213_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_219_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_225_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_228_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_231_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_234_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_237_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_240_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_243_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_246_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_249_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 26511, "code_num_lines": 302, "code_num_nonblank_lines": 287, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"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\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.0276459572954004,-0.8822513218033105,0.0],\"lang\":\"Pick the onion from the plate and place it in the pan.\",\"layout_id\":60,\"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_18/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"pan\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_main_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"front_right\",\"offset\":[0.18976571040382365,-0.09795662966306808,0.45384256111761867],\"size\":[0.1,0.1]},\"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_3/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_3_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23310807345,0.23310807345,0.023453234437499998],\"ref\":\"stove_main_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\":[0.6,0.65]},\"type\":\"object\"},{\"cookable\":true,\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"onion\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"onion\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml\",\"split\":\"train\"},\"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\"}],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.014603594318032265,\"qx\":0.016705907881259918,\"qy\":-0.9886869192123413,\"qz\":-0.1483430117368698,\"x\":3.0260101820595913,\"y\":-0.6386620813758423,\"z\":1.29934596468002},\"goal_pose\":{\"qw\":0.844764594938043,\"qx\":0.013305123287802255,\"qy\":-0.005060753716375432,\"qz\":-0.5349487280153904,\"x\":3.33437897594205,\"y\":-0.45221447030162104,\"z\":0.9459045441230882},\"object_pose\":{\"qw\":0.982451880665464,\"qx\":-0.05179707962821848,\"qy\":0.01121413664860349,\"qz\":-0.1788284313472185,\"x\":3.676317893521895,\"y\":-0.45647290320087924,\"z\":0.9569752257104891}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToStove\"}", "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\":\"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\":\"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\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[3.0276459572954004,-0.8822513218033105,0.0],\"lang\":\"Pick the onion from the plate and place it in the pan.\",\"layout_id\":60,\"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_18/model.xml\",\"split\":\"train\"},\"name\":\"container\",\"obj_groups\":\"pan\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"fixture\":\"stove_main_group_1\",\"rotation\":[[-1.1780972450961724,-0.7853981633974483],[0.7853981633974483,1.1780972450961724]],\"size\":[0.02,0.02]},\"reset_region\":{\"name\":\"front_right\",\"offset\":[0.18976571040382365,-0.09795662966306808,0.45384256111761867],\"size\":[0.1,0.1]},\"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_3/model.xml\",\"split\":\"train\"},\"name\":\"obj_container\",\"obj_groups\":\"container\",\"placement\":{\"fixture\":\"counter_3_main_group_1\",\"pos\":[\"ref\",-1.0],\"sample_region_kwargs\":{\"min_size\":[0.23310807345,0.23310807345,0.023453234437499998],\"ref\":\"stove_main_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\":[0.6,0.65]},\"type\":\"object\"},{\"cookable\":true,\"exclude_obj_groups\":null,\"graspable\":true,\"info\":{\"cat\":\"onion\",\"groups\":[\"food\"],\"groups_containing_sampled_obj\":[\"all\",\"onion\",\"vegetable\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml\",\"split\":\"train\"},\"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\"}],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.014603594318032265,\"qx\":0.016705907881259918,\"qy\":-0.9886869192123413,\"qz\":-0.1483430117368698,\"x\":3.0260101820595913,\"y\":-0.6386620813758423,\"z\":1.29934596468002},\"goal_pose\":{\"qw\":0.844764594938043,\"qx\":0.013305123287802255,\"qy\":-0.005060753716375432,\"qz\":-0.5349487280153904,\"x\":3.33437897594205,\"y\":-0.45221447030162104,\"z\":0.9459045441230882},\"object_pose\":{\"qw\":0.982451880665464,\"qx\":-0.05179707962821848,\"qy\":0.01121413664860349,\"qz\":-0.1788284313472185,\"x\":3.676317893521895,\"y\":-0.45647290320087924,\"z\":0.9569752257104891}},\"initial_state\":[0.5000000000000003,6.972354103858367,-10.88225136106406,1.9956859932737382e-07,2.6775232153339136e-08,-0.008450530796931562,-1.0534568010533727,-0.0077758018519130155,-2.280535930762858,0.031011547312603333,1.5240006942379003,0.7448773398958383,0.02055669817920714,-0.020509862300559983,-1.290726803472035e-05,1.161896705275487e-08,1.7131980827631788e-08,5.1676757972739316e-09,2.4210544329383587e-09,1.118786710238773e-12,-9.599832567781804e-14,0.0,0.0,0.0,0.0,0.0,0.0,-4.708394817313368e-16,3.308490462686651e-14,0.0,0.0,-7.353921506805071e-16,2.1313446126941588e-15,0.0,-2.5795639134413005e-16,-2.5795639134413005e-16,-2.5571575248050426e-16,0.0,0.0,0.0,-0.00027110642172695475,0.0,0.0,0.0,0.0,0.0,7.895642093776451e-14,-4.2445186056006805e-15,0.0,-5.200729733186911e-16,0.0,0.0,0.0,-4.910791996849666e-15,0.0,0.0,0.0,-1.990863429907879e-10,-1.990864353863541e-10,0.0,0.0,7.506871369643334e-09,9.22706251565104e-07,0.0,-4.941325605212534e-16,-4.941325605212534e-16,0.0,0.0,1.494906085942237e-14,-9.331736685343783e-16,-8.634938237577951e-16,-1.3039817336779393e-05,-0.005507899201652723,0.0,0.0,-0.007052449708668907,-4.0492367057489646e-09,-0.00025624695827703174,3.33437897594205,-0.45221447030162104,0.9459045441230882,0.844764594938043,0.013305123287802255,-0.005060753716375432,-0.5349487280153904,3.676317893521895,-0.45647290320087924,0.9569752257104891,0.982451880665464,-0.05179707962821848,0.01121413664860349,-0.1788284313472185,3.674826967656412,-0.460974182667264,0.9318056835497297,0.9998607840311767,6.949820563865173e-07,2.4087178155271444e-05,0.016685681762682543,-7.166026328195677e-07,4.634092230483029e-07,-2.969021014755003e-06,8.096704815431745e-08,-9.062023669290797e-06,0.0005902856683493936,-0.0006597136632871889,-2.429715344140877e-05,-0.000738216544067637,0.00010486935894067737,-0.00011358651322473442,-0.0004655372091484233,0.00047051346363247506,-2.3462708876819975e-07,2.364250724214602e-08,3.48604982654992e-08,1.0515290378857748e-08,4.926410127894074e-09,2.2765296553115173e-12,-1.733885029130161e-15,0.0,0.0,0.0,0.0,0.0,0.0,-6.808890682295484e-82,-1.101172269532776e-12,0.0,0.0,5.715675799063187e-70,3.779097812522524e-73,0.0,-9.617925308282922e-18,-9.617925308282922e-18,-9.141229385674668e-18,0.0,0.0,0.0,-1.326106615568367e-06,0.0,0.0,0.0,0.0,0.0,-2.3849155836273993e-14,1.959346200549089e-34,0.0,-4.09279850377935e-31,0.0,0.0,0.0,-1.9828462200015884e-16,0.0,0.0,-7.094425291010358e-07,-3.59576546932972e-12,-3.5957671318137606e-12,0.0,0.0,1.527519916255476e-08,1.877549384798547e-06,0.0,-2.5627463113952392e-17,-2.5627463113952392e-17,0.0,0.0,-1.7943095099617866e-15,-4.767012783940435e-17,-3.078465567203617e-17,-2.3028291382553949e-07,-4.040263314706325e-07,0.0,0.0,-5.194401167733903e-07,-7.313462681989276e-11,-1.1557788530736976e-06,9.498200814898738e-08,-7.189546136536454e-07,1.572688900614601e-06,7.534740254032865e-06,2.3455351476831175e-05,-6.195805260295231e-07,-0.004035480809577263,-0.0036846220063000883,0.0014752614518500752,0.14444637712863817,-0.0734231882594082,0.006759163764148986,-4.689092734300789e-05,-3.8143466696201437e-05,-4.329949826475962e-07,0.0030014603222820262,-0.0038597133848986085,-3.88986909808799e-06],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceCounterToStove\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 114, "pretrain_task_id": 39, "retained_waypoint_count": 114, "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 onion from the plate and place it in the pan.", "task_name": "PickPlaceCounterToStove", "video_available": true, "video_bytes": 570756, "video_relpath": "videos/raw_extracted/39_PickPlaceCounterToStove.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceCounterToToasterOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_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': 'PickPlaceCounterToToasterOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    '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',\n    'stable_grasp_contact_t': 78,\n    'stable_release_contact_loss_t': 190,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.897510, y=-0.817711, z=0.938869, qw=0.961859, qx=-0.017658, qy=-0.052518, qz=-0.267877)\nGOAL_RECEPTACLE_POSE = pose(x=3.896720, y=-0.819733, z=0.930654, qw=0.999785, qx=-0.000143, qy=-0.000466, qz=-0.020716)\n\nAPPROACH_003_JOINTS = [-0.008768, -1.046349, -0.023816, -2.260687, 0.042563, 1.536417, 0.714462]  # t=3\nAPPROACH_006_JOINTS = [-0.014274, -1.130902, -0.050993, -2.263930, 0.019785, 1.460560, 0.697882]  # t=6\nAPPROACH_009_JOINTS = [-0.026252, -1.229555, -0.117655, -2.292857, -0.036740, 1.391466, 0.676778]  # t=9\nAPPROACH_012_JOINTS = [-0.040179, -1.312174, -0.199065, -2.347486, -0.112687, 1.362082, 0.639622]  # t=12\nAPPROACH_015_JOINTS = [-0.054081, -1.349230, -0.287823, -2.416428, -0.198701, 1.371918, 0.605578]  # t=15\nAPPROACH_016_JOINTS = [-0.058903, -1.352774, -0.319801, -2.435532, -0.226117, 1.378634, 0.598025]  # t=16\nAPPROACH_018_JOINTS = [-0.068697, -1.350577, -0.387815, -2.464463, -0.279212, 1.394838, 0.581914]  # t=18\nAPPROACH_021_JOINTS = [-0.082525, -1.327028, -0.486418, -2.496731, -0.361531, 1.447711, 0.565256]  # t=21\nAPPROACH_024_JOINTS = [-0.090560, -1.272563, -0.567924, -2.523095, -0.435442, 1.548425, 0.581030]  # t=24\nAPPROACH_027_JOINTS = [-0.088183, -1.181964, -0.641554, -2.538593, -0.492206, 1.657898, 0.617608]  # t=27\nAPPROACH_028_JOINTS = [-0.083517, -1.142288, -0.665022, -2.538535, -0.504160, 1.691740, 0.630331]  # t=28\nAPPROACH_030_JOINTS = [-0.066191, -1.051304, -0.705537, -2.532158, -0.506631, 1.751523, 0.651125]  # t=30\nAPPROACH_033_JOINTS = [-0.029063, -0.906315, -0.742405, -2.503883, -0.484563, 1.825257, 0.663810]  # t=33\nAPPROACH_036_JOINTS = [0.007820, -0.763927, -0.765899, -2.462018, -0.458481, 1.868125, 0.667504]  # t=36\nAPPROACH_039_JOINTS = [0.040594, -0.630352, -0.786778, -2.422805, -0.411710, 1.879811, 0.657105]  # t=39\nAPPROACH_042_JOINTS = [0.067743, -0.498765, -0.827139, -2.374204, -0.346525, 1.896714, 0.611366]  # t=42\nAPPROACH_045_JOINTS = [0.084266, -0.382523, -0.870864, -2.329685, -0.266839, 1.916481, 0.539635]  # t=45\nAPPROACH_048_JOINTS = [0.089738, -0.279633, -0.907136, -2.288110, -0.179607, 1.931544, 0.455868]  # t=48\nDESCEND_049_JOINTS = [0.089162, -0.248839, -0.912610, -2.274010, -0.153481, 1.932153, 0.432040]  # t=49\nDESCEND_050_JOINTS = [0.087632, -0.219344, -0.913963, -2.260889, -0.128518, 1.933265, 0.411947]  # t=50\nDESCEND_052_JOINTS = [0.080674, -0.164613, -0.908007, -2.235294, -0.082951, 1.931755, 0.380542]  # t=52\nDESCEND_054_JOINTS = [0.067594, -0.114354, -0.894845, -2.211519, -0.045540, 1.925474, 0.356952]  # t=54\nDESCEND_055_JOINTS = [0.058413, -0.091985, -0.887470, -2.201601, -0.028841, 1.921869, 0.345298]  # t=55\nDESCEND_056_JOINTS = [0.047625, -0.071575, -0.879825, -2.193816, -0.013148, 1.919861, 0.332987]  # t=56\nDESCEND_058_JOINTS = [0.023107, -0.032700, -0.860556, -2.186117, 0.012597, 1.920100, 0.312090]  # t=58\nDESCEND_060_JOINTS = [-0.004126, 0.006341, -0.836405, -2.183906, 0.030830, 1.927401, 0.297965]  # t=60\nDESCEND_062_JOINTS = [-0.033421, 0.042750, -0.809670, -2.183921, 0.049019, 1.940065, 0.284283]  # t=62\nDESCEND_063_JOINTS = [-0.048254, 0.058076, -0.794944, -2.184142, 0.058061, 1.944413, 0.278208]  # t=63\nDESCEND_064_JOINTS = [-0.062831, 0.070846, -0.779093, -2.184909, 0.066478, 1.947444, 0.273774]  # t=64\nDESCEND_066_JOINTS = [-0.090377, 0.088486, -0.744664, -2.190189, 0.081536, 1.952215, 0.269958]  # t=66\nDESCEND_067_JOINTS = [-0.103277, 0.093181, -0.727748, -2.193316, 0.085687, 1.954562, 0.270894]  # t=67\nDESCEND_068_JOINTS = [-0.115975, 0.095845, -0.713180, -2.194768, 0.086454, 1.956940, 0.272339]  # t=68\nDESCEND_069_JOINTS = [-0.128134, 0.095918, -0.700481, -2.194257, 0.084417, 1.956895, 0.274751]  # t=69\nDESCEND_070_JOINTS = [-0.139382, 0.095490, -0.688337, -2.194105, 0.081815, 1.957105, 0.277791]  # t=70\nDESCEND_071_JOINTS = [-0.149735, 0.094858, -0.676977, -2.194238, 0.079000, 1.957665, 0.281025]  # t=71\nDESCEND_072_JOINTS = [-0.159218, 0.094152, -0.666537, -2.194592, 0.076188, 1.958574, 0.284117]  # t=72\nDESCEND_074_JOINTS = [-0.175769, 0.092390, -0.648881, -2.195200, 0.071073, 1.960224, 0.288631]  # t=74\nDESCEND_076_JOINTS = [-0.189136, 0.088297, -0.635075, -2.195909, 0.066290, 1.957773, 0.291936]  # t=76\nDESCEND_077_JOINTS = [-0.194792, 0.084242, -0.630003, -2.196496, 0.062618, 1.954054, 0.293001]  # t=77\nGRASP_HOLD_078_JOINTS = [-0.199577, 0.079049, -0.625256, -2.198286, 0.058738, 1.949239, 0.293688]  # t=78\nLIFT_079_JOINTS = [-0.203588, 0.073129, -0.620990, -2.202061, 0.054486, 1.944704, 0.294310]  # t=79\nLIFT_080_JOINTS = [-0.207041, 0.066604, -0.617779, -2.207264, 0.049602, 1.941515, 0.294767]  # t=80\nLIFT_081_JOINTS = [-0.210007, 0.059192, -0.615723, -2.213698, 0.044141, 1.938824, 0.295085]  # t=81\nLIFT_082_JOINTS = [-0.212553, 0.050889, -0.614886, -2.221034, 0.037975, 1.936662, 0.295233]  # t=82\nLIFT_083_JOINTS = [-0.215576, 0.037168, -0.618220, -2.227917, 0.030453, 1.930119, 0.292084]  # t=83\nLIFT_084_JOINTS = [-0.219183, 0.017089, -0.626008, -2.235406, 0.021569, 1.920331, 0.284654]  # t=84\nLIFT_085_JOINTS = [-0.223201, -0.010566, -0.637654, -2.243495, 0.013258, 1.907859, 0.273525]  # t=85\nLIFT_086_JOINTS = [-0.227497, -0.045993, -0.652737, -2.252520, 0.005671, 1.894257, 0.258776]  # t=86\nLIFT_087_JOINTS = [-0.231788, -0.087401, -0.670263, -2.263098, -0.002096, 1.881318, 0.241601]  # t=87\nLIFT_088_JOINTS = [-0.235925, -0.133931, -0.689478, -2.274540, -0.011113, 1.868148, 0.223660]  # t=88\nPLACE_090_JOINTS = [-0.242631, -0.237120, -0.727690, -2.295507, -0.035117, 1.838839, 0.192954]  # t=90\nPLACE_092_JOINTS = [-0.247219, -0.348182, -0.761259, -2.310515, -0.069507, 1.798543, 0.171491]  # t=92\nPLACE_094_JOINTS = [-0.252037, -0.468766, -0.791158, -2.318228, -0.104043, 1.747412, 0.154053]  # t=94\nPLACE_096_JOINTS = [-0.257949, -0.594031, -0.813005, -2.321437, -0.134951, 1.690022, 0.147097]  # t=96\nPLACE_098_JOINTS = [-0.266067, -0.720800, -0.822724, -2.321668, -0.160141, 1.626982, 0.152333]  # t=98\nPLACE_100_JOINTS = [-0.277214, -0.847993, -0.817399, -2.320569, -0.174854, 1.557668, 0.167158]  # t=100\nPLACE_102_JOINTS = [-0.291807, -0.973480, -0.801128, -2.320533, -0.177832, 1.489649, 0.188421]  # t=102\nPLACE_104_JOINTS = [-0.308036, -1.093042, -0.774051, -2.322182, -0.168826, 1.424916, 0.217053]  # t=104\nPLACE_106_JOINTS = [-0.325009, -1.204241, -0.734709, -2.324888, -0.150541, 1.361898, 0.261778]  # t=106\nPLACE_108_JOINTS = [-0.341270, -1.305192, -0.684942, -2.326385, -0.124252, 1.303422, 0.327206]  # t=108\nPLACE_110_JOINTS = [-0.353742, -1.392644, -0.630262, -2.322892, -0.086103, 1.253490, 0.412962]  # t=110\nPLACE_112_JOINTS = [-0.362138, -1.466967, -0.578341, -2.313804, -0.039552, 1.210388, 0.518703]  # t=112\nPLACE_114_JOINTS = [-0.366171, -1.529025, -0.532513, -2.309420, 0.013022, 1.175256, 0.639931]  # t=114\nPLACE_116_JOINTS = [-0.366225, -1.581717, -0.480202, -2.300651, 0.060709, 1.151421, 0.761303]  # t=116\nPLACE_118_JOINTS = [-0.362931, -1.624710, -0.421420, -2.286933, 0.108888, 1.140183, 0.889137]  # t=118\nPLACE_120_JOINTS = [-0.356168, -1.658937, -0.360793, -2.267467, 0.156209, 1.133402, 1.019681]  # t=120\nPLACE_122_JOINTS = [-0.346192, -1.683744, -0.295463, -2.248814, 0.197639, 1.137981, 1.148000]  # t=122\nPLACE_124_JOINTS = [-0.333629, -1.701164, -0.224360, -2.232323, 0.228991, 1.148301, 1.270038]  # t=124\nPLACE_126_JOINTS = [-0.319475, -1.714721, -0.148044, -2.218014, 0.246961, 1.160083, 1.384704]  # t=126\nPLACE_128_JOINTS = [-0.305373, -1.726649, -0.065295, -2.218978, 0.256466, 1.184010, 1.499593]  # t=128\nPLACE_130_JOINTS = [-0.289823, -1.732801, 0.019649, -2.235508, 0.270575, 1.225310, 1.605735]  # t=130\nPLACE_132_JOINTS = [-0.271801, -1.731311, 0.094614, -2.257775, 0.278262, 1.274105, 1.697776]  # t=132\nPLACE_134_JOINTS = [-0.250473, -1.731464, 0.145652, -2.288080, 0.279701, 1.312537, 1.780509]  # t=134\nPLACE_136_JOINTS = [-0.225183, -1.746316, 0.162032, -2.337589, 0.295801, 1.345600, 1.865172]  # t=136\nPLACE_138_JOINTS = [-0.199426, -1.764158, 0.173880, -2.401289, 0.316345, 1.395970, 1.935116]  # t=138\nPLACE_140_JOINTS = [-0.175042, -1.762905, 0.188210, -2.456904, 0.335907, 1.443331, 1.998219]  # t=140\nPLACE_142_JOINTS = [-0.152288, -1.762846, 0.202226, -2.515798, 0.362383, 1.489687, 2.048952]  # t=142\nPLACE_144_JOINTS = [-0.131931, -1.761432, 0.217538, -2.579339, 0.391898, 1.545074, 2.080621]  # t=144\nPLACE_146_JOINTS = [-0.115013, -1.751176, 0.237925, -2.638085, 0.414824, 1.602384, 2.094477]  # t=146\nPLACE_148_JOINTS = [-0.100447, -1.735146, 0.264064, -2.683282, 0.428978, 1.649637, 2.100813]  # t=148\nPLACE_150_JOINTS = [-0.086083, -1.721229, 0.292720, -2.722692, 0.445157, 1.690751, 2.106465]  # t=150\nPLACE_152_JOINTS = [-0.071365, -1.711774, 0.324289, -2.766101, 0.464602, 1.737424, 2.110271]  # t=152\nPLACE_154_JOINTS = [-0.056142, -1.705121, 0.355937, -2.813742, 0.485196, 1.788318, 2.111561]  # t=154\nPLACE_156_JOINTS = [-0.040253, -1.699018, 0.387234, -2.864956, 0.507138, 1.843222, 2.110619]  # t=156\nPLACE_158_JOINTS = [-0.023636, -1.690661, 0.418598, -2.915745, 0.531630, 1.903267, 2.107533]  # t=158\nPLACE_160_JOINTS = [-0.004641, -1.688723, 0.448653, -2.959928, 0.554034, 1.963657, 2.104867]  # t=160\nPLACE_162_JOINTS = [0.017875, -1.693259, 0.481131, -3.004430, 0.578172, 2.020365, 2.104993]  # t=162\nPLACE_164_JOINTS = [0.041970, -1.691379, 0.518647, -3.051396, 0.609526, 2.081183, 2.104874]  # t=164\nPLACE_166_JOINTS = [0.062510, -1.684527, 0.547983, -3.073214, 0.628217, 2.128419, 2.113243]  # t=166\nPLACE_168_JOINTS = [0.070446, -1.650885, 0.572805, -3.071937, 0.635863, 2.178261, 2.130918]  # t=168\nPLACE_170_JOINTS = [0.073441, -1.610431, 0.584008, -3.071841, 0.635803, 2.228762, 2.141758]  # t=170\nPLACE_172_JOINTS = [0.071967, -1.556147, 0.591724, -3.071830, 0.639367, 2.294794, 2.143874]  # t=172\nPLACE_174_JOINTS = [0.066846, -1.490348, 0.595955, -3.070838, 0.645228, 2.369755, 2.138112]  # t=174\nPLACE_176_JOINTS = [0.059959, -1.417136, 0.598184, -3.068151, 0.653138, 2.444855, 2.126440]  # t=176\nPLACE_178_JOINTS = [0.053234, -1.327334, 0.609085, -3.068512, 0.671620, 2.519757, 2.111661]  # t=178\nPLACE_180_JOINTS = [0.043150, -1.224793, 0.619158, -3.060931, 0.692328, 2.604997, 2.086491]  # t=180\nPLACE_181_JOINTS = [0.031960, -1.169736, 0.613571, -3.043726, 0.691723, 2.648758, 2.065093]  # t=181\nPLACE_182_JOINTS = [0.018459, -1.111249, 0.605644, -3.022587, 0.687616, 2.686156, 2.044363]  # t=182\nPLACE_184_JOINTS = [-0.008514, -1.003718, 0.588387, -2.977544, 0.673093, 2.738488, 2.010494]  # t=184\nPLACE_185_JOINTS = [-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116]  # t=185\nRELEASE_POSE_185_JOINTS = [-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116]  # t=185\nRETRACT_190_JOINTS = [-0.051305, -0.825250, 0.557670, -2.890628, 0.619842, 2.802639, 1.975560]  # t=190\nRETRACT_191_JOINTS = [-0.049935, -0.824815, 0.554772, -2.889287, 0.613966, 2.799828, 1.978173]  # t=191\nRETRACT_192_JOINTS = [-0.045879, -0.834073, 0.552239, -2.891820, 0.609526, 2.792435, 1.982586]  # t=192\nRETRACT_194_JOINTS = [-0.030828, -0.877574, 0.549472, -2.909311, 0.604768, 2.772349, 1.994601]  # t=194\nRETRACT_195_JOINTS = [-0.019762, -0.910405, 0.550324, -2.924197, 0.604949, 2.763798, 2.001803]  # t=195\nRETRACT_196_JOINTS = [-0.005605, -0.952221, 0.553109, -2.943910, 0.606918, 2.755495, 2.010118]  # t=196\nRETRACT_198_JOINTS = [0.036661, -1.077803, 0.567337, -3.003460, 0.616745, 2.738391, 2.033391]  # t=198\nRETRACT_200_JOINTS = [0.092273, -1.231789, 0.597756, -3.076595, 0.632403, 2.730074, 2.067492]  # t=200\nRETRACT_201_JOINTS = [0.114117, -1.309536, 0.616097, -3.074294, 0.631382, 2.695303, 2.097642]  # t=201\nRETRACT_202_JOINTS = [0.130578, -1.392422, 0.632726, -3.072516, 0.618844, 2.643576, 2.136584]  # t=202\nRETRACT_204_JOINTS = [0.161309, -1.559710, 0.649578, -3.072075, 0.585588, 2.545057, 2.213223]  # t=204\nRETRACT_206_JOINTS = [0.188224, -1.713237, 0.642735, -3.071889, 0.544600, 2.474674, 2.270413]  # t=206\nRETRACT_207_JOINTS = [0.200895, -1.771745, 0.633358, -3.068769, 0.522580, 2.446933, 2.292656]  # t=207\nRETRACT_208_JOINTS = [0.209789, -1.766013, 0.604973, -3.040499, 0.478290, 2.431890, 2.321101]  # t=208\nRETRACT_210_JOINTS = [0.217601, -1.763061, 0.521113, -2.960826, 0.360905, 2.373505, 2.379235]  # t=210\nRETRACT_212_JOINTS = [0.215088, -1.762857, 0.457820, -2.879472, 0.283977, 2.313712, 2.416336]  # t=212\nRETRACT_214_JOINTS = [0.202272, -1.762382, 0.409652, -2.808230, 0.246804, 2.268977, 2.430627]  # t=214\nRETRACT_215_JOINTS = [0.192249, -1.760818, 0.388042, -2.776890, 0.237133, 2.254444, 2.431693]  # t=215\nRETRACT_216_JOINTS = [0.180671, -1.756799, 0.365855, -2.747594, 0.233261, 2.240066, 2.430575]  # t=216\nRETRACT_218_JOINTS = [0.154756, -1.746477, 0.317536, -2.686903, 0.233266, 2.203453, 2.423724]  # t=218\nRETRACT_220_JOINTS = [0.127143, -1.733159, 0.260461, -2.620530, 0.234686, 2.145478, 2.409365]  # t=220\nRETRACT_222_JOINTS = [0.098591, -1.706756, 0.199367, -2.546068, 0.236618, 2.067488, 2.390766]  # t=222\nRETRACT_223_JOINTS = [0.084490, -1.686613, 0.169825, -2.507602, 0.239540, 2.018345, 2.382586]  # t=223\nRETRACT_224_JOINTS = [0.070465, -1.659416, 0.140688, -2.469864, 0.244622, 1.965308, 2.377330]  # t=224\nRETRACT_225_JOINTS = [0.057259, -1.626808, 0.110982, -2.432830, 0.252367, 1.906015, 2.373305]  # t=225\nAPPROACH_000_JOINTS = [-0.007579, -1.023571, -0.021337, -2.264957, 0.044880, 1.570495, 0.715520]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_049_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_054_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_058_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_064_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_078_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_078_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_090_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_092_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_094_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_096_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_098_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_102_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_104_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_106_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_108_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_110_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_116_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_118_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_124_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_126_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_128_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_130_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_132_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_134_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_136_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_138_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_140_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_142_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_144_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_146_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_148_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_154_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_156_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_158_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_160_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_162_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_166_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_170_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_185_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_185_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_185_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_190_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_192_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_223_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_224_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_225_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 28311, "code_num_lines": 319, "code_num_nonblank_lines": 305, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"}", "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\":\"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}},\"initial_state\":[0.5000000000000003,6.438424271558273,-11.142434826244532,1.9253850333114803e-07,2.5247237330557642e-08,-0.0073021718151150255,-1.0211828564796421,-0.021336136388722497,-2.265505531673968,0.04488048256929414,1.5753723267800441,0.7155266394576765,0.0205624680638918,-0.020504091851030543,0.0,0.0,0.0,0.0,0.0,-3.014097219361195e-05,-6.405078466324428e-09,8.561235363739314e-08,3.1451706450535185e-08,-2.25586722333591e-09,5.36657024340542e-08,-1.1372074372367133e-08,0.0,0.0,0.0,0.0,0.0,0.0,-1.7559830591251632e-16,0.0,-1.7559830591251664e-16,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.000595761719929683,-0.0005980482751162464,-2.5031817334372103e-05,-0.007773674371723209,-1.4986561113335286e-11,-0.0008279897100150819,-0.00777367536394445,-9.43494164020854e-12,-0.0008279904541918295,1.3711367945318222,-4.062950056969249e-10,-2.274569820028037e-09,-1.099867826696473e-09,0.21631630265916393,4.643684085822706e-09,4.1722608252366966e-07,0.0,0.0,0.0,0.0,-1.2320586601646347e-05,-0.007396926379696058,0.0,0.0,4.701888456321634e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.2424126932285276e-15,-2.2424126932285276e-15,-2.210089052922772e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.1313056586323846e-15,0.0,0.0,3.897509815594437,-0.817711022495227,0.9388691734561561,0.9618585068976515,-0.017658303539963723,-0.052517531402293045,-0.2678774083795028,3.8983744758637773,-0.8182685422898024,0.9306276605926258,0.9997109912445276,-7.123012915356842e-05,-0.0005726525612961912,-0.024033330609743157,-6.816370043367561e-07,4.164205771100595e-07,-2.912123612563744e-06,4.597257825721291e-08,-9.276046747617776e-06,0.0004947540310918021,-0.0006353885364509514,-2.992003426189128e-05,-0.00072897292433157,0.00010255768139146483,-0.00011352276765506963,-0.0004575790155225039,0.0004784710979750259,0.0,0.0,0.0,0.0,0.0,-4.247310102256595e-07,-1.1504627493840509e-10,1.742057405303282e-07,6.399856539819523e-08,-4.051927266324384e-11,1.0920004551694961e-07,-2.0426209077821527e-10,0.0,0.0,0.0,0.0,0.0,0.0,-8.613828715998484e-18,0.0,-8.613828715998513e-18,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-9.34938479136353e-12,-9.65937225103883e-12,-5.538716086334861e-07,-5.309587721560288e-07,-2.69184508954995e-13,1.1559711818324103e-12,-5.309588183844492e-07,-1.694678519815461e-13,1.155955470593739e-12,4.135778945835195e-07,-7.297759979572175e-12,-4.085520280108781e-11,-1.9755525639218384e-11,-2.4958784588012032e-05,9.44910117934433e-09,8.489835643307761e-07,0.0,0.0,0.0,0.0,-2.1999723815142228e-07,-5.122624503001122e-07,0.0,0.0,1.1874373495831863e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0234432011929598e-16,-1.0234432011929598e-16,-9.432342603658062e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.8196880074765184e-17,0.0,0.0,-0.0002454294598249189,0.000215018128244675,0.0004528913892320985,0.004160917359822604,-0.016301581780583756,-0.0008060539135367107,0.0002113125434928754,4.585365474377348e-05,7.902101801148015e-05,-0.0004427594001007797,8.128970503526147e-05,0.0027221612198959997],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 125, "pretrain_task_id": 40, "retained_waypoint_count": 125, "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": 510146, "video_relpath": "videos/raw_extracted/40_PickPlaceCounterToToasterOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceDrawerToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_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': 'PickPlaceDrawerToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 269,\n    'stable_release_contact_loss_t': 349,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.582966, y=-0.637367, z=0.709988, qw=0.985019, qx=-0.003023, qy=0.000530, qz=-0.172418)\nGOAL_RECEPTACLE_POSE = pose(x=2.697923, y=-0.382853, z=0.992435, qw=0.989028, qx=0.000000, qy=-0.000000, qz=-0.147730)\n\nAPPROACH_BODY_004 = pose(x=0.444022, y=0.010068, z=1.293437, qx=-0.656103, qy=-0.741234, qz=-0.110085, qw=-0.089345)  # body-frame t=4\nAPPROACH_BODY_008 = pose(x=0.444039, y=0.010271, z=1.293440, qx=-0.656147, qy=-0.741190, qz=-0.110040, qw=-0.089446)  # body-frame t=8\nAPPROACH_BODY_010 = pose(x=0.444048, y=0.010684, z=1.293431, qx=-0.656253, qy=-0.741106, qz=-0.109702, qw=-0.089770)  # body-frame t=10\nAPPROACH_BODY_012 = pose(x=0.444095, y=0.010468, z=1.293407, qx=-0.657190, qy=-0.740306, qz=-0.108694, qw=-0.090741)  # body-frame t=12\nAPPROACH_BODY_016 = pose(x=0.444212, y=0.000778, z=1.293356, qx=-0.659824, qy=-0.737898, qz=-0.109312, qw=-0.090496)  # body-frame t=16\nAPPROACH_BODY_020 = pose(x=0.443499, y=-0.012300, z=1.293207, qx=-0.661771, qy=-0.736030, qz=-0.111976, qw=-0.088201)  # body-frame t=20\nAPPROACH_BODY_021 = pose(x=0.443187, y=-0.014776, z=1.293204, qx=-0.662475, qy=-0.735383, qz=-0.112341, qw=-0.087857)  # body-frame t=21\nAPPROACH_BODY_024 = pose(x=0.442101, y=-0.020689, z=1.293220, qx=-0.665098, qy=-0.732996, qz=-0.112840, qw=-0.087337)  # body-frame t=24\nAPPROACH_BODY_026 = pose(x=0.441442, y=-0.022783, z=1.293274, qx=-0.666300, qy=-0.731893, qz=-0.112934, qw=-0.087304)  # body-frame t=26\nAPPROACH_BODY_028 = pose(x=0.441022, y=-0.023573, z=1.293320, qx=-0.667110, qy=-0.731161, qz=-0.112808, qw=-0.087418)  # body-frame t=28\nAPPROACH_BODY_032 = pose(x=0.440866, y=-0.024151, z=1.293223, qx=-0.668903, qy=-0.729622, qz=-0.111954, qw=-0.087674)  # body-frame t=32\nAPPROACH_BODY_034 = pose(x=0.441110, y=-0.023805, z=1.293159, qx=-0.669391, qy=-0.729264, qz=-0.111365, qw=-0.087678)  # body-frame t=34\nAPPROACH_BODY_036 = pose(x=0.441372, y=-0.022638, z=1.293263, qx=-0.669004, qy=-0.729695, qz=-0.110881, qw=-0.087660)  # body-frame t=36\nAPPROACH_BODY_040 = pose(x=0.441585, y=-0.017974, z=1.293615, qx=-0.666032, qy=-0.732370, qz=-0.110899, qw=-0.087959)  # body-frame t=40\nAPPROACH_BODY_044 = pose(x=0.441451, y=-0.015281, z=1.293663, qx=-0.664363, qy=-0.733736, qz=-0.111045, qw=-0.089002)  # body-frame t=44\nAPPROACH_BODY_048 = pose(x=0.440845, y=-0.011998, z=1.293194, qx=-0.662394, qy=-0.735133, qz=-0.111994, qw=-0.090945)  # body-frame t=48\nAPPROACH_BODY_049 = pose(x=0.441043, y=-0.011114, z=1.292891, qx=-0.662081, qy=-0.735373, qz=-0.111932, qw=-0.091363)  # body-frame t=49\nAPPROACH_BODY_052 = pose(x=0.441698, y=-0.008480, z=1.292492, qx=-0.661356, qy=-0.736047, qz=-0.111177, qw=-0.092104)  # body-frame t=52\nAPPROACH_BODY_056 = pose(x=0.443961, y=-0.006807, z=1.292278, qx=-0.659986, qy=-0.737705, qz=-0.110473, qw=-0.089477)  # body-frame t=56\nAPPROACH_BODY_058 = pose(x=0.446200, y=-0.005671, z=1.292720, qx=-0.658342, qy=-0.739713, qz=-0.109599, qw=-0.086013)  # body-frame t=58\nAPPROACH_BODY_060 = pose(x=0.447140, y=-0.002692, z=1.294387, qx=-0.656481, qy=-0.741838, qz=-0.108333, qw=-0.083500)  # body-frame t=60\nAPPROACH_BODY_064 = pose(x=0.443668, y=0.005260, z=1.296278, qx=-0.655642, qy=-0.742168, qz=-0.108556, qw=-0.086813)  # body-frame t=64\nAPPROACH_BODY_066 = pose(x=0.440854, y=0.007339, z=1.290351, qx=-0.656330, qy=-0.742586, qz=-0.104427, qw=-0.083019)  # body-frame t=66\nAPPROACH_BODY_068 = pose(x=0.437628, y=0.007723, z=1.276470, qx=-0.658528, qy=-0.744958, qz=-0.086443, qw=-0.062499)  # body-frame t=68\nAPPROACH_BODY_072 = pose(x=0.436423, y=0.005204, z=1.250826, qx=-0.663724, qy=-0.746542, qz=-0.044054, qw=-0.014277)  # body-frame t=72\nAPPROACH_BODY_076 = pose(x=0.449381, y=0.000499, z=1.221756, qx=-0.665821, qy=-0.745355, qz=-0.002973, qw=0.033457)  # body-frame t=76\nAPPROACH_BODY_080 = pose(x=0.470338, y=-0.000323, z=1.193691, qx=-0.665519, qy=-0.743415, qz=0.022387, qw=0.062581)  # body-frame t=80\nAPPROACH_BODY_082 = pose(x=0.480999, y=-0.000586, z=1.175812, qx=-0.665260, qy=-0.742816, qz=0.029644, qw=0.069100)  # body-frame t=82\nAPPROACH_BODY_084 = pose(x=0.492384, y=-0.000821, z=1.152938, qx=-0.665237, qy=-0.742510, qz=0.034943, qw=0.070127)  # body-frame t=84\nAPPROACH_BODY_088 = pose(x=0.516532, y=-0.001522, z=1.100926, qx=-0.665581, qy=-0.742562, qz=0.039155, qw=0.063794)  # body-frame t=88\nAPPROACH_BODY_092 = pose(x=0.540365, y=-0.004999, z=1.050054, qx=-0.666305, qy=-0.742642, qz=0.035147, qw=0.057318)  # body-frame t=92\nAPPROACH_BODY_096 = pose(x=0.565063, y=-0.005487, z=1.005020, qx=-0.666896, qy=-0.742867, qz=0.029372, qw=0.050360)  # body-frame t=96\nAPPROACH_BODY_097 = pose(x=0.571667, y=-0.005537, z=0.994971, qx=-0.667041, qy=-0.742912, qz=0.027897, qw=0.048575)  # body-frame t=97\nAPPROACH_BODY_100 = pose(x=0.593980, y=-0.005508, z=0.967853, qx=-0.667497, qy=-0.743031, qz=0.023051, qw=0.042666)  # body-frame t=100\nAPPROACH_BODY_104 = pose(x=0.627207, y=-0.009120, z=0.934913, qx=-0.668534, qy=-0.742551, qz=0.018780, qw=0.036447)  # body-frame t=104\nAPPROACH_BODY_108 = pose(x=0.658584, y=-0.020753, z=0.906786, qx=-0.668975, qy=-0.742314, qz=0.017301, qw=0.033793)  # body-frame t=108\nAPPROACH_BODY_112 = pose(x=0.688211, y=-0.025826, z=0.877674, qx=-0.668544, qy=-0.742728, qz=0.016834, qw=0.033481)  # body-frame t=112\nAPPROACH_BODY_115 = pose(x=0.701290, y=-0.023314, z=0.855453, qx=-0.667713, qy=-0.743218, qz=0.019147, qw=0.037685)  # body-frame t=115\nAPPROACH_BODY_116 = pose(x=0.701371, y=-0.021038, z=0.856126, qx=-0.666923, qy=-0.743817, qz=0.019689, qw=0.039519)  # body-frame t=116\nAPPROACH_BODY_120 = pose(x=0.700783, y=0.004474, z=0.856144, qx=-0.664264, qy=-0.745759, qz=-0.003121, qw=0.050857)  # body-frame t=120\nAPPROACH_BODY_124 = pose(x=0.698473, y=0.052090, z=0.855977, qx=-0.658689, qy=-0.746498, qz=-0.055041, qw=0.076421)  # body-frame t=124\nAPPROACH_BODY_128 = pose(x=0.696453, y=0.100930, z=0.856131, qx=-0.651724, qy=-0.748638, qz=-0.095989, qw=0.074713)  # body-frame t=128\nAPPROACH_BODY_132 = pose(x=0.694047, y=0.155850, z=0.857311, qx=-0.646279, qy=-0.752266, qz=-0.118487, qw=0.048782)  # body-frame t=132\nAPPROACH_BODY_136 = pose(x=0.691721, y=0.207482, z=0.858759, qx=-0.640148, qy=-0.757209, qz=-0.129420, qw=0.009735)  # body-frame t=136\nAPPROACH_BODY_140 = pose(x=0.688765, y=0.255905, z=0.860325, qx=-0.633796, qy=-0.761672, qz=-0.132118, qw=-0.026509)  # body-frame t=140\nAPPROACH_BODY_144 = pose(x=0.678785, y=0.314579, z=0.880118, qx=-0.631314, qy=-0.759813, qz=-0.147765, qw=-0.047883)  # body-frame t=144\nAPPROACH_BODY_145 = pose(x=0.676396, y=0.320142, z=0.885752, qx=-0.632168, qy=-0.758619, qz=-0.148248, qw=-0.053699)  # body-frame t=145\nAPPROACH_BODY_148 = pose(x=0.669626, y=0.319876, z=0.901225, qx=-0.632452, qy=-0.756842, qz=-0.152617, qw=-0.062470)  # body-frame t=148\nAPPROACH_BODY_152 = pose(x=0.652863, y=0.324978, z=0.937406, qx=-0.604334, qy=-0.770943, qz=-0.192578, qw=-0.057798)  # body-frame t=152\nAPPROACH_BODY_156 = pose(x=0.640743, y=0.319852, z=0.976688, qx=-0.570178, qy=-0.786986, qz=-0.231059, qw=-0.046496)  # body-frame t=156\nAPPROACH_BODY_157 = pose(x=0.639564, y=0.315445, z=0.987269, qx=-0.560523, qy=-0.791504, qz=-0.239899, qw=-0.042235)  # body-frame t=157\nAPPROACH_BODY_160 = pose(x=0.637344, y=0.288919, z=1.012117, qx=-0.535298, qy=-0.802534, qz=-0.262093, qw=-0.026513)  # body-frame t=160\nAPPROACH_BODY_164 = pose(x=0.632894, y=0.244929, z=1.027055, qx=-0.534160, qy=-0.802479, qz=-0.265475, qw=0.014950)  # body-frame t=164\nAPPROACH_BODY_168 = pose(x=0.629806, y=0.208891, z=1.046081, qx=-0.563454, qy=-0.794350, qz=-0.209798, qw=0.086672)  # body-frame t=168\nAPPROACH_BODY_172 = pose(x=0.637535, y=0.191034, z=1.082889, qx=-0.580880, qy=-0.794945, qz=-0.095102, qw=0.146955)  # body-frame t=172\nAPPROACH_BODY_176 = pose(x=0.659065, y=0.171768, z=1.122556, qx=-0.552950, qy=-0.815975, qz=0.035007, qw=0.164939)  # body-frame t=176\nAPPROACH_BODY_179 = pose(x=0.680001, y=0.153506, z=1.129337, qx=-0.497376, qy=-0.846415, qz=0.126663, qw=0.141967)  # body-frame t=179\nAPPROACH_BODY_180 = pose(x=0.686044, y=0.146963, z=1.127554, qx=-0.473964, qy=-0.856531, qz=0.154246, qw=0.133869)  # body-frame t=180\nAPPROACH_BODY_184 = pose(x=0.707887, y=0.123921, z=1.107443, qx=-0.371498, qy=-0.889948, qz=0.247559, qw=0.093249)  # body-frame t=184\nAPPROACH_BODY_188 = pose(x=0.724607, y=0.106423, z=1.080088, qx=-0.278923, qy=-0.911477, qz=0.298546, qw=0.047775)  # body-frame t=188\nAPPROACH_BODY_192 = pose(x=0.730782, y=0.082290, z=1.049210, qx=-0.215444, qy=-0.926630, qz=0.307705, qw=0.016050)  # body-frame t=192\nAPPROACH_BODY_196 = pose(x=0.726786, y=0.061254, z=1.015348, qx=-0.181538, qy=-0.937308, qz=0.297486, qw=0.000421)  # body-frame t=196\nAPPROACH_BODY_200 = pose(x=0.722052, y=0.055742, z=0.984626, qx=-0.175741, qy=-0.945701, qz=0.273323, qw=-0.007631)  # body-frame t=200\nAPPROACH_BODY_204 = pose(x=0.728515, y=0.060082, z=0.960083, qx=-0.171701, qy=-0.951139, qz=0.255869, qw=-0.019605)  # body-frame t=204\nAPPROACH_BODY_208 = pose(x=0.745644, y=0.066198, z=0.941498, qx=-0.169983, qy=-0.952938, qz=0.249273, qw=-0.029635)  # body-frame t=208\nAPPROACH_BODY_212 = pose(x=0.770484, y=0.071478, z=0.927901, qx=-0.168707, qy=-0.954061, qz=0.244876, qw=-0.036621)  # body-frame t=212\nAPPROACH_BODY_216 = pose(x=0.798884, y=0.076272, z=0.909073, qx=-0.167522, qy=-0.954856, qz=0.242035, qw=-0.040077)  # body-frame t=216\nAPPROACH_BODY_220 = pose(x=0.821807, y=0.080002, z=0.885271, qx=-0.167814, qy=-0.955017, qz=0.241593, qw=-0.037606)  # body-frame t=220\nAPPROACH_BODY_224 = pose(x=0.840521, y=0.081259, z=0.857978, qx=-0.168840, qy=-0.955560, qz=0.239107, qw=-0.035018)  # body-frame t=224\nAPPROACH_BODY_228 = pose(x=0.861037, y=0.080885, z=0.830029, qx=-0.169095, qy=-0.956522, qz=0.234646, qw=-0.037605)  # body-frame t=228\nAPPROACH_BODY_232 = pose(x=0.882721, y=0.079522, z=0.802061, qx=-0.168653, qy=-0.956946, qz=0.232566, qw=-0.041519)  # body-frame t=232\nAPPROACH_BODY_235 = pose(x=0.897219, y=0.079214, z=0.782622, qx=-0.168598, qy=-0.956974, qz=0.232168, qw=-0.043291)  # body-frame t=235\nDESCEND_237_JOINTS = [0.156524, 0.915541, 0.069163, -1.377460, -0.616293, 2.099718, 0.135246]  # t=237\nDESCEND_239_JOINTS = [0.161149, 0.961491, 0.062861, -1.325121, -0.609954, 2.096985, 0.127675]  # t=239\nDESCEND_241_JOINTS = [0.164749, 1.005475, 0.057266, -1.273494, -0.600439, 2.095811, 0.118202]  # t=241\nDESCEND_243_JOINTS = [0.167371, 1.048526, 0.051628, -1.221344, -0.589091, 2.095616, 0.106558]  # t=243\nDESCEND_245_JOINTS = [0.169020, 1.091807, 0.046178, -1.167048, -0.575364, 2.096568, 0.092571]  # t=245\nDESCEND_247_JOINTS = [0.169982, 1.135065, 0.040987, -1.111233, -0.559463, 2.096206, 0.076470]  # t=247\nDESCEND_248_JOINTS = [0.170643, 1.151420, 0.039387, -1.085010, -0.550171, 2.086227, 0.064524]  # t=248\nDESCEND_249_JOINTS = [0.171271, 1.163309, 0.038964, -1.060288, -0.539548, 2.069000, 0.048340]  # t=249\nDESCEND_251_JOINTS = [0.171737, 1.188271, 0.036739, -1.014853, -0.519133, 2.041768, 0.019134]  # t=251\nDESCEND_252_JOINTS = [0.171896, 1.199094, 0.035199, -0.995293, -0.509725, 2.028543, 0.004991]  # t=252\nDESCEND_253_JOINTS = [0.172041, 1.208884, 0.033537, -0.977382, -0.500945, 2.016057, -0.009149]  # t=253\nDESCEND_254_JOINTS = [0.172081, 1.217946, 0.031564, -0.960842, -0.492832, 2.004444, -0.022750]  # t=254\nDESCEND_255_JOINTS = [0.172057, 1.226478, 0.029228, -0.945386, -0.485528, 1.993713, -0.035672]  # t=255\nDESCEND_257_JOINTS = [0.172073, 1.242550, 0.023951, -0.916606, -0.473433, 1.974051, -0.058756]  # t=257\nDESCEND_259_JOINTS = [0.171270, 1.257511, 0.017882, -0.890026, -0.462693, 1.955337, -0.079974]  # t=259\nDESCEND_260_JOINTS = [0.169819, 1.264239, 0.013798, -0.878252, -0.457270, 1.944874, -0.090753]  # t=260\nDESCEND_261_JOINTS = [0.167295, 1.269670, 0.008986, -0.869144, -0.451141, 1.932330, -0.102213]  # t=261\nDESCEND_263_JOINTS = [0.156520, 1.275781, -0.002410, -0.859939, -0.432249, 1.909428, -0.131940]  # t=263\nDESCEND_265_JOINTS = [0.138090, 1.274950, -0.015255, -0.859998, -0.405544, 1.898761, -0.170524]  # t=265\nGRASP_HOLD_269_JOINTS = [0.082974, 1.246445, -0.031985, -0.896393, -0.319541, 1.895349, -0.276860]  # t=269\nLIFT_270_JOINTS = [0.066815, 1.230737, -0.031564, -0.917050, -0.289645, 1.895047, -0.312202]  # t=270\nLIFT_271_JOINTS = [0.050278, 1.210554, -0.029452, -0.941757, -0.257110, 1.897084, -0.349027]  # t=271\nLIFT_272_JOINTS = [0.033454, 1.186930, -0.025489, -0.969902, -0.221326, 1.903319, -0.386304]  # t=272\nLIFT_273_JOINTS = [0.016558, 1.159960, -0.020191, -1.001275, -0.183156, 1.911828, -0.423872]  # t=273\nLIFT_274_JOINTS = [-0.000153, 1.129721, -0.014301, -1.035315, -0.144152, 1.921798, -0.461821]  # t=274\nLIFT_275_JOINTS = [-0.016394, 1.094821, -0.007816, -1.071210, -0.104556, 1.930854, -0.500391]  # t=275\nLIFT_276_JOINTS = [-0.032031, 1.055243, -0.000952, -1.108824, -0.064657, 1.939386, -0.539422]  # t=276\nLIFT_277_JOINTS = [-0.047015, 1.012577, 0.005939, -1.148764, -0.025015, 1.949480, -0.579527]  # t=277\nTRANSPORT_280_JOINTS = [-0.088614, 0.878833, 0.023890, -1.281964, 0.092687, 1.997915, -0.711499]  # t=280\nTRANSPORT_283_JOINTS = [-0.123115, 0.739241, 0.036125, -1.430916, 0.203273, 2.056449, -0.863989]  # t=283\nTRANSPORT_286_JOINTS = [-0.150099, 0.587444, 0.039961, -1.594387, 0.307730, 2.103430, -1.024502]  # t=286\nTRANSPORT_288_JOINTS = [-0.162348, 0.478752, 0.036444, -1.709251, 0.366305, 2.123980, -1.122033]  # t=288\nTRANSPORT_289_JOINTS = [-0.166684, 0.422020, 0.032833, -1.767327, 0.392662, 2.132013, -1.166163]  # t=289\nTRANSPORT_292_JOINTS = [-0.172169, 0.245212, 0.015714, -1.939381, 0.463016, 2.153988, -1.277750]  # t=292\nTRANSPORT_295_JOINTS = [-0.167905, 0.062142, -0.011769, -2.102017, 0.524462, 2.176098, -1.361741]  # t=295\nTRANSPORT_296_JOINTS = [-0.164694, 0.000434, -0.023992, -2.153075, 0.540817, 2.181568, -1.384328]  # t=296\nTRANSPORT_298_JOINTS = [-0.156430, -0.122231, -0.054197, -2.248342, 0.558027, 2.185047, -1.418741]  # t=298\nTRANSPORT_301_JOINTS = [-0.142097, -0.302256, -0.112801, -2.366922, 0.535935, 2.169499, -1.419725]  # t=301\nTRANSPORT_302_JOINTS = [-0.137539, -0.360709, -0.134734, -2.398796, 0.516449, 2.159540, -1.401428]  # t=302\nTRANSPORT_304_JOINTS = [-0.129440, -0.466538, -0.178361, -2.445365, 0.456358, 2.148333, -1.342533]  # t=304\nTRANSPORT_306_JOINTS = [-0.122423, -0.554018, -0.218390, -2.469934, 0.373830, 2.145364, -1.263210]  # t=306\nTRANSPORT_307_JOINTS = [-0.119208, -0.586841, -0.237314, -2.476061, 0.327419, 2.147471, -1.217852]  # t=307\nTRANSPORT_309_JOINTS = [-0.112995, -0.627673, -0.272250, -2.476955, 0.225662, 2.154172, -1.120138]  # t=309\nTRANSPORT_310_JOINTS = [-0.109951, -0.636079, -0.288576, -2.472253, 0.171481, 2.158192, -1.069564]  # t=310\nTRANSPORT_311_JOINTS = [-0.106848, -0.636825, -0.303815, -2.465402, 0.115708, 2.163552, -1.018520]  # t=311\nTRANSPORT_313_JOINTS = [-0.101368, -0.621343, -0.332621, -2.449716, 0.000688, 2.174870, -0.915016]  # t=313\nTRANSPORT_316_JOINTS = [-0.090524, -0.575303, -0.381340, -2.434410, -0.135595, 2.206992, -0.795938]  # t=316\nTRANSPORT_319_JOINTS = [-0.072738, -0.515253, -0.457671, -2.454927, -0.183441, 2.296699, -0.775375]  # t=319\nTRANSPORT_322_JOINTS = [-0.049605, -0.444253, -0.544446, -2.494488, -0.173686, 2.440317, -0.823962]  # t=322\nTRANSPORT_324_JOINTS = [-0.030822, -0.385914, -0.597203, -2.516430, -0.146144, 2.543794, -0.872529]  # t=324\nTRANSPORT_325_JOINTS = [-0.020654, -0.354505, -0.620014, -2.522316, -0.127078, 2.589739, -0.898590]  # t=325\nTRANSPORT_328_JOINTS = [0.011344, -0.255687, -0.677090, -2.514723, -0.041247, 2.699118, -0.989799]  # t=328\nTRANSPORT_331_JOINTS = [0.044289, -0.142792, -0.714052, -2.478682, 0.103802, 2.773654, -1.111309]  # t=331\nTRANSPORT_334_JOINTS = [0.063045, -0.014254, -0.719641, -2.418632, 0.307807, 2.816001, -1.262827]  # t=334\nTRANSPORT_337_JOINTS = [0.041519, 0.113103, -0.687160, -2.338395, 0.532580, 2.824718, -1.430052]  # t=337\nTRANSPORT_340_JOINTS = [-0.024651, 0.227020, -0.620452, -2.245027, 0.717203, 2.821018, -1.573215]  # t=340\nTRANSPORT_343_JOINTS = [-0.105540, 0.271589, -0.549347, -2.155929, 0.802556, 2.793113, -1.638793]  # t=343\nTRANSPORT_344_JOINTS = [-0.130164, 0.277573, -0.530010, -2.133150, 0.800994, 2.777313, -1.633976]  # t=344\nTRANSPORT_346_JOINTS = [-0.176962, 0.292856, -0.497579, -2.096472, 0.784420, 2.750882, -1.619555]  # t=346\nPLACE_347_JOINTS = [-0.198723, 0.297578, -0.481384, -2.082142, 0.781318, 2.741176, -1.617758]  # t=347\nPLACE_348_JOINTS = [-0.218952, 0.298505, -0.465304, -2.071114, 0.782158, 2.733378, -1.619138]  # t=348\nPLACE_349_JOINTS = [-0.237632, 0.297339, -0.449051, -2.062070, 0.787955, 2.727938, -1.623652]  # t=349\nRELEASE_POSE_349_JOINTS = [-0.237632, 0.297339, -0.449051, -2.062070, 0.787955, 2.727938, -1.623652]  # t=349\nRETRACT_352_JOINTS = [-0.285220, 0.289112, -0.402721, -2.044043, 0.838361, 2.723525, -1.660594]  # t=352\nRETRACT_353_JOINTS = [-0.298450, 0.281836, -0.389841, -2.043706, 0.866735, 2.723603, -1.682972]  # t=353\nRETRACT_355_JOINTS = [-0.321177, 0.258322, -0.369866, -2.053285, 0.942824, 2.724193, -1.747007]  # t=355\nRETRACT_357_JOINTS = [-0.338338, 0.221225, -0.358525, -2.073706, 1.044502, 2.722260, -1.836533]  # t=357\nRETRACT_358_JOINTS = [-0.344220, 0.193765, -0.356854, -2.092322, 1.102570, 2.718092, -1.890613]  # t=358\nRETRACT_359_JOINTS = [-0.347710, 0.159984, -0.357447, -2.118398, 1.162819, 2.712459, -1.949655]  # t=359\nRETRACT_361_JOINTS = [-0.346621, 0.075638, -0.364224, -2.192090, 1.285033, 2.702822, -2.075477]  # t=361\nRETRACT_364_JOINTS = [-0.323595, -0.075135, -0.375476, -2.333005, 1.458677, 2.723592, -2.278477]  # t=364\nRETRACT_365_JOINTS = [-0.311213, -0.128986, -0.376668, -2.381391, 1.511745, 2.746290, -2.349989]  # t=365\nRETRACT_367_JOINTS = [-0.282565, -0.239864, -0.371295, -2.473493, 1.609853, 2.814721, -2.492175]  # t=367\nRETRACT_369_JOINTS = [-0.252707, -0.351947, -0.349004, -2.549210, 1.700402, 2.907996, -2.628715]  # t=369\nRETRACT_370_JOINTS = [-0.238955, -0.406268, -0.328687, -2.583051, 1.740963, 2.962086, -2.694521]  # t=370\nRETRACT_372_JOINTS = [-0.216978, -0.503129, -0.263426, -2.646958, 1.805286, 3.082459, -2.807662]  # t=372\nRETRACT_373_JOINTS = [-0.210686, -0.543638, -0.217516, -2.677890, 1.828859, 3.144119, -2.849727]  # t=373\nRETRACT_376_JOINTS = [-0.226611, -0.632279, -0.012933, -2.782985, 1.834048, 3.312638, -2.874861]  # t=376\nRETRACT_379_JOINTS = [-0.218947, -0.696224, 0.232428, -2.956360, 1.663324, 3.467244, -2.655292]  # t=379\nRETRACT_381_JOINTS = [-0.177584, -0.715230, 0.386451, -3.081640, 1.559435, 3.570700, -2.482594]  # t=381\nRETRACT_382_JOINTS = [-0.159388, -0.685345, 0.465298, -3.075445, 1.553586, 3.628385, -2.424223]  # t=382\nRETRACT_383_JOINTS = [-0.143332, -0.639325, 0.546287, -3.072807, 1.577012, 3.694851, -2.392145]  # t=383\nRETRACT_385_JOINTS = [-0.120788, -0.557560, 0.688420, -3.072197, 1.647884, 3.756277, -2.385136]  # t=385\nRETRACT_386_JOINTS = [-0.114836, -0.544360, 0.745286, -3.072190, 1.692259, 3.753268, -2.412718]  # t=386\nRETRACT_388_JOINTS = [-0.095905, -0.535159, 0.827207, -3.071558, 1.793682, 3.752815, -2.519407]  # t=388\nAPPROACH_000_JOINTS = [0.010396, -1.050886, -0.002893, -2.290899, 0.041218, 1.521216, 0.680353]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveWholeBodyPath(body_waypoints=[APPROACH_BODY_004, APPROACH_BODY_008, APPROACH_BODY_010, APPROACH_BODY_012, APPROACH_BODY_016, APPROACH_BODY_020, APPROACH_BODY_021, APPROACH_BODY_024, APPROACH_BODY_026, APPROACH_BODY_028, APPROACH_BODY_032, APPROACH_BODY_034, APPROACH_BODY_036, APPROACH_BODY_040, APPROACH_BODY_044, APPROACH_BODY_048, APPROACH_BODY_049, APPROACH_BODY_052, APPROACH_BODY_056, APPROACH_BODY_058, APPROACH_BODY_060, APPROACH_BODY_064, APPROACH_BODY_066, APPROACH_BODY_068, APPROACH_BODY_072, APPROACH_BODY_076, APPROACH_BODY_080, APPROACH_BODY_082, APPROACH_BODY_084, APPROACH_BODY_088, APPROACH_BODY_092, APPROACH_BODY_096, APPROACH_BODY_097, APPROACH_BODY_100, APPROACH_BODY_104, APPROACH_BODY_108, APPROACH_BODY_112, APPROACH_BODY_115, APPROACH_BODY_116, APPROACH_BODY_120, APPROACH_BODY_124, APPROACH_BODY_128, APPROACH_BODY_132, APPROACH_BODY_136, APPROACH_BODY_140, APPROACH_BODY_144, APPROACH_BODY_145, APPROACH_BODY_148, APPROACH_BODY_152, APPROACH_BODY_156, APPROACH_BODY_157, APPROACH_BODY_160, APPROACH_BODY_164, APPROACH_BODY_168, APPROACH_BODY_172, APPROACH_BODY_176, APPROACH_BODY_179, APPROACH_BODY_180, APPROACH_BODY_184, APPROACH_BODY_188, APPROACH_BODY_192, APPROACH_BODY_196, APPROACH_BODY_200, APPROACH_BODY_204, APPROACH_BODY_208, APPROACH_BODY_212, APPROACH_BODY_216, APPROACH_BODY_220, APPROACH_BODY_224, APPROACH_BODY_228, APPROACH_BODY_232, APPROACH_BODY_235], base_waypoints=[[2.9362844196881994, -1.1737423545844015, 1.5708027889487688], [2.937435978408682, -1.173742478077413, 1.5702187815585047], [2.9428503296617277, -1.1737489147976001, 1.571036335359099], [2.964913348585517, -1.173799165497016, 1.581664679244475], [3.044065757097996, -1.1739943950120015, 1.652262791352879], [3.111956345679854, -1.1740490018373806, 1.772206169781447], [3.1249819096884064, -1.1740282475873813, 1.8080851880772648], [3.15606886896713, -1.173989129495976, 1.9288272962285284], [3.1710534306074734, -1.1740094606944425, 2.0127150143822594], [3.1826129046066858, -1.1740639380939728, 2.0967872767287314], [3.207889955377142, -1.1744317012629837, 2.271303748636391], [3.2275936272005294, -1.1747315350498306, 2.358339346617054], [3.252764077510397, -1.175100577424804, 2.439485222215204], [3.3034195626122242, -1.1753995223598837, 2.574306053773286], [3.343439487527422, -1.1663021745497402, 2.7011929328278166], [3.355329161687059, -1.133483378806019, 2.812715565976687], [3.355609885171086, -1.1200581218345071, 2.839312927762943], [3.356508183721216, -1.0625224681606102, 2.915207591891316], [3.3695775622131254, -0.9748536121608263, 2.9998256672929253], [3.4007836639704196, -0.9547961917488077, 3.026253334668385], [3.4470406403363154, -0.9537642902210478, 3.0413935160694487], [3.506396450091059, -0.9539738513561237, 3.052503436747669], [3.508510462929249, -0.9540100678042102, 3.0534250004376386], [3.508525614945937, -0.9540118845007071, 3.053435553831241], [3.5085436517473076, -0.9540159458823894, 3.053461860514077], [3.50856558691709, -0.9540149877207912, 3.0534321969516203], [3.5085581679455005, -0.9540135950620958, 3.053418183191041], [3.5085523000991117, -0.9540125796984847, 3.053410380242649], [3.50855225727061, -0.9540118088819528, 3.053402597824115], [3.508557350391759, -0.9540137894107188, 3.0534240915815576], [3.50856384850344, -0.9540139687780985, 3.0534171561157506], [3.508574359072489, -0.9540140487732988, 3.053412962476145], [3.508577143442185, -0.9540139897075123, 3.0534104875308974], [3.508587886457664, -0.9540142707861283, 3.0534078274344445], [3.508591914652589, -0.9540201181524075, 3.0534797113345062], [3.5085895797503994, -0.9540198753194988, 3.053470400711603], [3.508587024649554, -0.9540150653708932, 3.0534126939318016], [3.5088430832020183, -0.9540076834666313, 3.0531348131034095], [3.5091163856580705, -0.9540009500760563, 3.052886532533016], [3.509972792699698, -0.9539774312804086, 3.0522046451566114], [3.5105918242475824, -0.9539539349385189, 3.051788000959618], [3.5110808861874565, -0.9539329342857357, 3.0515353127392975], [3.511619554405175, -0.9539152417112474, 3.0515593621066683], [3.511987984842465, -0.9539080617447043, 3.0517483580474636], [3.512133023031475, -0.953895172932288, 3.0517586565499952], [3.512099116076142, -0.953890957054843, 3.0517560845949276], [3.5120269441752585, -0.9538681446545754, 3.0514069509215744], [3.511840683308016, -0.9537625725144336, 3.0501281719280255], [3.511808263457394, -0.9537507686692691, 3.0500265285279915], [3.5118175039651955, -0.953755365463151, 3.0500768579053874], [3.5118186575037913, -0.9537604793783455, 3.0501158586201913], [3.5118267314769773, -0.9537758048271214, 3.050221680288777], [3.511856983931515, -0.9537757325227274, 3.050203212585242], [3.5118917657663844, -0.9537689413559146, 3.050082388793803], [3.511954515693375, -0.9537520818937568, 3.04968013823069], [3.511970699581413, -0.9537458742636538, 3.0493335809008464], [3.511949971196641, -0.9537392809106146, 3.0489999580190807], [3.5119399720631663, -0.9537378701748748, 3.0488792732680117], [3.511902191132187, -0.9537314229125053, 3.048377932772883], [3.5118695459541476, -0.9537397040633433, 3.0481911800892925], [3.5118539499685864, -0.953750668672435, 3.0482067138034465], [3.5118576325499764, -0.9537482543181444, 3.04816097246887], [3.5118745056990273, -0.9537440455109306, 3.048118916173582], [3.511898915393378, -0.9537368397920417, 3.0480173984482155], [3.5119131154939263, -0.9537370481780474, 3.0480254802950437], [3.5119244023847056, -0.9537369136437003, 3.0480272803908255], [3.5119293497351536, -0.9537359870170795, 3.0480165872106926], [3.511921710181704, -0.9537365466930884, 3.0480309370839023], [3.51191655603442, -0.9537371199375324, 3.048037827078326], [3.5119181429146287, -0.9537384592874392, 3.048055854634354], [3.511916480728806, -0.9537373784531253, 3.0480425325672478], [3.5119125615288365, -0.9537367347087998, 3.0480349108429747]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[3.346770027951712e-08, 3.393691462273859e-08, 3.951824200154203e-08, 4.866549437709067e-08, 8.376746912657228e-08, 1.884613439911223e-07, 2.255550561422995e-07, 3.051921500814962e-07, 2.372277225049351e-07, -2.4475536749443616e-10, -8.672419314053137e-08, -1.447084450803027e-07, 3.058030478758153e-08, 8.828265607352156e-07, 1.6799200582896674e-06, 2.387701860142691e-06, 1.795220918163029e-06, 4.797467426866568e-07, -8.157929059630157e-07, -8.991165297129724e-07, 1.433674266250984e-06, 1.148417995895652e-05, 1.981370525274672e-05, 1.2378637954039041e-05, 6.406375512439221e-06, 4.0103726346387884e-06, 8.3363251184906e-06, 1.586153844492754e-05, 2.1893954753205754e-05, 2.4515099030998688e-05, 2.107729881950587e-05, 1.6601185262819235e-05, 1.5006324599256813e-05, 1.0743835673188086e-05, 5.3164136449945035e-06, 7.57349496215833e-07, 2.03690734098073e-06, 0.00024511004756497425, 0.0004990466824439062, 0.0014208808100275793, 0.0020966280789570667, 0.0027083907997906232, 0.003351909184154053, 0.0038689507313994713, 0.004078126336505682, 0.004050945756249897, 0.0039736581542418785, 0.003774949260501753, 0.003754695079009615, 0.003742533438163456, 0.003740067910555782, 0.0037462220439738667, 0.0037466167188983544, 0.0037301243198573034, 0.003717104618807672, 0.0037235402172913195, 0.0037398761261058858, 0.0037440205598684184, 0.0037529124717706596, 0.0037472977076754795, 0.0037484836654956546, 0.0037479902112094016, 0.00374902105596617, 0.003750245466859181, 0.003748157361962329, 0.003748197686293003, 0.003751844955780116, 0.0037523429109498118, 0.003752485879420496, 0.003752274891921727, 0.0037533700989410197, 0.003750995899065901], segment_steps=[4, 4, 2, 2, 4, 4, 1, 3, 2, 2, 4, 2, 2, 4, 4, 4, 1, 3, 4, 2, 2, 4, 2, 2, 4, 4, 4, 2, 2, 4, 4, 4, 1, 3, 4, 4, 4, 3, 1, 4, 4, 4, 4, 4, 4, 4, 1, 3, 4, 4, 1, 3, 4, 4, 4, 4, 3, 1, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3], settle_steps=0, gripper=-1.000, gripper_cmds=[], body_motion_priority=1.000000, base_xy_priority=1.000000, base_yaw_priority=1.000000, base_position_gain=5.500000, base_yaw_gain=4.800000, base_position_ff_gain=24.000000, base_yaw_ff_gain=24.000000, base_ee_anchor_mix=0.350000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_248_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_249_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_252_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_253_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_254_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_255_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_260_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_261_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_265_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_269_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_269_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_270_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_271_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_272_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_273_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_274_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_275_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_276_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_277_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_280_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_283_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_286_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_288_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_289_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_292_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_295_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_296_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_298_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_301_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_302_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_304_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_306_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_307_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_310_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_311_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_313_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_316_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_319_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_322_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_324_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_325_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_328_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_331_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_334_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_337_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_340_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_343_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_344_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_346_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_347_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_348_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_349_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_349_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_349_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_349_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_352_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_353_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_355_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_357_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_358_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_359_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_361_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_364_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_365_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_367_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_369_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_370_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_372_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_373_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_376_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_379_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_381_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_382_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_383_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_385_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_386_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_388_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 38836, "code_num_lines": 314, "code_num_nonblank_lines": 299, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": "{\"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}},\"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": 85, "pretrain_task_id": 41, "retained_waypoint_count": 156, "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": 1109365, "video_relpath": "videos/raw_extracted/41_PickPlaceDrawerToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceFridgeDrawerToShelf\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_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': 'PickPlaceFridgeDrawerToShelf',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    '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',\n    'stable_grasp_contact_t': 91,\n    'stable_release_contact_loss_t': 198,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=4.509948, y=-1.757777, z=0.777526, qw=0.469064, qx=-0.128728, qy=0.417486, qz=-0.767537)\nGOAL_RECEPTACLE_POSE = pose(x=4.932811, y=-1.779563, z=1.114269, qw=0.560172, qx=-0.013384, qy=-0.019188, qz=-0.828046)\n\nAPPROACH_004_JOINTS = [-0.009665, -1.043316, -0.064039, -2.312826, 0.029733, 1.481261, 0.672000]  # t=4\nAPPROACH_008_JOINTS = [-0.020786, -1.093780, -0.074640, -2.441774, -0.012694, 1.539960, 0.695129]  # t=8\nAPPROACH_012_JOINTS = [-0.042014, -1.099086, -0.135989, -2.549342, -0.087676, 1.614918, 0.747679]  # t=12\nAPPROACH_013_JOINTS = [-0.046726, -1.086228, -0.151508, -2.571587, -0.105577, 1.636599, 0.763446]  # t=13\nAPPROACH_016_JOINTS = [-0.053831, -1.026324, -0.183710, -2.620598, -0.139201, 1.715874, 0.793363]  # t=16\nAPPROACH_018_JOINTS = [-0.055274, -0.986751, -0.196071, -2.635262, -0.149245, 1.756148, 0.799820]  # t=18\nAPPROACH_020_JOINTS = [-0.056109, -0.945192, -0.205691, -2.647710, -0.157838, 1.788663, 0.806171]  # t=20\nAPPROACH_022_JOINTS = [-0.057471, -0.904400, -0.215900, -2.656693, -0.166442, 1.818402, 0.814648]  # t=22\nAPPROACH_024_JOINTS = [-0.059831, -0.868197, -0.230629, -2.670166, -0.175792, 1.849799, 0.816866]  # t=24\nAPPROACH_028_JOINTS = [-0.063962, -0.804472, -0.261747, -2.702738, -0.190670, 1.936194, 0.811926]  # t=28\nAPPROACH_032_JOINTS = [-0.065859, -0.711810, -0.301283, -2.731088, -0.202528, 2.041513, 0.807027]  # t=32\nAPPROACH_036_JOINTS = [-0.060392, -0.590155, -0.330436, -2.724152, -0.198709, 2.124743, 0.794682]  # t=36\nAPPROACH_037_JOINTS = [-0.057922, -0.557010, -0.333724, -2.719182, -0.196589, 2.141977, 0.794251]  # t=37\nAPPROACH_040_JOINTS = [-0.048872, -0.456391, -0.338942, -2.697709, -0.180712, 2.199010, 0.788421]  # t=40\nAPPROACH_044_JOINTS = [-0.041762, -0.322889, -0.355272, -2.676529, -0.150886, 2.297981, 0.758969]  # t=44\nAPPROACH_048_JOINTS = [-0.041518, -0.232318, -0.362423, -2.668618, -0.119247, 2.368447, 0.730516]  # t=48\nAPPROACH_052_JOINTS = [-0.043999, -0.157048, -0.359978, -2.670998, -0.084260, 2.442294, 0.720815]  # t=52\nAPPROACH_056_JOINTS = [-0.046982, -0.078006, -0.352255, -2.657143, -0.022813, 2.510267, 0.694504]  # t=56\nAPPROACH_060_JOINTS = [-0.050996, 0.013358, -0.334858, -2.619703, 0.068992, 2.562718, 0.644602]  # t=60\nAPPROACH_062_JOINTS = [-0.054428, 0.061849, -0.321691, -2.591279, 0.123403, 2.579113, 0.616568]  # t=62\nDESCEND_064_JOINTS = [-0.059694, 0.108412, -0.307285, -2.560596, 0.173513, 2.589016, 0.591219]  # t=64\nDESCEND_065_JOINTS = [-0.063057, 0.128438, -0.300042, -2.545081, 0.196893, 2.590323, 0.579726]  # t=65\nDESCEND_066_JOINTS = [-0.066889, 0.146369, -0.292790, -2.529188, 0.220138, 2.589155, 0.568340]  # t=66\nDESCEND_068_JOINTS = [-0.075142, 0.184664, -0.278066, -2.496657, 0.258989, 2.589271, 0.555058]  # t=68\nDESCEND_070_JOINTS = [-0.083825, 0.227123, -0.261819, -2.463276, 0.292321, 2.593755, 0.549016]  # t=70\nDESCEND_072_JOINTS = [-0.092895, 0.270155, -0.245958, -2.432372, 0.318709, 2.601583, 0.547162]  # t=72\nDESCEND_074_JOINTS = [-0.102058, 0.309689, -0.230728, -2.404975, 0.339143, 2.610829, 0.546768]  # t=74\nDESCEND_076_JOINTS = [-0.111211, 0.347090, -0.215969, -2.380140, 0.356065, 2.621460, 0.546645]  # t=76\nDESCEND_078_JOINTS = [-0.120152, 0.385347, -0.200775, -2.354592, 0.371589, 2.634186, 0.546374]  # t=78\nDESCEND_080_JOINTS = [-0.128643, 0.419456, -0.187109, -2.328828, 0.383575, 2.644723, 0.546886]  # t=80\nDESCEND_082_JOINTS = [-0.134437, 0.436633, -0.179288, -2.298692, 0.380791, 2.645471, 0.558768]  # t=82\nDESCEND_084_JOINTS = [-0.138398, 0.460863, -0.170605, -2.257166, 0.371793, 2.640349, 0.575578]  # t=84\nDESCEND_085_JOINTS = [-0.140003, 0.474545, -0.166573, -2.233373, 0.366136, 2.635707, 0.585311]  # t=85\nDESCEND_086_JOINTS = [-0.141522, 0.488591, -0.163301, -2.208699, 0.359644, 2.629510, 0.595064]  # t=86\nDESCEND_087_JOINTS = [-0.143159, 0.501245, -0.161304, -2.185530, 0.352567, 2.620905, 0.603394]  # t=87\nDESCEND_088_JOINTS = [-0.144963, 0.512305, -0.160123, -2.164854, 0.345924, 2.610924, 0.609951]  # t=88\nDESCEND_089_JOINTS = [-0.146865, 0.519816, -0.159767, -2.148388, 0.339933, 2.599058, 0.614935]  # t=89\nDESCEND_090_JOINTS = [-0.148799, 0.524164, -0.159769, -2.137686, 0.335076, 2.586904, 0.618706]  # t=90\nDESCEND_091_JOINTS = [-0.150740, 0.525951, -0.160039, -2.130220, 0.331133, 2.576771, 0.621290]  # t=91\nGRASP_HOLD_091_JOINTS = [-0.150740, 0.525951, -0.160039, -2.130220, 0.331133, 2.576771, 0.621290]  # t=91\nLIFT_092_JOINTS = [-0.152534, 0.525193, -0.160398, -2.125896, 0.327707, 2.567413, 0.623215]  # t=92\nLIFT_093_JOINTS = [-0.154245, 0.522217, -0.161246, -2.126289, 0.324539, 2.559066, 0.624080]  # t=93\nLIFT_094_JOINTS = [-0.155912, 0.516889, -0.162562, -2.131043, 0.321900, 2.552365, 0.623788]  # t=94\nLIFT_095_JOINTS = [-0.157559, 0.508665, -0.164552, -2.140817, 0.319684, 2.546942, 0.622256]  # t=95\nLIFT_096_JOINTS = [-0.159186, 0.497526, -0.167232, -2.155652, 0.317951, 2.543274, 0.619208]  # t=96\nLIFT_097_JOINTS = [-0.160759, 0.484256, -0.170339, -2.174638, 0.316857, 2.542130, 0.614704]  # t=97\nLIFT_098_JOINTS = [-0.162283, 0.468961, -0.173981, -2.197602, 0.316287, 2.542982, 0.608857]  # t=98\nLIFT_099_JOINTS = [-0.163770, 0.451504, -0.178334, -2.224556, 0.316090, 2.545575, 0.601652]  # t=99\nLIFT_100_JOINTS = [-0.165187, 0.432667, -0.183114, -2.254414, 0.316247, 2.550601, 0.593280]  # t=100\nLIFT_101_JOINTS = [-0.166530, 0.412855, -0.188266, -2.286593, 0.316686, 2.557719, 0.584013]  # t=101\nLIFT_102_JOINTS = [-0.167788, 0.392405, -0.193744, -2.320454, 0.317415, 2.566783, 0.574002]  # t=102\nTRANSPORT_105_JOINTS = [-0.170670, 0.335319, -0.210176, -2.417421, 0.322453, 2.601118, 0.542066]  # t=105\nTRANSPORT_108_JOINTS = [-0.172157, 0.291828, -0.231314, -2.487312, 0.323223, 2.613335, 0.511465]  # t=108\nTRANSPORT_111_JOINTS = [-0.174384, 0.242602, -0.257514, -2.568950, 0.319059, 2.633716, 0.477299]  # t=111\nTRANSPORT_113_JOINTS = [-0.174941, 0.199804, -0.274765, -2.620635, 0.315389, 2.648618, 0.458661]  # t=113\nTRANSPORT_114_JOINTS = [-0.173564, 0.168139, -0.281844, -2.639548, 0.307313, 2.649181, 0.458167]  # t=114\nTRANSPORT_117_JOINTS = [-0.164374, 0.053465, -0.305217, -2.673128, 0.231449, 2.606572, 0.514142]  # t=117\nTRANSPORT_118_JOINTS = [-0.161329, 0.011600, -0.314123, -2.679705, 0.198230, 2.581028, 0.540836]  # t=118\nTRANSPORT_120_JOINTS = [-0.156315, -0.075735, -0.331835, -2.689157, 0.133555, 2.521531, 0.591726]  # t=120\nTRANSPORT_123_JOINTS = [-0.150159, -0.204419, -0.351986, -2.694414, 0.058346, 2.430898, 0.651119]  # t=123\nTRANSPORT_126_JOINTS = [-0.144133, -0.324725, -0.363567, -2.691196, 0.012541, 2.351542, 0.690275]  # t=126\nTRANSPORT_129_JOINTS = [-0.134639, -0.424401, -0.362927, -2.675848, -0.005498, 2.292919, 0.718879]  # t=129\nTRANSPORT_132_JOINTS = [-0.116765, -0.496489, -0.345774, -2.649757, 0.011566, 2.271028, 0.740129]  # t=132\nTRANSPORT_135_JOINTS = [-0.094748, -0.545015, -0.320213, -2.621027, 0.047767, 2.277864, 0.756708]  # t=135\nTRANSPORT_138_JOINTS = [-0.073828, -0.578416, -0.288520, -2.583597, 0.081488, 2.286120, 0.780456]  # t=138\nTRANSPORT_139_JOINTS = [-0.066615, -0.585488, -0.275269, -2.569267, 0.093061, 2.289861, 0.790509]  # t=139\nTRANSPORT_141_JOINTS = [-0.050966, -0.585721, -0.243746, -2.541138, 0.117135, 2.307152, 0.815090]  # t=141\nTRANSPORT_144_JOINTS = [-0.029795, -0.561628, -0.196924, -2.495918, 0.147645, 2.343192, 0.854772]  # t=144\nTRANSPORT_146_JOINTS = [-0.018141, -0.538376, -0.167888, -2.469555, 0.165704, 2.371753, 0.877752]  # t=146\nTRANSPORT_147_JOINTS = [-0.012722, -0.524168, -0.152988, -2.458403, 0.174734, 2.389792, 0.888403]  # t=147\nTRANSPORT_150_JOINTS = [0.000592, -0.480538, -0.110359, -2.432381, 0.200699, 2.456523, 0.915383]  # t=150\nTRANSPORT_152_JOINTS = [0.007238, -0.442586, -0.085300, -2.413933, 0.216728, 2.509989, 0.928084]  # t=152\nTRANSPORT_153_JOINTS = [0.009884, -0.420263, -0.074528, -2.403327, 0.224473, 2.537334, 0.932162]  # t=153\nTRANSPORT_156_JOINTS = [0.015074, -0.345984, -0.048827, -2.363906, 0.244960, 2.610273, 0.938211]  # t=156\nTRANSPORT_159_JOINTS = [0.016640, -0.268873, -0.031140, -2.312282, 0.259511, 2.661669, 0.939876]  # t=159\nTRANSPORT_162_JOINTS = [0.015615, -0.202507, -0.016839, -2.244826, 0.261110, 2.676172, 0.949144]  # t=162\nTRANSPORT_165_JOINTS = [0.013892, -0.127363, -0.001550, -2.164320, 0.252188, 2.678568, 0.969028]  # t=165\nTRANSPORT_167_JOINTS = [0.012774, -0.074048, 0.008201, -2.108101, 0.243320, 2.679124, 0.984233]  # t=167\nTRANSPORT_168_JOINTS = [0.011941, -0.047172, 0.011532, -2.079196, 0.238447, 2.679136, 0.991133]  # t=168\nTRANSPORT_171_JOINTS = [0.009733, 0.034687, 0.019022, -1.991683, 0.225714, 2.676987, 1.007179]  # t=171\nTRANSPORT_174_JOINTS = [0.007939, 0.117365, 0.022666, -1.904728, 0.216322, 2.674448, 1.016687]  # t=174\nTRANSPORT_176_JOINTS = [0.007042, 0.171112, 0.023636, -1.849505, 0.212398, 2.672451, 1.019602]  # t=176\nTRANSPORT_177_JOINTS = [0.006713, 0.198457, 0.023918, -1.822860, 0.211082, 2.672109, 1.020234]  # t=177\nTRANSPORT_180_JOINTS = [0.006104, 0.277554, 0.023996, -1.750955, 0.207188, 2.674036, 1.020103]  # t=180\nPLACE_181_JOINTS = [0.006090, 0.301495, 0.024274, -1.728866, 0.206568, 2.675080, 1.020119]  # t=181\nPLACE_182_JOINTS = [0.006034, 0.319779, 0.024310, -1.705863, 0.206000, 2.671180, 1.020713]  # t=182\nPLACE_183_JOINTS = [0.005947, 0.335328, 0.023995, -1.682379, 0.204913, 2.663044, 1.022045]  # t=183\nPLACE_184_JOINTS = [0.005924, 0.351722, 0.023597, -1.657940, 0.203371, 2.654342, 1.023749]  # t=184\nPLACE_185_JOINTS = [0.005930, 0.370223, 0.023220, -1.631023, 0.201561, 2.646397, 1.025719]  # t=185\nPLACE_186_JOINTS = [0.005951, 0.390924, 0.022702, -1.600781, 0.199351, 2.638617, 1.028484]  # t=186\nPLACE_187_JOINTS = [0.006001, 0.412140, 0.021966, -1.569313, 0.196554, 2.629116, 1.032204]  # t=187\nPLACE_188_JOINTS = [0.006068, 0.431289, 0.021073, -1.539635, 0.193358, 2.616762, 1.036477]  # t=188\nPLACE_189_JOINTS = [0.006364, 0.445113, 0.020845, -1.516127, 0.190117, 2.600422, 1.040452]  # t=189\nPLACE_190_JOINTS = [0.006679, 0.454377, 0.020653, -1.499569, 0.186902, 2.584061, 1.043861]  # t=190\nPLACE_191_JOINTS = [0.006965, 0.461399, 0.020524, -1.487531, 0.184172, 2.570950, 1.046520]  # t=191\nPLACE_192_JOINTS = [0.007220, 0.465903, 0.020536, -1.479151, 0.182139, 2.561319, 1.048177]  # t=192\nPLACE_193_JOINTS = [0.007434, 0.466237, 0.020690, -1.476022, 0.181070, 2.555375, 1.048594]  # t=193\nPLACE_194_JOINTS = [0.007678, 0.463299, 0.021044, -1.478204, 0.180738, 2.552378, 1.048594]  # t=194\nPLACE_195_JOINTS = [0.007775, 0.456834, 0.021203, -1.484365, 0.180873, 2.552253, 1.048102]  # t=195\nPLACE_196_JOINTS = [0.007765, 0.446372, 0.021477, -1.495018, 0.181796, 2.555894, 1.046481]  # t=196\nPLACE_197_JOINTS = [0.007731, 0.433128, 0.022022, -1.510061, 0.183661, 2.564638, 1.043621]  # t=197\nPLACE_198_JOINTS = [0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638]  # t=198\nRELEASE_POSE_198_JOINTS = [0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638]  # t=198\nRETRACT_200_JOINTS = [0.007637, 0.387666, 0.025551, -1.575148, 0.194494, 2.619394, 1.029099]  # t=200\nRETRACT_201_JOINTS = [0.007574, 0.370868, 0.027388, -1.602325, 0.199911, 2.645249, 1.022314]  # t=201\nRETRACT_202_JOINTS = [0.007695, 0.352843, 0.029614, -1.632806, 0.204885, 2.670906, 1.015415]  # t=202\nRETRACT_204_JOINTS = [0.007705, 0.304320, 0.034314, -1.707329, 0.216649, 2.721594, 1.001528]  # t=204\nRETRACT_206_JOINTS = [0.007384, 0.237472, 0.040533, -1.803178, 0.234781, 2.780218, 0.983068]  # t=206\nRETRACT_207_JOINTS = [0.007242, 0.199152, 0.044232, -1.854068, 0.245585, 2.810876, 0.972820]  # t=207\nRETRACT_208_JOINTS = [0.007084, 0.156749, 0.047848, -1.904524, 0.256801, 2.838427, 0.962865]  # t=208\nRETRACT_210_JOINTS = [0.006056, 0.062870, 0.050016, -2.003027, 0.274103, 2.875776, 0.951976]  # t=210\nRETRACT_212_JOINTS = [0.004572, -0.034802, 0.047515, -2.089191, 0.279455, 2.882753, 0.953425]  # t=212\nRETRACT_214_JOINTS = [0.002444, -0.131536, 0.042886, -2.164771, 0.273165, 2.873688, 0.965300]  # t=214\nRETRACT_216_JOINTS = [-0.001579, -0.225442, 0.037202, -2.234363, 0.253798, 2.858826, 0.990474]  # t=216\nRETRACT_218_JOINTS = [-0.007742, -0.319771, 0.034436, -2.297327, 0.223045, 2.838046, 1.028122]  # t=218\nRETRACT_220_JOINTS = [-0.016913, -0.413736, 0.035211, -2.354249, 0.183265, 2.810561, 1.078613]  # t=220\nRETRACT_222_JOINTS = [-0.027536, -0.506349, 0.040230, -2.406773, 0.144594, 2.777907, 1.139596]  # t=222\nRETRACT_224_JOINTS = [-0.037451, -0.599532, 0.046870, -2.455136, 0.115376, 2.744514, 1.199272]  # t=224\nRETRACT_226_JOINTS = [-0.043696, -0.693604, 0.048207, -2.499868, 0.105255, 2.708931, 1.241766]  # t=226\nRETRACT_227_JOINTS = [-0.045612, -0.741295, 0.046024, -2.519395, 0.105337, 2.688260, 1.254165]  # t=227\nAPPROACH_000_JOINTS = [-0.005403, -1.015643, -0.055140, -2.277775, 0.045616, 1.503347, 0.675990]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=4, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, 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_032_JOINTS, input_type='joint', steps=4, 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_037_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=3, 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_048_JOINTS, input_type='joint', steps=4, 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_056_JOINTS, input_type='joint', steps=4, 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_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_068_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_091_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_091_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_105_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_108_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_111_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_126_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_132_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_144_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_146_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_150_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_156_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_162_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_171_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_174_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_180_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_183_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_185_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_195_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_197_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_198_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_198_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_198_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_226_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_227_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 27429, "code_num_lines": 311, "code_num_nonblank_lines": 296, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 shelf.\",\"layout_id\":25,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"eggplant\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"eggplant\",\"vegetable\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[0.0,0.25],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.05496633832750106,0.10011066582587716,0.11258375177999994],\"rack_index\":-1,\"reg_type\":\"drawer\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_drawer0\",\"offset\":[-0.0013911834338693752,0.07982894673461718,-0.14093114619312602],\"size\":[0.5953528441889928,0.4336801283224632]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"vegetable\",\"fruit\"],\"fridgable\":true,\"info\":{\"cat\":\"pancake\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pancake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[0.0,0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.131274737,0.13076197200000003,0.12267713700000002],\"reg_type\":\"shelf\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[-0.0027418945876149237,0.168489961561064,0.164205696640251],\"size\":[0.7408431329333823,0.31908152137262646]},\"type\":\"object\"}],\"style_id\":41},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06106001138687134,\"qx\":0.6730855107307434,\"qy\":0.7282810211181641,\"qz\":0.1132882833480835,\"x\":4.303077261735646,\"y\":-1.6206976944735154,\"z\":1.2884988164768632},\"goal_pose\":{\"qw\":0.5601817777334953,\"qx\":-0.013388006430686767,\"qy\":-0.019184788514113413,\"qz\":-0.8280392992297059,\"x\":4.932811306172993,\"y\":-1.7795623306268753,\"z\":1.1142697466188944},\"object_pose\":{\"qw\":0.46906370499529604,\"qx\":-0.12872843545692875,\"qy\":0.41748583362762937,\"qz\":-0.767537496987047,\"x\":4.509947637265732,\"y\":-1.757776930269825,\"z\":0.7775262603461206}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceFridgeDrawerToShelf\"}", "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\":\"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 shelf.\",\"layout_id\":25,\"object_cfgs\":[{\"fridgable\":true,\"graspable\":true,\"info\":{\"cat\":\"eggplant\",\"groups\":[\"vegetable\",\"fruit\"],\"groups_containing_sampled_obj\":[\"all\",\"eggplant\",\"vegetable\",\"food\",\"in_container\",\"oven_ready\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":[\"vegetable\",\"fruit\"],\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[0.0,0.25],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.05496633832750106,0.10011066582587716,0.11258375177999994],\"rack_index\":-1,\"reg_type\":\"drawer\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_drawer0\",\"offset\":[-0.0013911834338693752,0.07982894673461718,-0.14093114619312602],\"size\":[0.5953528441889928,0.4336801283224632]},\"type\":\"object\"},{\"exclude_obj_groups\":[\"vegetable\",\"fruit\"],\"fridgable\":true,\"info\":{\"cat\":\"pancake\",\"groups\":[\"all\"],\"groups_containing_sampled_obj\":[\"all\",\"pancake\",\"sweets\",\"food\",\"in_container\"],\"mjcf_path\":\"/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml\",\"split\":\"train\"},\"name\":\"distr\",\"placement\":{\"fixture\":\"fridge_right_group\",\"pos\":[0.0,0.5],\"sample_region_kwargs\":{\"compartment\":\"fridge\",\"min_size\":[0.131274737,0.13076197200000003,0.12267713700000002],\"reg_type\":\"shelf\"},\"size\":[0.4,0.2]},\"reset_region\":{\"name\":\"fridge_shelf0\",\"offset\":[-0.0027418945876149237,0.168489961561064,0.164205696640251],\"size\":[0.7408431329333823,0.31908152137262646]},\"type\":\"object\"}],\"style_id\":41},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06106001138687134,\"qx\":0.6730855107307434,\"qy\":0.7282810211181641,\"qz\":0.1132882833480835,\"x\":4.303077261735646,\"y\":-1.6206976944735154,\"z\":1.2884988164768632},\"goal_pose\":{\"qw\":0.5601817777334953,\"qx\":-0.013388006430686767,\"qy\":-0.019184788514113413,\"qz\":-0.8280392992297059,\"x\":4.932811306172993,\"y\":-1.7795623306268753,\"z\":1.1142697466188944},\"object_pose\":{\"qw\":0.46906370499529604,\"qx\":-0.12872843545692875,\"qy\":0.41748583362762937,\"qz\":-0.767537496987047,\"x\":4.509947637265732,\"y\":-1.757776930269825,\"z\":0.7775262603461206}},\"initial_state\":[0.5000000000000003,-11.609900777764354,-5.947023204141686,-2.2383411637774113e-07,3.047437869689628e-08,-0.004969427263839924,-1.0149798219674149,-0.05484622004324422,-2.277921779517751,0.04595030595830219,1.5047602987151958,0.6761735161600168,0.02054582897601965,-0.020520730119756605,-7.566476721003628e-05,3.057386306815725e-08,5.64222520948384e-08,-1.6016506030058121e-09,2.409878054191114e-09,3.8287374642418286e-08,9.6499942517279e-09,3.122736347654113e-08,-1.8263815265195927e-09,0.0,0.0,2.8418094059222866e-08,-6.410530900268474e-10,-6.410530900268474e-10,-6.410530900268474e-10,-6.410530900268474e-10,-2.886329028689223e-08,-6.323250090211608e-09,-6.406944091790196e-10,-6.406944091790196e-10,-6.406944091790196e-10,-6.406944091790196e-10,2.629309007043875e-09,0.0,0.0,0.0,0.0,-2.1117480923458493e-09,4.800551554846108e-09,-2.1117480923458493e-09,4.800551554846108e-09,7.048677818124947e-09,7.048677818124947e-09,3.6482206730543317e-09,3.6482206730543317e-09,-2.5269788004294675e-08,-2.3143610695405407e-09,-2.5269788004294675e-08,-2.3143610695405407e-09,0.0,0.0,-5.864277377400253e-14,0.0,-0.006745586160577411,5.3718699025793625e-09,-0.00039215578486549843,-0.006745585431309553,8.658527886758652e-09,-0.0003107449101259186,-2.187684074273215e-08,1.4253676907452154e-06,0.0,-7.539922803218615e-09,5.916567037026591e-09,-1.9936888560667482e-08,2.1480737256723736e-08,-4.073598844207971e-05,-0.0018617934657056095,-0.0018617934657056095,0.0,0.0,-7.275297678475646e-10,-7.275297678475646e-10,-7.241181247018125e-10,-7.241181247018125e-10,2.3884151151761892e-09,-6.918287711141192e-10,-1.2714643889786967e-08,5.523928849295166e-10,-7.554490742066548e-09,7.125874181519659e-09,-6.859802405820654e-09,5.220811539077286e-10,1.055551952281148e-08,-5.182637405987576e-10,5.9731224730882405e-09,-2.8157459556753092e-09,8.081954607898954e-09,0.0,9.027571761067612e-09,7.111620842490585e-10,2.0289808875246146e-08,0.0,0.0,0.3350967044599671,1.5707490284406094,1.5707632288340856,-1.1454973929777528e-08,2.639207029407644e-09,-1.340386094707243e-08,4.6284293967233256e-09,0.0,0.0,0.0,0.0,-5.2713325884072645e-09,-2.0679302627769294e-08,1.3502998661498978e-09,-2.3289237606067992e-08,9.350697246313753e-09,-5.177782480761893e-10,8.089608218376278e-09,-6.914392276487382e-10,-6.914392276487382e-10,-6.914392276487382e-10,-6.914392276487382e-10,-6.048917285118305e-09,4.3222150009709575e-09,-6.967546421078551e-10,-6.914392276487382e-10,-6.914392276487382e-10,-6.914392276487382e-10,-6.914392276487382e-10,1.5330066038685107e-09,-6.936913791681975e-10,1.5330066038684865e-09,-6.936913791682e-10,1.5330066038684913e-09,-6.936913791681883e-10,1.5330066038684282e-09,-6.936913791681883e-10,1.56380357362301e-09,-6.429934211451374e-10,1.5638035736230754e-09,-6.429934211451374e-10,2.2205404777470565e-09,-6.429934211451388e-10,1.5638035736230934e-09,-6.429934211451374e-10,4.509947637265732,-1.757776930269825,0.7775262603461206,0.46906370499529604,-0.12872843545692875,0.41748583362762937,-0.767537496987047,4.932811306172993,-1.7795623306268753,1.1142697466188944,0.5601817777334953,-0.013388006430686767,-0.019184788514113413,-0.8280392992297059,6.507170274717206e-07,4.952495011614163e-07,2.9904969923093628e-06,8.196446823801149e-08,8.330539089459787e-06,0.0006020469015361096,0.0006407884267092938,-2.3421480146618047e-05,0.0007915602341284512,0.000132075565242944,0.00010989407382268604,-0.0004191673066117489,0.0005168826760678223,-7.637864170183323e-07,6.221230871863537e-08,1.1480912771001817e-07,-2.892796365316848e-11,4.9036680711324915e-09,7.790791747875691e-08,1.963600139276393e-08,6.35420648290848e-08,-3.2986906565802885e-11,0.0,0.0,-5.914037749297417e-09,-2.5596435435125573e-11,-2.5596435435125573e-11,-2.5596435435125573e-11,-2.5596435435125573e-11,-2.2011214626158202e-07,-1.3053563185757897e-07,-2.532041022586119e-11,-2.532041022586119e-11,-2.532041022586119e-11,-2.532041022586119e-11,1.2440151155168736e-08,0.0,0.0,0.0,0.0,1.769639964548448e-09,-6.907102342855133e-09,1.769639964548448e-09,-6.907102342855133e-09,-6.311543932645619e-09,-6.311543932645619e-09,-3.6867053514776347e-09,-3.6867053514776347e-09,1.7507203793094167e-07,-1.8030710823984145e-07,1.7507203793094167e-07,-1.8030710823984145e-07,0.0,0.0,-1.3217874036973053e-15,0.0,-4.991751529467164e-07,1.0930788611296866e-08,-1.1770689129356544e-07,-4.991751028636027e-07,1.7618546309429945e-08,2.0907136355773704e-14,-4.451563141519534e-08,2.9003795856614787e-06,0.0,-1.3318339525646845e-06,3.960077084466107e-07,4.477330153958792e-09,-5.0107566059772885e-09,-6.331116851661811e-06,7.115269525428975e-07,7.115269525428975e-07,0.0,0.0,-3.9076200887875145e-11,-3.9076200887875145e-11,-3.548449167860365e-11,-3.548449167860365e-11,-1.8547974572151084e-09,-2.778282798669116e-11,5.913201626411636e-09,-8.388498215688301e-12,5.153926764374234e-09,-6.198192736770124e-09,5.6896270219134324e-09,3.3027985271271324e-11,-5.530143513792396e-09,-1.363808665887826e-10,-9.01170663070621e-09,2.9844624632671575e-09,-4.341709078801696e-09,-5.312325751560699e-07,1.8369484039547054e-08,1.4470868694369238e-09,4.128610980033354e-08,0.0,0.0,-7.691865801866749e-07,-9.624436760610972e-05,-6.734873032322418e-05,-6.425313020895094e-08,2.1213002234810966e-08,-1.731158460199261e-07,-4.821848954621493e-07,0.0,0.0,0.0,0.0,-9.521808637236196e-11,-1.1320952488210795e-07,-1.8396124050278014e-07,4.688601024674596e-09,-1.7549781667954194e-07,-3.946480779262255e-11,-2.820201930104745e-07,-2.7445724009322513e-11,-2.7445724009322513e-11,-2.7445724009322513e-11,-2.7445724009322513e-11,2.947938970567267e-09,-2.1635070636518533e-09,-3.219762066914616e-11,-2.7445724009322513e-11,-2.7445724009322513e-11,-2.7445724009322513e-11,-2.7445724009322513e-11,-1.889003787589897e-09,-2.940204873231785e-11,-1.8890037875899044e-09,-2.9402048732317934e-11,-1.88900378758989e-09,-2.940204873231744e-11,-1.88900378758992e-09,-2.940204873231744e-11,-1.5150042863287881e-09,-2.712590181715077e-11,-1.5150042863287362e-09,-2.712590181715077e-11,-1.940945341163478e-09,-2.7125901817150815e-11,-1.5150042863287221e-09,-2.712590181715077e-11,-0.007938354528867677,-0.003804868216195599,0.0022341553872783945,0.13426177629848565,0.11407762226406029,0.19935832589450667,-4.074108670444695e-05,-0.00011659392476347704,2.994046623338413e-05,-9.115258588171819e-05,0.0020617331946584825,-3.34591142593719e-05],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceFridgeDrawerToShelf\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 119, "pretrain_task_id": 42, "retained_waypoint_count": 119, "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": 363217, "video_relpath": "videos/raw_extracted/42_PickPlaceFridgeDrawerToShelf.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceFridgeShelfToDrawer\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_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': 'PickPlaceFridgeShelfToDrawer',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    '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',\n    'stable_grasp_contact_t': 151,\n    'stable_release_contact_loss_t': 338,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=1.543514, y=-0.609598, z=1.371946, qw=0.968359, qx=-0.109397, qy=0.170087, qz=-0.146231)\nGOAL_RECEPTACLE_POSE = pose(x=1.586665, y=-0.536645, z=1.439993, qw=0.998757, qx=-0.000675, qy=-0.000048, qz=-0.049845)\n\nAPPROACH_004_JOINTS = [-0.006496, -1.109200, -0.032455, -2.303198, 0.005706, 1.523492, 0.689905]  # t=4\nAPPROACH_005_JOINTS = [-0.008405, -1.122993, -0.041468, -2.305112, 0.000048, 1.524771, 0.683913]  # t=5\nAPPROACH_010_JOINTS = [-0.023948, -1.208038, -0.132165, -2.324150, -0.048908, 1.551516, 0.640928]  # t=10\nAPPROACH_015_JOINTS = [-0.046021, -1.265472, -0.262000, -2.324448, -0.111680, 1.601783, 0.621973]  # t=15\nAPPROACH_020_JOINTS = [-0.061063, -1.245588, -0.365549, -2.281833, -0.159526, 1.672681, 0.630239]  # t=20\nAPPROACH_022_JOINTS = [-0.064319, -1.224999, -0.388172, -2.252306, -0.170217, 1.692408, 0.642632]  # t=22\nAPPROACH_025_JOINTS = [-0.065623, -1.184275, -0.403126, -2.211116, -0.181218, 1.719332, 0.666770]  # t=25\nAPPROACH_030_JOINTS = [-0.070508, -1.123254, -0.421117, -2.163191, -0.221051, 1.747832, 0.717118]  # t=30\nAPPROACH_035_JOINTS = [-0.066866, -1.058615, -0.446124, -2.095704, -0.239104, 1.775052, 0.732360]  # t=35\nAPPROACH_038_JOINTS = [-0.057358, -1.013582, -0.465785, -2.027909, -0.226096, 1.763349, 0.714198]  # t=38\nAPPROACH_040_JOINTS = [-0.048810, -0.980517, -0.466608, -1.986501, -0.212400, 1.756773, 0.709630]  # t=40\nAPPROACH_043_JOINTS = [-0.036750, -0.937870, -0.468325, -1.940153, -0.188557, 1.762213, 0.709974]  # t=43\nAPPROACH_045_JOINTS = [-0.030400, -0.915871, -0.471205, -1.925210, -0.176450, 1.773731, 0.709741]  # t=45\nAPPROACH_050_JOINTS = [-0.017228, -0.874013, -0.481108, -1.917552, -0.144917, 1.847352, 0.708137]  # t=50\nAPPROACH_055_JOINTS = [-0.009287, -0.847794, -0.482684, -1.941321, -0.124364, 1.957404, 0.699110]  # t=55\nAPPROACH_060_JOINTS = [-0.006180, -0.820627, -0.476490, -1.973986, -0.125998, 2.073183, 0.685167]  # t=60\nAPPROACH_065_JOINTS = [-0.004819, -0.780963, -0.478920, -1.989509, -0.130978, 2.155511, 0.672490]  # t=65\nAPPROACH_070_JOINTS = [0.005068, -0.712349, -0.494699, -1.959744, -0.107511, 2.213267, 0.657478]  # t=70\nAPPROACH_075_JOINTS = [0.021415, -0.617307, -0.516977, -1.895796, -0.065420, 2.253829, 0.636768]  # t=75\nAPPROACH_080_JOINTS = [0.037257, -0.501690, -0.551748, -1.805462, -0.019039, 2.256669, 0.603871]  # t=80\nAPPROACH_082_JOINTS = [0.041100, -0.458833, -0.569245, -1.764393, -0.000309, 2.235042, 0.583782]  # t=82\nAPPROACH_085_JOINTS = [0.043509, -0.405650, -0.585930, -1.705739, 0.024947, 2.195524, 0.561989]  # t=85\nAPPROACH_090_JOINTS = [0.042120, -0.331686, -0.603671, -1.633334, 0.070767, 2.153493, 0.534937]  # t=90\nAPPROACH_095_JOINTS = [0.034268, -0.273479, -0.607778, -1.614967, 0.114247, 2.158027, 0.516270]  # t=95\nAPPROACH_098_JOINTS = [0.026026, -0.246603, -0.607975, -1.616911, 0.137353, 2.174304, 0.504422]  # t=98\nAPPROACH_100_JOINTS = [0.018540, -0.229740, -0.613726, -1.614833, 0.154069, 2.188486, 0.490511]  # t=100\nAPPROACH_105_JOINTS = [-0.000439, -0.171545, -0.636083, -1.586551, 0.217068, 2.217467, 0.439854]  # t=105\nAPPROACH_110_JOINTS = [-0.019343, -0.094164, -0.638311, -1.532537, 0.288189, 2.226472, 0.406095]  # t=110\nAPPROACH_115_JOINTS = [-0.047257, -0.013126, -0.620658, -1.464574, 0.343974, 2.225321, 0.397821]  # t=115\nAPPROACH_119_JOINTS = [-0.078250, 0.056682, -0.597025, -1.401694, 0.377887, 2.219553, 0.398307]  # t=119\nDESCEND_121_JOINTS = [-0.096648, 0.092607, -0.583138, -1.365532, 0.387397, 2.208613, 0.401234]  # t=121\nDESCEND_123_JOINTS = [-0.116951, 0.128180, -0.569151, -1.325256, 0.389078, 2.188314, 0.406308]  # t=123\nDESCEND_125_JOINTS = [-0.139112, 0.164003, -0.555682, -1.280791, 0.386405, 2.160945, 0.412307]  # t=125\nDESCEND_127_JOINTS = [-0.163591, 0.198835, -0.544687, -1.232767, 0.381332, 2.125939, 0.416385]  # t=127\nDESCEND_128_JOINTS = [-0.176716, 0.216618, -0.539830, -1.207488, 0.380032, 2.108412, 0.417230]  # t=128\nDESCEND_129_JOINTS = [-0.190426, 0.234907, -0.535307, -1.181560, 0.379567, 2.090697, 0.417186]  # t=129\nDESCEND_131_JOINTS = [-0.219173, 0.272694, -0.525961, -1.127093, 0.380864, 2.055592, 0.416038]  # t=131\nDESCEND_133_JOINTS = [-0.249850, 0.312760, -0.515891, -1.069331, 0.385800, 2.024384, 0.414150]  # t=133\nDESCEND_135_JOINTS = [-0.281955, 0.354663, -0.503444, -1.008525, 0.394799, 1.997154, 0.412772]  # t=135\nDESCEND_137_JOINTS = [-0.314258, 0.397683, -0.486285, -0.944341, 0.407427, 1.975959, 0.414752]  # t=137\nDESCEND_139_JOINTS = [-0.346121, 0.439518, -0.465542, -0.878807, 0.418073, 1.954919, 0.420530]  # t=139\nDESCEND_140_JOINTS = [-0.361775, 0.460033, -0.454151, -0.845350, 0.421667, 1.944572, 0.424668]  # t=140\nDESCEND_141_JOINTS = [-0.377184, 0.480057, -0.442204, -0.811124, 0.424014, 1.933905, 0.429669]  # t=141\nGRASP_146_JOINTS = [-0.451528, 0.580182, -0.375985, -0.630139, 0.420375, 1.883533, 0.462826]  # t=146\nGRASP_147_JOINTS = [-0.465969, 0.600454, -0.361502, -0.592588, 0.415580, 1.871958, 0.469715]  # t=147\nGRASP_148_JOINTS = [-0.480146, 0.620987, -0.346199, -0.554498, 0.408205, 1.859621, 0.476306]  # t=148\nGRASP_149_JOINTS = [-0.494120, 0.641857, -0.329353, -0.515964, 0.397824, 1.847107, 0.482805]  # t=149\nGRASP_151_JOINTS = [-0.521365, 0.673230, -0.281610, -0.453756, 0.359937, 1.826077, 0.495227]  # t=151\nGRASP_HOLD_151_JOINTS = [-0.521365, 0.673230, -0.281610, -0.453756, 0.359937, 1.826077, 0.495227]  # t=151\nLIFT_153_JOINTS = [-0.520356, 0.674412, -0.277412, -0.449237, 0.346845, 1.822093, 0.495459]  # t=153\nLIFT_155_JOINTS = [-0.502187, 0.668198, -0.317111, -0.462161, 0.368692, 1.825612, 0.490190]  # t=155\nLIFT_157_JOINTS = [-0.476722, 0.630507, -0.344891, -0.530438, 0.377840, 1.850025, 0.479993]  # t=157\nLIFT_159_JOINTS = [-0.463512, 0.585685, -0.338090, -0.604772, 0.360214, 1.875839, 0.472514]  # t=159\nLIFT_161_JOINTS = [-0.454156, 0.545322, -0.321335, -0.678674, 0.337337, 1.915334, 0.467540]  # t=161\nLIFT_163_JOINTS = [-0.445942, 0.507727, -0.305756, -0.749315, 0.315537, 1.959971, 0.464718]  # t=163\nLIFT_165_JOINTS = [-0.437452, 0.473004, -0.295139, -0.814533, 0.298272, 2.005761, 0.462859]  # t=165\nLIFT_167_JOINTS = [-0.427988, 0.442097, -0.290095, -0.873243, 0.285987, 2.049919, 0.461263]  # t=167\nLIFT_169_JOINTS = [-0.417799, 0.411256, -0.290394, -0.925927, 0.279526, 2.085915, 0.460193]  # t=169\nLIFT_171_JOINTS = [-0.408866, 0.366089, -0.298010, -0.984163, 0.283035, 2.100909, 0.456214]  # t=171\nLIFT_173_JOINTS = [-0.401047, 0.298902, -0.314672, -1.058659, 0.293058, 2.097598, 0.440712]  # t=173\nLIFT_174_JOINTS = [-0.396413, 0.261571, -0.325215, -1.099870, 0.295916, 2.094355, 0.427654]  # t=174\nPLACE_176_JOINTS = [-0.384412, 0.184339, -0.347428, -1.186582, 0.299720, 2.089362, 0.395553]  # t=176\nPLACE_178_JOINTS = [-0.367733, 0.102404, -0.369161, -1.278287, 0.297404, 2.082093, 0.362370]  # t=178\nPLACE_180_JOINTS = [-0.344614, 0.010244, -0.385308, -1.375805, 0.271860, 2.056892, 0.336221]  # t=180\nPLACE_182_JOINTS = [-0.317421, -0.086524, -0.397186, -1.477690, 0.238879, 2.043642, 0.318753]  # t=182\nPLACE_184_JOINTS = [-0.289147, -0.184610, -0.407225, -1.578629, 0.190823, 2.025835, 0.302242]  # t=184\nPLACE_186_JOINTS = [-0.261691, -0.278836, -0.414585, -1.665964, 0.123832, 1.996652, 0.298468]  # t=186\nPLACE_188_JOINTS = [-0.235845, -0.369523, -0.413560, -1.742049, 0.040103, 1.943592, 0.311218]  # t=188\nPLACE_190_JOINTS = [-0.212103, -0.449830, -0.413071, -1.814778, -0.041826, 1.889060, 0.319632]  # t=190\nPLACE_192_JOINTS = [-0.190098, -0.512613, -0.418633, -1.889833, -0.111799, 1.849034, 0.315362]  # t=192\nPLACE_194_JOINTS = [-0.169520, -0.558124, -0.417905, -1.961194, -0.179176, 1.812729, 0.319020]  # t=194\nPLACE_196_JOINTS = [-0.150778, -0.588693, -0.415290, -2.029061, -0.241395, 1.783697, 0.329086]  # t=196\nPLACE_198_JOINTS = [-0.133696, -0.601471, -0.423171, -2.091712, -0.295573, 1.772996, 0.325746]  # t=198\nPLACE_200_JOINTS = [-0.116724, -0.598802, -0.436483, -2.146617, -0.329231, 1.771805, 0.315924]  # t=200\nPLACE_202_JOINTS = [-0.100318, -0.585688, -0.459555, -2.191797, -0.334810, 1.768267, 0.293299]  # t=202\nPLACE_204_JOINTS = [-0.085102, -0.561797, -0.489151, -2.226664, -0.329593, 1.768637, 0.261984]  # t=204\nPLACE_206_JOINTS = [-0.070310, -0.521796, -0.528583, -2.247063, -0.311475, 1.783739, 0.225050]  # t=206\nPLACE_208_JOINTS = [-0.056609, -0.472863, -0.571653, -2.247002, -0.283600, 1.791551, 0.180369]  # t=208\nPLACE_210_JOINTS = [-0.043802, -0.417047, -0.612334, -2.234255, -0.252610, 1.793408, 0.133187]  # t=210\nPLACE_212_JOINTS = [-0.032547, -0.358170, -0.644565, -2.222457, -0.226608, 1.799004, 0.098476]  # t=212\nPLACE_214_JOINTS = [-0.024169, -0.302435, -0.666864, -2.219677, -0.208094, 1.815625, 0.076970]  # t=214\nPLACE_216_JOINTS = [-0.019798, -0.253019, -0.683691, -2.230645, -0.189443, 1.850140, 0.059556]  # t=216\nPLACE_218_JOINTS = [-0.019692, -0.210369, -0.696254, -2.250523, -0.170273, 1.895702, 0.041875]  # t=218\nPLACE_220_JOINTS = [-0.022935, -0.170793, -0.704291, -2.277579, -0.151500, 1.948192, 0.024145]  # t=220\nPLACE_222_JOINTS = [-0.029179, -0.134102, -0.707639, -2.308569, -0.132801, 2.004570, 0.007917]  # t=222\nPLACE_224_JOINTS = [-0.037509, -0.094913, -0.706720, -2.342080, -0.111785, 2.069985, -0.008324]  # t=224\nPLACE_226_JOINTS = [-0.047177, -0.052026, -0.699801, -2.377276, -0.087663, 2.138036, -0.023981]  # t=226\nPLACE_228_JOINTS = [-0.058769, -0.007480, -0.687555, -2.409360, -0.061256, 2.205586, -0.039163]  # t=228\nPLACE_230_JOINTS = [-0.073201, 0.036269, -0.672659, -2.437887, -0.031315, 2.270980, -0.058830]  # t=230\nPLACE_232_JOINTS = [-0.089951, 0.079803, -0.653955, -2.461866, 0.001837, 2.334195, -0.081320]  # t=232\nPLACE_234_JOINTS = [-0.108948, 0.119585, -0.633092, -2.478570, 0.034833, 2.388039, -0.105419]  # t=234\nPLACE_236_JOINTS = [-0.129092, 0.154146, -0.609716, -2.487847, 0.065196, 2.429923, -0.127217]  # t=236\nPLACE_238_JOINTS = [-0.149816, 0.184829, -0.585456, -2.492485, 0.091967, 2.462219, -0.146190]  # t=238\nPLACE_240_JOINTS = [-0.170510, 0.213277, -0.561234, -2.493371, 0.115313, 2.485630, -0.162716]  # t=240\nPLACE_242_JOINTS = [-0.190663, 0.241847, -0.537237, -2.491526, 0.135868, 2.505555, -0.176655]  # t=242\nPLACE_244_JOINTS = [-0.210224, 0.276641, -0.511764, -2.487707, 0.156675, 2.530394, -0.188621]  # t=244\nPLACE_246_JOINTS = [-0.230103, 0.318517, -0.483175, -2.482391, 0.185437, 2.562785, -0.204406]  # t=246\nPLACE_248_JOINTS = [-0.250739, 0.362776, -0.453612, -2.475756, 0.219390, 2.597328, -0.225306]  # t=248\nPLACE_250_JOINTS = [-0.272084, 0.405776, -0.424049, -2.467373, 0.255475, 2.628168, -0.251189]  # t=250\nPLACE_252_JOINTS = [-0.294236, 0.449996, -0.394217, -2.455881, 0.292865, 2.656358, -0.280248]  # t=252\nPLACE_254_JOINTS = [-0.317296, 0.498433, -0.363352, -2.440250, 0.331628, 2.684512, -0.311268]  # t=254\nPLACE_256_JOINTS = [-0.341116, 0.546766, -0.333491, -2.421400, 0.370152, 2.709413, -0.344523]  # t=256\nPLACE_258_JOINTS = [-0.365631, 0.592573, -0.306802, -2.399484, 0.407054, 2.727932, -0.380391]  # t=258\nPLACE_260_JOINTS = [-0.389603, 0.635207, -0.283640, -2.376021, 0.440250, 2.740938, -0.415546]  # t=260\nPLACE_262_JOINTS = [-0.411913, 0.674735, -0.263406, -2.352128, 0.468884, 2.750626, -0.447931]  # t=262\nPLACE_264_JOINTS = [-0.431435, 0.709809, -0.245939, -2.327955, 0.491975, 2.757413, -0.475534]  # t=264\nPLACE_266_JOINTS = [-0.445913, 0.742458, -0.229523, -2.303744, 0.506879, 2.767308, -0.492117]  # t=266\nPLACE_268_JOINTS = [-0.455863, 0.773122, -0.214061, -2.279530, 0.514854, 2.778317, -0.498529]  # t=268\nPLACE_270_JOINTS = [-0.462325, 0.802030, -0.199532, -2.253630, 0.516854, 2.787818, -0.499223]  # t=270\nPLACE_272_JOINTS = [-0.465099, 0.828400, -0.187603, -2.224403, 0.511461, 2.793641, -0.495630]  # t=272\nPLACE_274_JOINTS = [-0.465988, 0.853607, -0.177230, -2.194001, 0.506177, 2.794095, -0.482215]  # t=274\nPLACE_276_JOINTS = [-0.465613, 0.880166, -0.167887, -2.161265, 0.499344, 2.793479, -0.465308]  # t=276\nPLACE_278_JOINTS = [-0.465085, 0.913133, -0.158704, -2.123588, 0.492144, 2.793220, -0.447189]  # t=278\nPLACE_280_JOINTS = [-0.465318, 0.952785, -0.149940, -2.081835, 0.486130, 2.793849, -0.430702]  # t=280\nPLACE_282_JOINTS = [-0.466271, 0.996015, -0.141728, -2.037597, 0.481383, 2.794903, -0.416515]  # t=282\nPLACE_284_JOINTS = [-0.467640, 1.041469, -0.134897, -1.992574, 0.476588, 2.796078, -0.403894]  # t=284\nPLACE_286_JOINTS = [-0.468541, 1.087348, -0.128984, -1.946105, 0.470226, 2.796425, -0.390307]  # t=286\nPLACE_288_JOINTS = [-0.469570, 1.128741, -0.123898, -1.902398, 0.464098, 2.795377, -0.377714]  # t=288\nPLACE_290_JOINTS = [-0.471293, 1.166941, -0.120201, -1.863485, 0.458912, 2.794338, -0.367935]  # t=290\nPLACE_292_JOINTS = [-0.474129, 1.205142, -0.116893, -1.826889, 0.455517, 2.795069, -0.361702]  # t=292\nPLACE_294_JOINTS = [-0.477723, 1.243252, -0.113492, -1.790859, 0.453440, 2.797040, -0.357916]  # t=294\nPLACE_296_JOINTS = [-0.481729, 1.280953, -0.110048, -1.754991, 0.451996, 2.799168, -0.355522]  # t=296\nPLACE_298_JOINTS = [-0.485731, 1.319095, -0.106622, -1.717552, 0.450414, 2.801633, -0.353245]  # t=298\nPLACE_300_JOINTS = [-0.488457, 1.352697, -0.103094, -1.679862, 0.447326, 2.801258, -0.348725]  # t=300\nPLACE_302_JOINTS = [-0.489380, 1.375738, -0.099908, -1.646390, 0.442569, 2.792957, -0.341651]  # t=302\nPLACE_304_JOINTS = [-0.488877, 1.390971, -0.098760, -1.616841, 0.436241, 2.777509, -0.332458]  # t=304\nPLACE_306_JOINTS = [-0.488493, 1.403312, -0.099513, -1.586827, 0.430233, 2.756462, -0.323997]  # t=306\nPLACE_308_JOINTS = [-0.489556, 1.418348, -0.100165, -1.551389, 0.427463, 2.732774, -0.319562]  # t=308\nPLACE_310_JOINTS = [-0.491470, 1.439892, -0.101674, -1.509039, 0.426447, 2.708575, -0.317130]  # t=310\nPLACE_312_JOINTS = [-0.493396, 1.469113, -0.103163, -1.458665, 0.425975, 2.686197, -0.314292]  # t=312\nPLACE_314_JOINTS = [-0.493819, 1.506350, -0.104075, -1.399842, 0.423358, 2.668023, -0.306773]  # t=314\nPLACE_316_JOINTS = [-0.492404, 1.552866, -0.104104, -1.332506, 0.417119, 2.654224, -0.292541]  # t=316\nPLACE_318_JOINTS = [-0.490004, 1.606711, -0.103389, -1.255135, 0.407964, 2.641293, -0.273230]  # t=318\nPLACE_320_JOINTS = [-0.487020, 1.663821, -0.105113, -1.171379, 0.394249, 2.622343, -0.247861]  # t=320\nPLACE_322_JOINTS = [-0.484540, 1.712984, -0.111889, -1.086323, 0.376427, 2.589687, -0.217885]  # t=322\nPLACE_324_JOINTS = [-0.483024, 1.754002, -0.120673, -1.001853, 0.356120, 2.543242, -0.185310]  # t=324\nRELEASE_POSE_324_JOINTS = [-0.483024, 1.754002, -0.120673, -1.001853, 0.356120, 2.543242, -0.185310]  # t=324\nRETRACT_338_JOINTS = [-0.490060, 1.733839, -0.128087, -0.992974, 0.321333, 2.470229, -0.150023]  # t=338\nRETRACT_340_JOINTS = [-0.492401, 1.710192, -0.131653, -1.022683, 0.324399, 2.459322, -0.158308]  # t=340\nRETRACT_342_JOINTS = [-0.494348, 1.674793, -0.135693, -1.066047, 0.329260, 2.448753, -0.168570]  # t=342\nRETRACT_343_JOINTS = [-0.494610, 1.652429, -0.136996, -1.091813, 0.332206, 2.443994, -0.173623]  # t=343\nRETRACT_344_JOINTS = [-0.493509, 1.627159, -0.136453, -1.119915, 0.334991, 2.439299, -0.177076]  # t=344\nRETRACT_346_JOINTS = [-0.488739, 1.570154, -0.135347, -1.182671, 0.339961, 2.433292, -0.176844]  # t=346\nRETRACT_348_JOINTS = [-0.484038, 1.512415, -0.137244, -1.249398, 0.346416, 2.434612, -0.176240]  # t=348\nRETRACT_349_JOINTS = [-0.482116, 1.482352, -0.138953, -1.285104, 0.350990, 2.435939, -0.176939]  # t=349\nRETRACT_350_JOINTS = [-0.480081, 1.451917, -0.140238, -1.321294, 0.356183, 2.438112, -0.177870]  # t=350\nRETRACT_352_JOINTS = [-0.475425, 1.391063, -0.142427, -1.394003, 0.366753, 2.445206, -0.179667]  # t=352\nRETRACT_354_JOINTS = [-0.469320, 1.329832, -0.142594, -1.467979, 0.378342, 2.453289, -0.178758]  # t=354\nRETRACT_356_JOINTS = [-0.462618, 1.264651, -0.142163, -1.543922, 0.393672, 2.462612, -0.176361]  # t=356\nRETRACT_358_JOINTS = [-0.455518, 1.192727, -0.140799, -1.627436, 0.413179, 2.474073, -0.178164]  # t=358\nRETRACT_360_JOINTS = [-0.443510, 1.126130, -0.136598, -1.707577, 0.425319, 2.491611, -0.172688]  # t=360\nRETRACT_361_JOINTS = [-0.436746, 1.093014, -0.135724, -1.745664, 0.429177, 2.499598, -0.169118]  # t=361\nRETRACT_362_JOINTS = [-0.430064, 1.060169, -0.136115, -1.782120, 0.432382, 2.506266, -0.165665]  # t=362\nRETRACT_364_JOINTS = [-0.416111, 0.991135, -0.139248, -1.853423, 0.435741, 2.513288, -0.158202]  # t=364\nRETRACT_366_JOINTS = [-0.402741, 0.927932, -0.146470, -1.919210, 0.437075, 2.522923, -0.148732]  # t=366\nRETRACT_368_JOINTS = [-0.391916, 0.870281, -0.157482, -1.980875, 0.438496, 2.530394, -0.145827]  # t=368\nRETRACT_370_JOINTS = [-0.382867, 0.810059, -0.169502, -2.038900, 0.440069, 2.530434, -0.148858]  # t=370\nRETRACT_372_JOINTS = [-0.372013, 0.745567, -0.180022, -2.092085, 0.436193, 2.524284, -0.146343]  # t=372\nAPPROACH_000_JOINTS = [-0.003668, -1.093195, -0.026209, -2.304724, 0.010968, 1.525182, 0.694844]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=3, 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_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_098_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_119_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    moveJoint(GRASP_146_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(GRASP_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_149_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(GRASP_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    wait(duration=0.05, hold_target=GRASP_HOLD_151_JOINTS, input_type='joint', gripper=-0.3)\n    grasp(hold_target=GRASP_HOLD_151_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_151_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_178_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_208_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_212_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_216_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_218_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_226_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_228_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_230_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_232_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_234_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_236_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_238_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_240_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_242_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_244_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_246_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_248_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_250_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_252_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_254_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_256_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_258_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_260_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_262_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_264_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_266_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_268_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_270_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_272_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_274_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_276_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_278_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_280_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_282_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_284_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_286_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_288_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_290_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_292_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_294_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_296_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_298_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_300_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_302_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_304_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_306_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_308_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_310_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_312_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_314_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_316_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_318_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_320_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_322_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_324_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_324_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_324_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_324_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_338_JOINTS, input_type='joint', steps=14, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_340_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_342_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_343_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_344_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_346_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_348_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_349_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_350_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_352_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_354_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_356_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_358_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_360_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_361_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_362_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_364_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_366_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_368_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_370_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_372_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 34774, "code_num_lines": 384, "code_num_nonblank_lines": 370, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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,-4.631023399135424e-07,-1.446396744444959e-07,0.0,0.0,0.0,0.0,-5.300333928493219e-07,-4.903185637443942e-12,-6.32303244703048e-08,0.010269511686716951,0.009015258924043219,-0.0014470638788402145,-0.49255472373471765,0.3186463449123532,-0.0686745699645474,-8.530651214448212e-07,-9.216114100720366e-09,2.3865734997599006e-06,-8.140842431042875e-09,-9.36265495927718e-06,5.931217930572275e-14],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 157, "pretrain_task_id": 43, "retained_waypoint_count": 157, "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": 567708, "video_relpath": "videos/raw_extracted/43_PickPlaceFridgeShelfToDrawer.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceMicrowaveToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_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': 'PickPlaceMicrowaveToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 88,\n    'stable_release_contact_loss_t': 319,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=4.000061, y=-0.378489, z=1.270602, qw=0.960638, qx=-0.002199, qy=-0.003171, qz=-0.277777)\nGOAL_RECEPTACLE_POSE = pose(x=4.002052, y=-0.382066, z=1.241014, qw=0.944200, qx=0.008859, qy=-0.003094, qz=0.329238)\n\nPLACE_BODY_107 = pose(x=0.684514, y=0.084579, z=1.316129, qx=-0.690638, qy=-0.668461, qz=-0.202557, qw=-0.187483)  # body-frame t=107\nPLACE_BODY_109 = pose(x=0.657961, y=0.083723, z=1.330359, qx=-0.677712, qy=-0.680651, qz=-0.208491, qw=-0.184262)  # body-frame t=109\nPLACE_BODY_111 = pose(x=0.630455, y=0.082665, z=1.342908, qx=-0.666799, qy=-0.691809, qz=-0.211530, qw=-0.178983)  # body-frame t=111\nPLACE_BODY_113 = pose(x=0.602864, y=0.078929, z=1.355176, qx=-0.658825, qy=-0.700915, qz=-0.211736, qw=-0.172730)  # body-frame t=113\nPLACE_BODY_114 = pose(x=0.589126, y=0.074358, z=1.360924, qx=-0.656303, qy=-0.704404, qz=-0.210629, qw=-0.169462)  # body-frame t=114\nPLACE_BODY_115 = pose(x=0.575486, y=0.069197, z=1.366378, qx=-0.654276, qy=-0.707435, qz=-0.209388, qw=-0.166178)  # body-frame t=115\nPLACE_BODY_117 = pose(x=0.548333, y=0.057932, z=1.375703, qx=-0.654094, qy=-0.710350, qz=-0.205170, qw=-0.159590)  # body-frame t=117\nPLACE_BODY_119 = pose(x=0.521155, y=0.047552, z=1.383967, qx=-0.655459, qy=-0.711930, qz=-0.200352, qw=-0.152933)  # body-frame t=119\nPLACE_BODY_121 = pose(x=0.493612, y=0.040082, z=1.392306, qx=-0.657369, qy=-0.713591, qz=-0.194190, qw=-0.144721)  # body-frame t=121\nPLACE_BODY_122 = pose(x=0.480007, y=0.034489, z=1.395991, qx=-0.659133, qy=-0.713817, qz=-0.190298, qw=-0.140694)  # body-frame t=122\nPLACE_BODY_123 = pose(x=0.466583, y=0.029071, z=1.398842, qx=-0.660625, qy=-0.714311, qz=-0.186387, qw=-0.136362)  # body-frame t=123\nPLACE_BODY_124 = pose(x=0.453355, y=0.024698, z=1.400714, qx=-0.662024, qy=-0.714834, qz=-0.182524, qw=-0.131994)  # body-frame t=124\nPLACE_BODY_125 = pose(x=0.440178, y=0.020512, z=1.401748, qx=-0.663383, qy=-0.715328, qz=-0.178623, qw=-0.127761)  # body-frame t=125\nPLACE_BODY_127 = pose(x=0.413776, y=0.012954, z=1.402549, qx=-0.665160, qy=-0.716746, qz=-0.171495, qw=-0.120112)  # body-frame t=127\nPLACE_BODY_129 = pose(x=0.387188, y=0.006161, z=1.402150, qx=-0.666857, qy=-0.717988, qz=-0.164665, qw=-0.112609)  # body-frame t=129\nPLACE_BODY_131 = pose(x=0.362386, y=0.000962, z=1.400839, qx=-0.668474, qy=-0.719252, qz=-0.157455, qw=-0.105011)  # body-frame t=131\nPLACE_BODY_133 = pose(x=0.336928, y=-0.006650, z=1.398772, qx=-0.670567, qy=-0.719491, qz=-0.151399, qw=-0.098743)  # body-frame t=133\nPLACE_BODY_135 = pose(x=0.311352, y=-0.012182, z=1.392077, qx=-0.670723, qy=-0.721135, qz=-0.146598, qw=-0.092752)  # body-frame t=135\nPLACE_BODY_137 = pose(x=0.286683, y=-0.013290, z=1.387374, qx=-0.669660, qy=-0.722049, qz=-0.146249, qw=-0.093873)  # body-frame t=137\nPLACE_BODY_138 = pose(x=0.275737, y=-0.013371, z=1.386026, qx=-0.669106, qy=-0.722180, qz=-0.145984, qw=-0.097168)  # body-frame t=138\nPLACE_BODY_139 = pose(x=0.265514, y=-0.013324, z=1.384958, qx=-0.668665, qy=-0.722175, qz=-0.145852, qw=-0.100388)  # body-frame t=139\nPLACE_BODY_140 = pose(x=0.256046, y=-0.012525, z=1.384813, qx=-0.667536, qy=-0.722243, qz=-0.147101, qw=-0.105455)  # body-frame t=140\nPLACE_BODY_141 = pose(x=0.246944, y=-0.011518, z=1.384821, qx=-0.666385, qy=-0.722021, qz=-0.149072, qw=-0.111327)  # body-frame t=141\nPLACE_BODY_143 = pose(x=0.230066, y=-0.009929, z=1.384743, qx=-0.664330, qy=-0.720871, qz=-0.155102, qw=-0.122286)  # body-frame t=143\nPLACE_BODY_145 = pose(x=0.218601, y=-0.009089, z=1.387081, qx=-0.662547, qy=-0.718832, qz=-0.163371, qw=-0.132751)  # body-frame t=145\nPLACE_BODY_147 = pose(x=0.209075, y=-0.008945, z=1.391365, qx=-0.661024, qy=-0.717234, qz=-0.170047, qw=-0.140379)  # body-frame t=147\nPLACE_BODY_148 = pose(x=0.205530, y=-0.008912, z=1.393720, qx=-0.660547, qy=-0.716728, qz=-0.172074, qw=-0.142720)  # body-frame t=148\nPLACE_BODY_149 = pose(x=0.203255, y=-0.008909, z=1.396025, qx=-0.660231, qy=-0.716403, qz=-0.173374, qw=-0.144234)  # body-frame t=149\nPLACE_BODY_151 = pose(x=0.200237, y=-0.008938, z=1.401072, qx=-0.659747, qy=-0.715960, qz=-0.175211, qw=-0.146410)  # body-frame t=151\nPLACE_BODY_152 = pose(x=0.199613, y=-0.008965, z=1.403792, qx=-0.659568, qy=-0.715785, qz=-0.175908, qw=-0.147232)  # body-frame t=152\nPLACE_BODY_153 = pose(x=0.198342, y=-0.008772, z=1.406683, qx=-0.659291, qy=-0.715741, qz=-0.176523, qw=-0.147952)  # body-frame t=153\nPLACE_BODY_154 = pose(x=0.197205, y=-0.008468, z=1.409277, qx=-0.659220, qy=-0.715895, qz=-0.176338, qw=-0.147741)  # body-frame t=154\nPLACE_BODY_155 = pose(x=0.197568, y=-0.008130, z=1.411452, qx=-0.659486, qy=-0.716282, qz=-0.174980, qw=-0.146291)  # body-frame t=155\nPLACE_BODY_157 = pose(x=0.199119, y=-0.007655, z=1.415525, qx=-0.660261, qy=-0.717175, qz=-0.171460, qw=-0.142535)  # body-frame t=157\nPLACE_BODY_159 = pose(x=0.197553, y=-0.007352, z=1.418594, qx=-0.660720, qy=-0.717526, qz=-0.169680, qw=-0.140762)  # body-frame t=159\nPLACE_BODY_161 = pose(x=0.195736, y=-0.007452, z=1.419877, qx=-0.660667, qy=-0.717617, qz=-0.169663, qw=-0.140564)  # body-frame t=161\nPLACE_BODY_162 = pose(x=0.195101, y=-0.007462, z=1.419985, qx=-0.660534, qy=-0.717556, qz=-0.170080, qw=-0.140996)  # body-frame t=162\nPLACE_BODY_163 = pose(x=0.194582, y=-0.007447, z=1.419850, qx=-0.660373, qy=-0.717440, qz=-0.170667, qw=-0.141633)  # body-frame t=163\nPLACE_BODY_165 = pose(x=0.193872, y=-0.007417, z=1.419163, qx=-0.660006, qy=-0.717100, qz=-0.172177, qw=-0.143230)  # body-frame t=165\nPLACE_BODY_167 = pose(x=0.193480, y=-0.007367, z=1.418280, qx=-0.659650, qy=-0.716712, qz=-0.173750, qw=-0.144899)  # body-frame t=167\nPLACE_BODY_169 = pose(x=0.193272, y=-0.008595, z=1.417466, qx=-0.659286, qy=-0.716408, qz=-0.175799, qw=-0.145590)  # body-frame t=169\nPLACE_BODY_171 = pose(x=0.193166, y=-0.013056, z=1.416838, qx=-0.657800, qy=-0.717275, qz=-0.178786, qw=-0.144398)  # body-frame t=171\nPLACE_BODY_172 = pose(x=0.192999, y=-0.013931, z=1.416693, qx=-0.656902, qy=-0.717969, qz=-0.179223, qw=-0.144496)  # body-frame t=172\nPLACE_BODY_173 = pose(x=0.192813, y=-0.013865, z=1.416620, qx=-0.656560, qy=-0.718232, qz=-0.178992, qw=-0.145032)  # body-frame t=173\nPLACE_BODY_175 = pose(x=0.191764, y=-0.012641, z=1.416581, qx=-0.657189, qy=-0.717427, qz=-0.178432, qw=-0.146841)  # body-frame t=175\nPLACE_BODY_177 = pose(x=0.186106, y=-0.007104, z=1.416325, qx=-0.658770, qy=-0.714733, qz=-0.178296, qw=-0.152935)  # body-frame t=177\nPLACE_BODY_178 = pose(x=0.186020, y=-0.005894, z=1.415517, qx=-0.659855, qy=-0.713511, qz=-0.178552, qw=-0.153660)  # body-frame t=178\nPLACE_BODY_179 = pose(x=0.187030, y=-0.005619, z=1.414933, qx=-0.660347, qy=-0.713006, qz=-0.178866, qw=-0.153527)  # body-frame t=179\nPLACE_BODY_181 = pose(x=0.189031, y=-0.006279, z=1.414542, qx=-0.660215, qy=-0.713311, qz=-0.179191, qw=-0.152293)  # body-frame t=181\nPLACE_BODY_182 = pose(x=0.189509, y=-0.006838, z=1.414647, qx=-0.659922, qy=-0.713725, qz=-0.179212, qw=-0.151601)  # body-frame t=182\nPLACE_BODY_183 = pose(x=0.189961, y=-0.005954, z=1.414839, qx=-0.659912, qy=-0.713986, qz=-0.178150, qw=-0.151665)  # body-frame t=183\nPLACE_BODY_185 = pose(x=0.191088, y=-0.003709, z=1.415407, qx=-0.660941, qy=-0.713659, qz=-0.176059, qw=-0.151166)  # body-frame t=185\nPLACE_BODY_187 = pose(x=0.191404, y=-0.005017, z=1.415994, qx=-0.660929, qy=-0.714091, qz=-0.175939, qw=-0.149309)  # body-frame t=187\nPLACE_BODY_189 = pose(x=0.191367, y=-0.006273, z=1.416443, qx=-0.660514, qy=-0.714755, qz=-0.175925, qw=-0.147976)  # body-frame t=189\nPLACE_BODY_191 = pose(x=0.190743, y=-0.006691, z=1.416729, qx=-0.660021, qy=-0.715234, qz=-0.176086, qw=-0.147671)  # body-frame t=191\nPLACE_BODY_193 = pose(x=0.188795, y=-0.006791, z=1.416632, qx=-0.659536, qy=-0.715211, qz=-0.177093, qw=-0.148741)  # body-frame t=193\nPLACE_BODY_194 = pose(x=0.188525, y=-0.006913, z=1.416362, qx=-0.659465, qy=-0.715136, qz=-0.177410, qw=-0.149037)  # body-frame t=194\nPLACE_BODY_195 = pose(x=0.189143, y=-0.007098, z=1.416068, qx=-0.659517, qy=-0.715141, qz=-0.177358, qw=-0.148842)  # body-frame t=195\nPLACE_BODY_197 = pose(x=0.191380, y=-0.007901, z=1.415895, qx=-0.660245, qy=-0.714913, qz=-0.176602, qw=-0.147602)  # body-frame t=197\nPLACE_BODY_199 = pose(x=0.192406, y=-0.008655, z=1.416393, qx=-0.661367, qy=-0.714313, qz=-0.175815, qw=-0.146424)  # body-frame t=199\nPLACE_BODY_201 = pose(x=0.191307, y=-0.009210, z=1.416817, qx=-0.663220, qy=-0.712627, qz=-0.175787, qw=-0.146288)  # body-frame t=201\nPLACE_BODY_203 = pose(x=0.190600, y=-0.008574, z=1.416852, qx=-0.664914, qy=-0.711027, qz=-0.175731, qw=-0.146456)  # body-frame t=203\nPLACE_BODY_204 = pose(x=0.190496, y=-0.008330, z=1.416833, qx=-0.665800, qy=-0.710176, qz=-0.175758, qw=-0.146524)  # body-frame t=204\nPLACE_BODY_205 = pose(x=0.190509, y=-0.007938, z=1.416795, qx=-0.666410, qy=-0.709626, qz=-0.175680, qw=-0.146512)  # body-frame t=205\nPLACE_BODY_207 = pose(x=0.189871, y=-0.005535, z=1.416837, qx=-0.665165, qy=-0.710622, qz=-0.175712, qw=-0.147304)  # body-frame t=207\nPLACE_BODY_209 = pose(x=0.189522, y=-0.004371, z=1.416561, qx=-0.662927, qy=-0.712467, qz=-0.176041, qw=-0.148081)  # body-frame t=209\nPLACE_BODY_211 = pose(x=0.190226, y=-0.004955, z=1.416290, qx=-0.661308, qy=-0.713953, qz=-0.176175, qw=-0.148006)  # body-frame t=211\nPLACE_BODY_213 = pose(x=0.188204, y=-0.009097, z=1.416158, qx=-0.658995, qy=-0.715387, qz=-0.179356, qw=-0.147572)  # body-frame t=213\nPLACE_BODY_214 = pose(x=0.187729, y=-0.009954, z=1.415856, qx=-0.657947, qy=-0.716179, qz=-0.179868, qw=-0.147789)  # body-frame t=214\nPLACE_BODY_215 = pose(x=0.187822, y=-0.009702, z=1.415600, qx=-0.657521, qy=-0.716560, qz=-0.179545, qw=-0.148228)  # body-frame t=215\nPLACE_BODY_217 = pose(x=0.188526, y=-0.009054, z=1.415380, qx=-0.657906, qy=-0.716366, qz=-0.178699, qw=-0.148482)  # body-frame t=217\nPLACE_BODY_219 = pose(x=0.189887, y=-0.010316, z=1.415428, qx=-0.658111, qy=-0.716575, qz=-0.178378, qw=-0.146939)  # body-frame t=219\nPLACE_BODY_221 = pose(x=0.191582, y=-0.010504, z=1.415823, qx=-0.657030, qy=-0.718136, qz=-0.177373, qw=-0.145369)  # body-frame t=221\nPLACE_BODY_223 = pose(x=0.193831, y=-0.009152, z=1.416489, qx=-0.657283, qy=-0.718717, qz=-0.174631, qw=-0.144665)  # body-frame t=223\nPLACE_BODY_225 = pose(x=0.191568, y=-0.008721, z=1.417327, qx=-0.656229, qy=-0.719377, qz=-0.175345, qw=-0.145309)  # body-frame t=225\nPLACE_BODY_227 = pose(x=0.190000, y=-0.008359, z=1.417069, qx=-0.654040, qy=-0.720922, qz=-0.176176, qw=-0.146509)  # body-frame t=227\nPLACE_BODY_229 = pose(x=0.191524, y=-0.006139, z=1.416496, qx=-0.653466, qy=-0.721578, qz=-0.174535, qw=-0.147797)  # body-frame t=229\nPLACE_BODY_231 = pose(x=0.191149, y=-0.004643, z=1.416530, qx=-0.652528, qy=-0.722199, qz=-0.174464, qw=-0.148992)  # body-frame t=231\nPLACE_BODY_232 = pose(x=0.190955, y=-0.004607, z=1.416461, qx=-0.652089, qy=-0.722512, qz=-0.174570, qw=-0.149269)  # body-frame t=232\nPLACE_BODY_233 = pose(x=0.190801, y=-0.004774, z=1.416394, qx=-0.651722, qy=-0.722771, qz=-0.174702, qw=-0.149467)  # body-frame t=233\nPLACE_BODY_235 = pose(x=0.190546, y=-0.005500, z=1.416291, qx=-0.651229, qy=-0.723077, qz=-0.175129, qw=-0.149633)  # body-frame t=235\nPLACE_BODY_237 = pose(x=0.190006, y=-0.005977, z=1.416137, qx=-0.652590, qy=-0.721667, qz=-0.175421, qw=-0.150170)  # body-frame t=237\nPLACE_BODY_239 = pose(x=0.190237, y=-0.007014, z=1.415975, qx=-0.653517, qy=-0.720841, qz=-0.175926, qw=-0.149509)  # body-frame t=239\nPLACE_BODY_241 = pose(x=0.190717, y=-0.008582, z=1.415932, qx=-0.656767, qy=-0.718037, qz=-0.175895, qw=-0.148799)  # body-frame t=241\nPLACE_BODY_242 = pose(x=0.191076, y=-0.008963, z=1.415984, qx=-0.657952, qy=-0.717082, qz=-0.175837, qw=-0.148237)  # body-frame t=242\nPLACE_BODY_243 = pose(x=0.191579, y=-0.008552, z=1.416077, qx=-0.658651, qy=-0.716631, qz=-0.175427, qw=-0.147797)  # body-frame t=243\nPLACE_BODY_245 = pose(x=0.192041, y=-0.007268, z=1.416437, qx=-0.659578, qy=-0.716041, qz=-0.174737, qw=-0.147339)  # body-frame t=245\nPLACE_BODY_247 = pose(x=0.192793, y=-0.006930, z=1.416661, qx=-0.660306, qy=-0.715679, qz=-0.174146, qw=-0.146536)  # body-frame t=247\nPLACE_BODY_249 = pose(x=0.193815, y=-0.006753, z=1.416937, qx=-0.660491, qy=-0.715878, qz=-0.173436, qw=-0.145567)  # body-frame t=249\nPLACE_BODY_250 = pose(x=0.194113, y=-0.006810, z=1.417149, qx=-0.660745, qy=-0.715788, qz=-0.173142, qw=-0.145212)  # body-frame t=250\nPLACE_BODY_251 = pose(x=0.193670, y=-0.006856, z=1.417365, qx=-0.660693, qy=-0.715810, qz=-0.173266, qw=-0.145188)  # body-frame t=251\nPLACE_BODY_253 = pose(x=0.192630, y=-0.006929, z=1.417461, qx=-0.660260, qy=-0.716017, qz=-0.173879, qw=-0.145404)  # body-frame t=253\nPLACE_BODY_255 = pose(x=0.191968, y=-0.007448, z=1.417273, qx=-0.659581, qy=-0.716381, qz=-0.174863, qw=-0.145511)  # body-frame t=255\nPLACE_BODY_257 = pose(x=0.196847, y=0.001716, z=1.401213, qx=-0.656979, qy=-0.726748, qz=-0.154556, qw=-0.127780)  # body-frame t=257\nPLACE_BODY_258 = pose(x=0.201792, y=0.008583, z=1.389465, qx=-0.657321, qy=-0.731151, qz=-0.139820, qw=-0.117462)  # body-frame t=258\nPLACE_BODY_259 = pose(x=0.208395, y=0.014800, z=1.376474, qx=-0.659130, qy=-0.734014, qz=-0.124885, qw=-0.105711)  # body-frame t=259\nPLACE_BODY_260 = pose(x=0.216778, y=0.020391, z=1.362795, qx=-0.661297, qy=-0.736150, qz=-0.110404, qw=-0.092633)  # body-frame t=260\nPLACE_BODY_261 = pose(x=0.226224, y=0.026091, z=1.348806, qx=-0.663225, qy=-0.737959, qz=-0.096113, qw=-0.079442)  # body-frame t=261\nPLACE_BODY_263 = pose(x=0.247537, y=0.037839, z=1.319710, qx=-0.666595, qy=-0.740587, qz=-0.067515, qw=-0.051231)  # body-frame t=263\nPLACE_BODY_265 = pose(x=0.270129, y=0.047239, z=1.290758, qx=-0.669374, qy=-0.741422, qz=-0.041584, qw=-0.022406)  # body-frame t=265\nPLACE_BODY_267 = pose(x=0.293447, y=0.055121, z=1.262147, qx=-0.671071, qy=-0.741149, qz=-0.018489, qw=0.004436)  # body-frame t=267\nPLACE_BODY_269 = pose(x=0.315476, y=0.058134, z=1.236992, qx=-0.671378, qy=-0.740532, qz=0.003354, qw=0.029196)  # body-frame t=269\nPLACE_BODY_271 = pose(x=0.336040, y=0.058406, z=1.216868, qx=-0.667135, qy=-0.742901, qz=0.022016, qw=0.050433)  # body-frame t=271\nPLACE_BODY_272 = pose(x=0.346093, y=0.058373, z=1.208282, qx=-0.664720, qy=-0.744146, qz=0.029665, qw=0.059273)  # body-frame t=272\nPLACE_BODY_273 = pose(x=0.355818, y=0.057917, z=1.200176, qx=-0.662981, qy=-0.744701, qz=0.036432, qw=0.067446)  # body-frame t=273\nPLACE_BODY_275 = pose(x=0.374067, y=0.054393, z=1.183504, qx=-0.659166, qy=-0.745870, qz=0.047052, qw=0.083450)  # body-frame t=275\nPLACE_BODY_277 = pose(x=0.390488, y=0.050348, z=1.165942, qx=-0.654252, qy=-0.747870, qz=0.055703, qw=0.097687)  # body-frame t=277\nPLACE_BODY_279 = pose(x=0.405491, y=0.048971, z=1.150047, qx=-0.650921, qy=-0.748758, qz=0.063473, qw=0.107862)  # body-frame t=279\nPLACE_BODY_280 = pose(x=0.411997, y=0.048810, z=1.143172, qx=-0.649928, qy=-0.748657, qz=0.067091, qw=0.112272)  # body-frame t=280\nPLACE_BODY_281 = pose(x=0.417910, y=0.048756, z=1.136675, qx=-0.649217, qy=-0.748301, qz=0.070643, qw=0.116502)  # body-frame t=281\nPLACE_BODY_283 = pose(x=0.430736, y=0.048749, z=1.122571, qx=-0.648678, qy=-0.747256, qz=0.075880, qw=0.122748)  # body-frame t=283\nPLACE_BODY_285 = pose(x=0.446560, y=0.048788, z=1.106717, qx=-0.648496, qy=-0.747057, qz=0.077031, qw=0.124195)  # body-frame t=285\nPLACE_BODY_287 = pose(x=0.464992, y=0.048803, z=1.089582, qx=-0.648079, qy=-0.747955, qz=0.075083, qw=0.122151)  # body-frame t=287\nPLACE_BODY_288 = pose(x=0.474817, y=0.048851, z=1.080610, qx=-0.647768, qy=-0.748589, qz=0.073327, qw=0.120975)  # body-frame t=288\nPLACE_BODY_289 = pose(x=0.484945, y=0.048970, z=1.071445, qx=-0.647197, qy=-0.749440, qz=0.070842, qw=0.120240)  # body-frame t=289\nPLACE_BODY_291 = pose(x=0.505288, y=0.049074, z=1.053567, qx=-0.645775, qy=-0.751222, qz=0.065183, qw=0.119965)  # body-frame t=291\nPLACE_BODY_293 = pose(x=0.524183, y=0.049081, z=1.039117, qx=-0.645098, qy=-0.752054, qz=0.059293, qw=0.121441)  # body-frame t=293\nPLACE_BODY_294 = pose(x=0.533233, y=0.049080, z=1.032256, qx=-0.644890, qy=-0.752350, qz=0.056126, qw=0.122212)  # body-frame t=294\nPLACE_BODY_295 = pose(x=0.541726, y=0.049114, z=1.025335, qx=-0.644468, qy=-0.752811, qz=0.052814, qw=0.123071)  # body-frame t=295\nPLACE_BODY_297 = pose(x=0.557423, y=0.048505, z=1.011827, qx=-0.643538, qy=-0.754152, qz=0.044365, qw=0.123066)  # body-frame t=297\nPLACE_BODY_299 = pose(x=0.570891, y=0.047453, z=1.000116, qx=-0.642989, qy=-0.755868, qz=0.035030, qw=0.118329)  # body-frame t=299\nPLACE_BODY_300 = pose(x=0.576362, y=0.047150, z=0.994641, qx=-0.642808, qy=-0.756758, qz=0.030801, qw=0.114745)  # body-frame t=300\nPLACE_BODY_301 = pose(x=0.580530, y=0.046752, z=0.989387, qx=-0.642654, qy=-0.757602, qz=0.027205, qw=0.110879)  # body-frame t=301\nPLACE_BODY_303 = pose(x=0.585067, y=0.045587, z=0.979160, qx=-0.642457, qy=-0.759117, qz=0.020717, qw=0.102769)  # body-frame t=303\nPLACE_BODY_305 = pose(x=0.586184, y=0.044590, z=0.974204, qx=-0.642815, qy=-0.759833, qz=0.015330, qw=0.095954)  # body-frame t=305\nPLACE_BODY_307 = pose(x=0.586273, y=0.043677, z=0.973506, qx=-0.643738, qy=-0.759761, qz=0.011490, qw=0.090729)  # body-frame t=307\nPLACE_BODY_308 = pose(x=0.586291, y=0.043321, z=0.973376, qx=-0.644090, qy=-0.759703, qz=0.010110, qw=0.088867)  # body-frame t=308\nPLACE_BODY_309 = pose(x=0.586302, y=0.043084, z=0.973475, qx=-0.644367, qy=-0.759607, qz=0.009240, qw=0.087769)  # body-frame t=309\nPLACE_BODY_310 = pose(x=0.586347, y=0.042952, z=0.973627, qx=-0.644568, qy=-0.759504, qz=0.008782, qw=0.087232)  # body-frame t=310\nAPPROACH_003_JOINTS = [-0.024465, -1.028866, 0.000467, -2.276742, 0.053925, 1.514818, 0.682075]  # t=3\nAPPROACH_004_JOINTS = [-0.023670, -1.038585, -0.000170, -2.274765, 0.054133, 1.507067, 0.679712]  # t=4\nAPPROACH_006_JOINTS = [-0.021536, -1.067027, -0.002646, -2.269787, 0.056466, 1.517576, 0.668563]  # t=6\nAPPROACH_009_JOINTS = [-0.015380, -1.104809, -0.016788, -2.270566, 0.091721, 1.575674, 0.635198]  # t=9\nAPPROACH_012_JOINTS = [-0.008503, -1.132965, -0.044375, -2.262601, 0.145378, 1.648311, 0.594036]  # t=12\nAPPROACH_015_JOINTS = [-0.002153, -1.129580, -0.045263, -2.258402, 0.186060, 1.725538, 0.572078]  # t=15\nAPPROACH_018_JOINTS = [0.003211, -1.086840, -0.041933, -2.248089, 0.209101, 1.799574, 0.553958]  # t=18\nAPPROACH_021_JOINTS = [0.006653, -1.020000, -0.038383, -2.217240, 0.215015, 1.852040, 0.548532]  # t=21\nAPPROACH_023_JOINTS = [0.008766, -0.970908, -0.037201, -2.191476, 0.217137, 1.878371, 0.545797]  # t=23\nAPPROACH_024_JOINTS = [0.009738, -0.946653, -0.036862, -2.179891, 0.217607, 1.889721, 0.543852]  # t=24\nAPPROACH_027_JOINTS = [0.011388, -0.884958, -0.028072, -2.150349, 0.205610, 1.912660, 0.535570]  # t=27\nAPPROACH_029_JOINTS = [0.012174, -0.858968, -0.015823, -2.140612, 0.197837, 1.917853, 0.536782]  # t=29\nAPPROACH_030_JOINTS = [0.012401, -0.851639, -0.007793, -2.141503, 0.194082, 1.918500, 0.540071]  # t=30\nAPPROACH_033_JOINTS = [0.011177, -0.850355, 0.036968, -2.170383, 0.166636, 1.938072, 0.572493]  # t=33\nAPPROACH_034_JOINTS = [0.010411, -0.856116, 0.059591, -2.188351, 0.154321, 1.955854, 0.593305]  # t=34\nAPPROACH_036_JOINTS = [0.009319, -0.872929, 0.103561, -2.228523, 0.137848, 2.002691, 0.641701]  # t=36\nAPPROACH_039_JOINTS = [0.004799, -0.876226, 0.165332, -2.270629, 0.117660, 2.087055, 0.738303]  # t=39\nAPPROACH_040_JOINTS = [0.000969, -0.867742, 0.182045, -2.277524, 0.105128, 2.113176, 0.774960]  # t=40\nAPPROACH_042_JOINTS = [-0.010033, -0.838160, 0.202686, -2.279711, 0.072420, 2.161333, 0.840447]  # t=42\nAPPROACH_045_JOINTS = [-0.030071, -0.771407, 0.223170, -2.255702, 0.017408, 2.211046, 0.934137]  # t=45\nAPPROACH_048_JOINTS = [-0.049612, -0.690981, 0.230735, -2.205605, -0.027031, 2.224544, 1.017801]  # t=48\nAPPROACH_050_JOINTS = [-0.060710, -0.638275, 0.232531, -2.164756, -0.052267, 2.214924, 1.068489]  # t=50\nAPPROACH_051_JOINTS = [-0.065465, -0.614106, 0.234145, -2.143835, -0.064799, 2.206288, 1.094324]  # t=51\nAPPROACH_054_JOINTS = [-0.075944, -0.544151, 0.233282, -2.080421, -0.091475, 2.177071, 1.155072]  # t=54\nAPPROACH_057_JOINTS = [-0.079207, -0.488986, 0.219731, -2.022843, -0.095034, 2.148279, 1.172272]  # t=57\nAPPROACH_059_JOINTS = [-0.078902, -0.457742, 0.213961, -1.992498, -0.100489, 2.138870, 1.177135]  # t=59\nDESCEND_061_JOINTS = [-0.077650, -0.425611, 0.207767, -1.967765, -0.104474, 2.141251, 1.178017]  # t=61\nDESCEND_062_JOINTS = [-0.076625, -0.410156, 0.205346, -1.957082, -0.106935, 2.143648, 1.178060]  # t=62\nDESCEND_063_JOINTS = [-0.075351, -0.395538, 0.203782, -1.947748, -0.110146, 2.146199, 1.178726]  # t=63\nDESCEND_065_JOINTS = [-0.072380, -0.367944, 0.201651, -1.933452, -0.117662, 2.153255, 1.182304]  # t=65\nDESCEND_067_JOINTS = [-0.068919, -0.343695, 0.199940, -1.926361, -0.125412, 2.161753, 1.187570]  # t=67\nDESCEND_069_JOINTS = [-0.065214, -0.321447, 0.197992, -1.924633, -0.133054, 2.173976, 1.193406]  # t=69\nDESCEND_071_JOINTS = [-0.061409, -0.301261, 0.195731, -1.926176, -0.140879, 2.189981, 1.199743]  # t=71\nDESCEND_072_JOINTS = [-0.059460, -0.292353, 0.194509, -1.927740, -0.144607, 2.197869, 1.202885]  # t=72\nDESCEND_073_JOINTS = [-0.057478, -0.284673, 0.193203, -1.929724, -0.148123, 2.205186, 1.205911]  # t=73\nDESCEND_075_JOINTS = [-0.053484, -0.272222, 0.190384, -1.933538, -0.154433, 2.219245, 1.211420]  # t=75\nDESCEND_077_JOINTS = [-0.049301, -0.262706, 0.188462, -1.931776, -0.159188, 2.229458, 1.216219]  # t=77\nDESCEND_078_JOINTS = [-0.047187, -0.258434, 0.187969, -1.928797, -0.161148, 2.231637, 1.218528]  # t=78\nDESCEND_079_JOINTS = [-0.045087, -0.255222, 0.187638, -1.925142, -0.162873, 2.231457, 1.220730]  # t=79\nDESCEND_081_JOINTS = [-0.040984, -0.251762, 0.187338, -1.918620, -0.165507, 2.226844, 1.224788]  # t=81\nDESCEND_082_JOINTS = [-0.039064, -0.250945, 0.187167, -1.916305, -0.166546, 2.223972, 1.226596]  # t=82\nDESCEND_083_JOINTS = [-0.037294, -0.250285, 0.186821, -1.914427, -0.167474, 2.221583, 1.228135]  # t=83\nDESCEND_084_JOINTS = [-0.035666, -0.249746, 0.186323, -1.912791, -0.168258, 2.219668, 1.229353]  # t=84\nDESCEND_085_JOINTS = [-0.034202, -0.249182, 0.185624, -1.911425, -0.168959, 2.218205, 1.230222]  # t=85\nGRASP_HOLD_088_JOINTS = [-0.030871, -0.247759, 0.181558, -1.909425, -0.170703, 2.216325, 1.230220]  # t=88\nLIFT_089_JOINTS = [-0.029864, -0.247712, 0.180359, -1.908975, -0.170750, 2.215922, 1.229945]  # t=89\nLIFT_090_JOINTS = [-0.028907, -0.247717, 0.179339, -1.908708, -0.170800, 2.215645, 1.229881]  # t=90\nLIFT_091_JOINTS = [-0.028012, -0.247719, 0.178462, -1.908587, -0.170861, 2.215555, 1.229880]  # t=91\nLIFT_092_JOINTS = [-0.027183, -0.247720, 0.177697, -1.908530, -0.170926, 2.215553, 1.229882]  # t=92\nLIFT_093_JOINTS = [-0.026425, -0.247720, 0.177004, -1.908472, -0.170998, 2.215553, 1.229883]  # t=93\nLIFT_094_JOINTS = [-0.025733, -0.247721, 0.176370, -1.908409, -0.171061, 2.215553, 1.229885]  # t=94\nLIFT_095_JOINTS = [-0.025105, -0.247721, 0.175789, -1.908349, -0.171114, 2.215554, 1.229886]  # t=95\nLIFT_096_JOINTS = [-0.024533, -0.247721, 0.175261, -1.908286, -0.171152, 2.215556, 1.229887]  # t=96\nLIFT_097_JOINTS = [-0.023930, -0.249069, 0.174911, -1.908845, -0.171070, 2.213882, 1.229889]  # t=97\nLIFT_098_JOINTS = [-0.022944, -0.253998, 0.175168, -1.911305, -0.169455, 2.208791, 1.228104]  # t=98\nLIFT_099_JOINTS = [-0.020987, -0.264891, 0.176475, -1.917144, -0.162799, 2.199667, 1.218547]  # t=99\nLIFT_100_JOINTS = [-0.018358, -0.280022, 0.176857, -1.926092, -0.148916, 2.190928, 1.197590]  # t=100\nLIFT_101_JOINTS = [-0.015341, -0.299250, 0.175861, -1.938451, -0.129217, 2.182280, 1.166492]  # t=101\nLIFT_102_JOINTS = [-0.012553, -0.322005, 0.173141, -1.953960, -0.107930, 2.173807, 1.132539]  # t=102\nLIFT_103_JOINTS = [-0.010036, -0.347921, 0.169339, -1.970545, -0.086399, 2.165463, 1.099316]  # t=103\nLIFT_104_JOINTS = [-0.007414, -0.378724, 0.165063, -1.986239, -0.063068, 2.153996, 1.066384]  # t=104\nLIFT_105_JOINTS = [-0.004855, -0.412634, 0.160333, -2.001272, -0.039906, 2.139091, 1.033121]  # t=105\nRELEASE_POSE_310_JOINTS = [-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.092810, 0.598897]  # t=310\nRETRACT_319_JOINTS = [-0.000545, -0.329988, 0.066116, -2.563590, 0.149658, 2.092166, 0.599254]  # t=319\nRETRACT_320_JOINTS = [-0.000231, -0.330529, 0.065787, -2.563271, 0.149619, 2.092201, 0.599254]  # t=320\nRETRACT_322_JOINTS = [0.000478, -0.353077, 0.064534, -2.563636, 0.148965, 2.077678, 0.599145]  # t=322\nRETRACT_324_JOINTS = [0.001417, -0.408464, 0.062933, -2.570927, 0.148088, 2.047527, 0.599458]  # t=324\nRETRACT_325_JOINTS = [0.001971, -0.444333, 0.062186, -2.577334, 0.147823, 2.029287, 0.600080]  # t=325\nRETRACT_327_JOINTS = [0.003134, -0.527302, 0.060512, -2.590492, 0.147253, 1.982870, 0.602989]  # t=327\nRETRACT_328_JOINTS = [0.003689, -0.571156, 0.059593, -2.594782, 0.146856, 1.957628, 0.605178]  # t=328\nRETRACT_331_JOINTS = [0.005009, -0.692094, 0.056556, -2.594050, 0.145128, 1.872799, 0.614244]  # t=331\nRETRACT_334_JOINTS = [0.005929, -0.795815, 0.052958, -2.575142, 0.142548, 1.773118, 0.624336]  # t=334\nRETRACT_335_JOINTS = [0.006273, -0.831269, 0.051769, -2.568176, 0.141686, 1.738623, 0.627464]  # t=335\nRETRACT_337_JOINTS = [0.007256, -0.905610, 0.050113, -2.555354, 0.140950, 1.667382, 0.634051]  # t=337\nRETRACT_340_JOINTS = [0.010169, -1.027573, 0.052516, -2.551541, 0.143740, 1.569185, 0.646223]  # t=340\nRETRACT_342_JOINTS = [0.012017, -1.111002, 0.053744, -2.556133, 0.144212, 1.504944, 0.654598]  # t=342\nRETRACT_343_JOINTS = [0.013252, -1.151155, 0.055946, -2.556584, 0.146606, 1.472428, 0.659394]  # t=343\nRETRACT_346_JOINTS = [0.017224, -1.263810, 0.065870, -2.543323, 0.154744, 1.369813, 0.678586]  # t=346\nRETRACT_349_JOINTS = [0.019076, -1.353692, 0.064487, -2.500336, 0.156598, 1.267606, 0.695152]  # t=349\nRETRACT_350_JOINTS = [0.018927, -1.372441, 0.063003, -2.482728, 0.156914, 1.243064, 0.701546]  # t=350\nRETRACT_352_JOINTS = [0.017669, -1.391933, 0.060104, -2.441089, 0.156947, 1.205308, 0.716473]  # t=352\nRETRACT_355_JOINTS = [0.014617, -1.387925, 0.056873, -2.364901, 0.156275, 1.161204, 0.736993]  # t=355\nRETRACT_357_JOINTS = [0.012529, -1.373249, 0.055221, -2.308408, 0.155550, 1.137718, 0.745677]  # t=357\nAPPROACH_000_JOINTS = [-0.025372, -1.024076, 0.001044, -2.277706, 0.054431, 1.522722, 0.681805]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_029_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_088_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_088_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_104_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveWholeBodyPath(body_waypoints=[PLACE_BODY_107, PLACE_BODY_109, PLACE_BODY_111, PLACE_BODY_113, PLACE_BODY_114, PLACE_BODY_115, PLACE_BODY_117, PLACE_BODY_119, PLACE_BODY_121, PLACE_BODY_122, PLACE_BODY_123, PLACE_BODY_124, PLACE_BODY_125, PLACE_BODY_127, PLACE_BODY_129, PLACE_BODY_131, PLACE_BODY_133, PLACE_BODY_135, PLACE_BODY_137, PLACE_BODY_138, PLACE_BODY_139, PLACE_BODY_140, PLACE_BODY_141, PLACE_BODY_143, PLACE_BODY_145, PLACE_BODY_147, PLACE_BODY_148, PLACE_BODY_149, PLACE_BODY_151, PLACE_BODY_152, PLACE_BODY_153, PLACE_BODY_154, PLACE_BODY_155, PLACE_BODY_157, PLACE_BODY_159, PLACE_BODY_161, PLACE_BODY_162, PLACE_BODY_163, PLACE_BODY_165, PLACE_BODY_167, PLACE_BODY_169, PLACE_BODY_171, PLACE_BODY_172, PLACE_BODY_173, PLACE_BODY_175, PLACE_BODY_177, PLACE_BODY_178, PLACE_BODY_179, PLACE_BODY_181, PLACE_BODY_182, PLACE_BODY_183, PLACE_BODY_185, PLACE_BODY_187, PLACE_BODY_189, PLACE_BODY_191, PLACE_BODY_193, PLACE_BODY_194, PLACE_BODY_195, PLACE_BODY_197, PLACE_BODY_199, PLACE_BODY_201, PLACE_BODY_203, PLACE_BODY_204, PLACE_BODY_205, PLACE_BODY_207, PLACE_BODY_209, PLACE_BODY_211, PLACE_BODY_213, PLACE_BODY_214, PLACE_BODY_215, PLACE_BODY_217, PLACE_BODY_219, PLACE_BODY_221, PLACE_BODY_223, PLACE_BODY_225, PLACE_BODY_227, PLACE_BODY_229, PLACE_BODY_231, PLACE_BODY_232, PLACE_BODY_233, PLACE_BODY_235, PLACE_BODY_237, PLACE_BODY_239, PLACE_BODY_241, PLACE_BODY_242, PLACE_BODY_243, PLACE_BODY_245, PLACE_BODY_247, PLACE_BODY_249, PLACE_BODY_250, PLACE_BODY_251, PLACE_BODY_253, PLACE_BODY_255, PLACE_BODY_257, PLACE_BODY_258, PLACE_BODY_259, PLACE_BODY_260, PLACE_BODY_261, PLACE_BODY_263, PLACE_BODY_265, PLACE_BODY_267, PLACE_BODY_269, PLACE_BODY_271, PLACE_BODY_272, PLACE_BODY_273, PLACE_BODY_275, PLACE_BODY_277, PLACE_BODY_279, PLACE_BODY_280, PLACE_BODY_281, PLACE_BODY_283, PLACE_BODY_285, PLACE_BODY_287, PLACE_BODY_288, PLACE_BODY_289, PLACE_BODY_291, PLACE_BODY_293, PLACE_BODY_294, PLACE_BODY_295, PLACE_BODY_297, PLACE_BODY_299, PLACE_BODY_300, PLACE_BODY_301, PLACE_BODY_303, PLACE_BODY_305, PLACE_BODY_307, PLACE_BODY_308, PLACE_BODY_309, PLACE_BODY_310], base_waypoints=[[4.069221343252166, -1.128370751180432, 1.571239654585625], [4.069222459182742, -1.1283704346491807, 1.5712104780731206], [4.0692221959535475, -1.1283717577181422, 1.5711961809846935], [4.069213918765596, -1.1283730637195628, 1.5712437594727031], [4.069208109977227, -1.1283738051202408, 1.5712762947445233], [4.069207314602289, -1.1283742835915396, 1.5712768068097216], [4.0692069794232735, -1.1283753133528687, 1.571291316162492], [4.069210501089665, -1.128375698040696, 1.5712705587570086], [4.069211934149012, -1.1283773908183399, 1.5712694527343474], [4.06920616224151, -1.128377759083325, 1.5712974646700935], [4.069208538354079, -1.128378046498492, 1.571280641864753], [4.069212109340472, -1.128377769187752, 1.5712664043626534], [4.069211627269905, -1.1283770926309393, 1.5712689489128786], [4.069213791724402, -1.1283756575560218, 1.5712580563748162], [4.069215062422173, -1.1283750097667118, 1.5712520153239042], [4.069217512749317, -1.1283777475861787, 1.5712439754407108], [4.069210613879369, -1.1283735940412085, 1.5712687019056832], [4.0692196564340115, -1.1283703704556916, 1.5712381953255752], [4.069228006045459, -1.1283702850168524, 1.5712261627360318], [4.069229903739052, -1.1283730776561627, 1.571224602172172], [4.069229527858685, -1.1283745914834036, 1.5712239686548541], [4.069233951950149, -1.128374766848748, 1.5712138887139577], [4.069233030299783, -1.1283749142558084, 1.5712177362311088], [4.06923216541321, -1.128378197102483, 1.5712138289210245], [4.069226955915782, -1.1283849071402383, 1.571218171590279], [4.06922611052952, -1.1283886869439939, 1.5712160265974333], [4.069225805319412, -1.1283923406229799, 1.5712145430192939], [4.069225589031321, -1.1283957111281553, 1.571213355246111], [4.0692254575110995, -1.1283981267933785, 1.5712128697808216], [4.069225395049029, -1.1283997905078886, 1.571212342772909], [4.069226461539401, -1.1283974652295505, 1.57121089954489], [4.069029803971051, -1.131700778154756, 1.571200520136727], [4.068986699188809, -1.1445650668039922, 1.5712151697153127], [4.069559349500387, -1.201935465523916, 1.5712453428850317], [4.0726252596026535, -1.2736434466955613, 1.5712523915801688], [4.073984282187846, -1.3476086494689798, 1.5712513472677252], [4.074332831145237, -1.3847689900411264, 1.5712496019547022], [4.0746023944304115, -1.4219631259109826, 1.5712478415331153], [4.074650062348094, -1.49640105622377, 1.5712390436639236], [4.074475601895165, -1.5708687112108688, 1.5712322925596558], [4.067520512644397, -1.6453512606191483, 1.5707521704553014], [4.0209871770986805, -1.7198507849337477, 1.5729818281274976], [3.987329136003313, -1.756481860005873, 1.5741929408433204], [3.9517311623965554, -1.792363858447319, 1.5756576311910104], [3.878843821972292, -1.8568939742482842, 1.58075818030426], [3.831135285724406, -1.8788950382770966, 1.593122551899327], [3.8147076520250183, -1.8790275228474822, 1.5978228572055981], [3.7986133500968293, -1.8790629267937984, 1.602326154522075], [3.7656369329502075, -1.8788788091619222, 1.6100322995448417], [3.7478697343555467, -1.8776795737005219, 1.613518838001855], [3.7347581370085807, -1.8757359768829098, 1.6196216950793976], [3.7346000252906855, -1.874118090370355, 1.626138622788336], [3.733766386727451, -1.8730713765328513, 1.6304730260570184], [3.731712276088244, -1.8714075904376961, 1.6374734307765424], [3.729615591579684, -1.8657520426248462, 1.6449938851835888], [3.727469942810664, -1.8412442105410047, 1.6509811869690676], [3.7259918272316987, -1.823756163940843, 1.6548907482444253], [3.7241025332762128, -1.807254901758776, 1.6598081425028837], [3.7172270883604273, -1.7842933665353846, 1.6793799376598677], [3.7043522503177817, -1.7760219758587306, 1.716551370221515], [3.6839465090331847, -1.7670665596804807, 1.7740746459308352], [3.659164412732232, -1.7555550964589384, 1.8421426160436374], [3.6457829859332054, -1.7501449913312908, 1.878101829017845], [3.6323898272219695, -1.745244287249634, 1.9135329678519213], [3.6119749578540095, -1.7294115039996854, 1.9630781343827888], [3.598432142762738, -1.7010897114968524, 1.9832672809886718], [3.5886937678758026, -1.6708640339814447, 1.991306832223248], [3.55274758562751, -1.6339887594970632, 1.9910321083181344], [3.5254062338438135, -1.6120665307209656, 1.991012325146501], [3.4982372312666588, -1.5887053617247915, 1.991079989926994], [3.44297133286468, -1.5410736366692541, 1.9909839340930544], [3.375584953494991, -1.503572764027029, 1.9904174737095448], [3.301235046426781, -1.4798750650068286, 1.9728471476136888], [3.2338501216791293, -1.4735466345533959, 1.9482802677705406], [3.1668265033092053, -1.4613822612008298, 1.9042792718967902], [3.093686757790034, -1.434444716634333, 1.8392426704155795], [3.0379890702903274, -1.4049547783028413, 1.7709253881527973], [3.003887720909584, -1.3713592752048265, 1.693486112499725], [2.9916941347306016, -1.3522496966307604, 1.6544316917491244], [2.9823851634201333, -1.3320008208770204, 1.616003075300244], [2.9704115295490547, -1.2881488857722814, 1.5412919808668777], [2.9701245994222565, -1.2366802127465417, 1.4831955938350976], [2.9708796008667533, -1.1834565013625655, 1.4298511815596089], [2.9689132445835424, -1.1308786745913915, 1.4092922644106958], [2.9650793344763113, -1.106476140034247, 1.4088379904695538], [2.9618254953355114, -1.0846173458723918, 1.4104562241880152], [2.9597850804848793, -1.0471174515657875, 1.4145785347988333], [2.9590492401105775, -1.0188807314823802, 1.422275213543073], [2.9588250427029155, -1.0055348117868055, 1.431799775721487], [2.958772218273648, -1.0050849786288019, 1.4390768597646515], [2.9587349060209513, -1.0048874158632246, 1.4464015303137834], [2.9584796455968174, -1.0047214208248532, 1.4596076639952271], [2.955406576427261, -1.0045407523470364, 1.4679125831314903], [2.9544667459172347, -1.004539796046893, 1.468364402398802], [2.954471090552222, -1.0045456727640043, 1.4683822848534465], [2.954464712296254, -1.0045522996030556, 1.468397060932205], [2.95446286669041, -1.0045593878181474, 1.4684040645075358], [2.9544632899793095, -1.0045642357822961, 1.4684085949961403], [2.954462623457339, -1.0045749698420456, 1.4684196872525486], [2.9544578317542007, -1.0045822307334058, 1.4684359462056498], [2.9544556598776786, -1.0045890057725333, 1.4684503278350254], [2.954447430976304, -1.0045940198784025, 1.468474176771438], [2.9544457302059333, -1.0045987661379063, 1.4684760839340143], [2.9544459495026523, -1.0046008713180266, 1.4684813923549833], [2.9544448866659354, -1.0046022910573182, 1.4684962517964115], [2.9544398866850115, -1.0046045745359877, 1.4685274887138768], [2.954443408150628, -1.004607135884108, 1.4685180177242394], [2.954447425586663, -1.0046093998283627, 1.4685151351091832], [2.9544485807786507, -1.00460938492738, 1.4685164220785492], [2.954449306951298, -1.0046103868812248, 1.4685216001502641], [2.9544501855838856, -1.0046164113524985, 1.4685333620248517], [2.9544506896128375, -1.0046240418366397, 1.4685434933853503], [2.954450831836579, -1.0046319870215181, 1.4685558008711774], [2.9544506045875183, -1.0046363084490113, 1.4685629894433303], [2.954450040240405, -1.0046405740275821, 1.4685726351975499], [2.9544495104584754, -1.0046464713370964, 1.4685892185887137], [2.95444983922924, -1.004648538283902, 1.4686044100731679], [2.954450163727032, -1.0046498304288942, 1.468609756275694], [2.9544507470643753, -1.0046496348036396, 1.46861300644639], [2.954450788325904, -1.0046474506024419, 1.4686366642491158], [2.954454242037387, -1.0046434427408832, 1.4686228330337954], [2.9544556449837858, -1.0046418190334847, 1.4686211170960688], [2.9544568439661556, -1.004638244757304, 1.4686232999343043], [2.9544586300022235, -1.0046336391537767, 1.4686332955769912], [2.9544694977026547, -1.004684496503975, 1.468562019083502], [2.9544855572007074, -1.0047614592248815, 1.468452664196275], [2.9544921176867525, -1.0047926415080695, 1.4684088415140906], [2.9544965830371095, -1.004814857181072, 1.4683791413171838], [2.9544993863423668, -1.0048320884481396, 1.4683604048378363]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.00019936679508645745, 0.00019626115555035272, 0.0001923911366707905, 0.00018722875307805394, 0.00018590980543181271, 0.0001843747011953258, 0.00018262956126789334, 0.00017873934921128077, 0.0001736914869687327, 0.00017306229021615504, 0.00017405585015857546, 0.00017573968745756354, 0.00017717310016532835, 0.0001780977695163684, 0.00017760043672693658, 0.00017474207167975697, 0.00017985560915791964, 0.0001866743389213785, 0.00018172266140858767, 0.00017767640757537166, 0.00017498378654820607, 0.00017269565881334548, 0.00017252350685572425, 0.0001687804292097526, 0.0001568720866167901, 0.0001487061200414346, 0.00014446521008349645, 0.00014173318090111611, 0.00013764441489084854, 0.0001358581578995362, 0.00013555759101585484, 0.00013409535609298698, 0.0001313288524453783, 0.00013295927671240384, 0.00014056257555951113, 0.00014722069092882017, 0.0001498406349778907, 0.00015192658076709632, 0.00015486350997167677, 0.00015652345423458955, 0.00015740987713531822, 0.00015757088033334187, 0.000157755823105515, 0.0001577858200486499, 0.0001593941313545073, 0.00016479543105665077, 0.0001607050118833827, 0.0001578172114937058, 0.00015430767048042532, 0.00015369935742823597, 0.00015229206715189388, 0.00015143529925310393, 0.0001514748992059712, 0.0001518312092113435, 0.00015331932765817123, 0.00015461719706846803, 0.00015335407532689332, 0.0001509923091342186, 0.00014716742096879476, 0.00014767610434134658, 0.00014889705001957412, 0.0001482171959613366, 0.00014787360204696466, 0.0001472393932077085, 0.0001482500222594942, 0.00014677655154049274, 0.00014447936925515668, 0.00014649261646291342, 0.0001443793388863217, 0.0001420679077608425, 0.0001382875458800459, 0.000134071319247236, 0.00013070590197042056, 0.00012813560435376346, 0.0001335532965880589, 0.00013263112367542805, 0.0001280234137091018, 0.00012850783770614497, 0.00012779356268750237, 0.00012710759763230435, 0.0001257871046379927, 0.00012439915405057216, 0.00012217694843314554, 0.00011947967036096727, 0.00011854461270139893, 0.00011728976948585587, 0.00011692161704172178, 0.00011531265509004956, 0.00011413860079801229, 0.00011469871506654156, 0.0001157692697244378, 0.00011644884820691872, 0.0001160588800025537, 0.000135153582121396, 0.00013823374510470507, 0.00013820938310995208, 0.00013642274816044717, 0.00013444186392114248, 0.00012807911654466725, 0.00012117917118252519, 0.00011373044653817994, 9.945972759345558e-05, 8.95780372025557e-05, 8.572925805691547e-05, 8.431553920021563e-05, 8.524508615319051e-05, 8.46583722471735e-05, 8.042602893177916e-05, 7.955509751965054e-05, 7.867461028035804e-05, 7.93833925509916e-05, 7.859645174680453e-05, 7.683063233384643e-05, 7.603703723135486e-05, 7.482738548354609e-05, 7.048641990346739e-05, 6.616907374057361e-05, 6.547524576853757e-05, 6.543890804733251e-05, 6.398620358366293e-05, 6.24506995728828e-05, 6.233658660013454e-05, 6.199327247647925e-05, 6.285562286352141e-05, 0.00018289642140129314, 0.00034499293626754827, 0.0004165176946596904, 0.0004705766230723326, 0.0005110343974223233], segment_steps=[2, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 2, 2, 1, 1, 2, 2, 1, 1, 2, 2, 1, 1, 1, 1], settle_steps=0, gripper=1.000, gripper_cmds=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0], body_motion_priority=1.000000, base_xy_priority=1.000000, base_yaw_priority=1.000000, base_position_gain=5.500000, base_yaw_gain=4.800000, base_position_ff_gain=24.000000, base_yaw_ff_gain=24.000000, base_ee_anchor_mix=0.350000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_310_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_310_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_310_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_319_JOINTS, input_type='joint', steps=9, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_320_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_322_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_324_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_325_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_327_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_328_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_331_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_334_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_335_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_337_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_340_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_342_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_343_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_346_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_349_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_350_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_352_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_355_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_357_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 52371, "code_num_lines": 363, "code_num_nonblank_lines": 349, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"PickPlaceMicrowaveToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceMicrowaveToCounter\",\"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\",\"distr_counter\":\"counter_1_main_group\",\"microwave\":\"microwave_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_front_group\":{\"cls\":\"Box\"},\"box_2_front_group\":{\"cls\":\"Box\"},\"box_3_front_group\":{\"cls\":\"Box\"},\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_front_group\":{\"cls\":\"Counter\"},\"counter_3_front_group\":{\"cls\":\"Counter\"},\"counter_4_front_group\":{\"cls\":\"Counter\"},\"counter_5_front_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\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_top_left_group\":{\"cls\":\"HingeCabinet\"},\"hood_front_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"middle_main_group\":{\"cls\":\"HingeCabinet\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_1_main_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"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_2_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_2\":{\"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_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_front_group_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_front_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_main_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_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\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"},\"window_group_4_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[4.06926786211098,-0.9283429156365615,0.0],\"lang\":\"Pick 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": "{\"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\":\"PickPlaceMicrowaveToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceMicrowaveToCounter\",\"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\",\"distr_counter\":\"counter_1_main_group\",\"microwave\":\"microwave_main_group\"},\"fixtures\":{\"bottom_main_group_1\":{\"cls\":\"Drawer\"},\"bottom_main_group_base\":{\"cls\":\"Box\"},\"box_1_front_group\":{\"cls\":\"Box\"},\"box_2_front_group\":{\"cls\":\"Box\"},\"box_3_front_group\":{\"cls\":\"Box\"},\"box_left_group\":{\"cls\":\"Box\"},\"box_main_group\":{\"cls\":\"Box\"},\"cab_1_left_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"SingleCabinet\"},\"coffee_machine_left_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group\":{\"cls\":\"Counter\"},\"counter_1_left_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_2_front_group\":{\"cls\":\"Counter\"},\"counter_3_front_group\":{\"cls\":\"Counter\"},\"counter_4_front_group\":{\"cls\":\"Counter\"},\"counter_5_front_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\"},\"floor_2_backing_room\":{\"cls\":\"Floor\"},\"floor_2_room\":{\"cls\":\"Floor\"},\"fridge_housing_left_group\":{\"cls\":\"HousingCabinet\"},\"fridge_left_group\":{\"cls\":\"FridgeBottomFreezer\"},\"fridge_top_left_group\":{\"cls\":\"HingeCabinet\"},\"hood_front_group\":{\"cls\":\"Hood\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"microwave_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"middle_main_group\":{\"cls\":\"HingeCabinet\"},\"paper_towel_main_group\":{\"cls\":\"Accessory\"},\"sink_1_main_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_2\":{\"cls\":\"Drawer\"},\"stack_1_front_group_base\":{\"cls\":\"Box\"},\"stack_1_left_group_1\":{\"cls\":\"SingleCabinet\"},\"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_2_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_2\":{\"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_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_base\":{\"cls\":\"Box\"},\"stack_3_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_front_group_2\":{\"cls\":\"Drawer\"},\"stack_3_front_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_3\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_2\":{\"cls\":\"SingleCabinet\"},\"stack_4_main_group_base\":{\"cls\":\"Box\"},\"stool_1_room\":{\"cls\":\"Stool\"},\"stool_2_room\":{\"cls\":\"Stool\"},\"stool_3_room\":{\"cls\":\"Stool\"},\"stove_front_group\":{\"cls\":\"Stove\"},\"toaster_main_group\":{\"cls\":\"Toaster\"},\"toaster_oven_left_group\":{\"cls\":\"ToasterOven\"},\"top_main_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_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\"},\"window_group_1_room\":{\"cls\":\"Window\"},\"window_group_2_room\":{\"cls\":\"Window\"},\"window_group_3_room\":{\"cls\":\"Window\"},\"window_group_4_room\":{\"cls\":\"Window\"}},\"gen_textures\":{},\"init_robot_base_ori\":[0.0,0.0,1.5707963267948966],\"init_robot_base_pos\":[4.06926786211098,-0.9283429156365615,0.0],\"lang\":\"Pick 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,-0.3822145374676581,1.2409794904151636,0.9442634636024901,0.008849158129460136,-0.002679294134705916,0.32906082278017823,2.9940118767226234,-0.46555946720928504,0.9291762218374189,0.9988190191757657,-0.0034007123047722233,-0.005890108918391962,0.04810726250278219,2.982855800713442,-0.19063460165670512,0.933302963230895,0.9510157368146176,0.03138660818105694,-0.01623255126836331,0.30711635162778184,-7.706256074505401e-07,4.648736572389093e-07,-3.251239292689577e-06,7.334053494883874e-08,-9.147913340881787e-06,0.0005983595238964834,-0.0006816494421637666,-2.3214699039496727e-05,-0.000735216350166487,9.407323029470008e-05,-0.00011516161196578132,-0.00046662416418175934,0.0004694267308696314,4.628384745181842e-10,9.456365453299746e-08,0.0,0.0,0.0,0.0,0.0,0.0,-7.351514126127469e-18,-7.351514126127469e-18,0.0,0.0,-1.0997323483624412e-17,0.0,0.0,6.214588791127517e-05,0.0,0.0,0.0,0.0,0.0,0.0,-5.2438361482522e-07,-1.1379962292476302e-12,-6.466292996324969e-08,-5.2438361482522e-07,-2.3276769937205843e-12,-6.44446593379074e-08,0.0,-3.535610136642062e-18,-3.5878257971897006e-18,-3.5878257971897006e-18,-3.530415252124356e-18,-3.4313702590702166e-06,-5.338917200881578e-08,-8.320477086890188e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-7.182824945555826e-07,5.485020955556478e-12,-6.837262957860431e-07,1.1810213263520274e-08,1.1927420661061642e-08,-3.231264159023194e-12,0.0,-4.262519296993051e-08,2.343331628042097e-19,-1.860311025196401e-11,-4.148158501184362e-11,-5.5250865126371566e-11,6.257126285891791e-09,1.0472034435452157e-07,0.0,0.0,0.0,-9.417541698144355e-17,0.0,-8.112742545402598e-17,0.0,-8.034194205008373e-17,-7.696197493173051e-07,-7.696197493173051e-07,-7.696197493173051e-07,-7.696197493173051e-07,-7.696197493173051e-07,-0.001361277592708094,0.0015925199828405088,-1.477890088389917e-05,-0.019818204534247756,-0.06387017368157029,1.6073042793151625e-05,1.6249262501947537e-07,-1.7954574011278974e-07,1.053417741453737e-06,2.063808789968466e-05,1.7635030084835146e-06,-1.0681345608421542e-06,-1.3724470498877328e-08,3.222185905517081e-08,1.521916559033081e-06,-3.6354695949920664e-06,-1.1506960743359585e-06,3.3270075598487964e-08,-1.8277768108504957e-05,1.2125418845887528e-06,7.66314060289643e-06,-0.00016119695039267965,-0.0004933931011966209,2.970234158921123e-05],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 83, "pretrain_task_id": 44, "retained_waypoint_count": 211, "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": 1086682, "video_relpath": "videos/raw_extracted/44_PickPlaceMicrowaveToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceSinkToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_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': 'PickPlaceSinkToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 85,\n    'stable_release_contact_loss_t': 202,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.680138, y=-0.259268, z=0.723685, qw=0.914614, qx=-0.129267, qy=-0.152518, qz=-0.351438)\nGOAL_RECEPTACLE_POSE = pose(x=2.064533, y=-0.369370, z=0.929176, qw=0.999085, qx=-0.003435, qy=-0.005870, qz=0.042227)\n\nAPPROACH_004_JOINTS = [-0.029513, -1.059504, -0.031982, -2.266534, 0.040570, 1.453447, 0.708722]  # t=4\nAPPROACH_005_JOINTS = [-0.029181, -1.068154, -0.032494, -2.272507, 0.040031, 1.447436, 0.708734]  # t=5\nAPPROACH_008_JOINTS = [-0.026589, -1.091677, -0.018226, -2.334423, 0.045779, 1.453855, 0.714879]  # t=8\nAPPROACH_012_JOINTS = [-0.021838, -1.124535, 0.013507, -2.475021, 0.067430, 1.514558, 0.737278]  # t=12\nAPPROACH_013_JOINTS = [-0.020844, -1.127534, 0.019625, -2.510391, 0.070910, 1.534831, 0.741494]  # t=13\nAPPROACH_016_JOINTS = [-0.017322, -1.121738, 0.030445, -2.613154, 0.079365, 1.617327, 0.735438]  # t=16\nAPPROACH_020_JOINTS = [-0.009576, -1.096143, 0.042475, -2.736742, 0.092093, 1.749950, 0.694935]  # t=20\nAPPROACH_022_JOINTS = [-0.005808, -1.081505, 0.046201, -2.787583, 0.096314, 1.809960, 0.670684]  # t=22\nAPPROACH_024_JOINTS = [-0.003359, -1.070896, 0.040856, -2.835889, 0.094953, 1.865711, 0.631704]  # t=24\nAPPROACH_028_JOINTS = [0.001288, -1.047647, 0.028366, -2.931622, 0.095123, 1.980780, 0.553759]  # t=28\nAPPROACH_032_JOINTS = [0.005172, -1.004770, 0.018761, -3.015645, 0.097904, 2.123600, 0.496075]  # t=32\nAPPROACH_036_JOINTS = [0.010070, -0.904477, 0.014233, -3.058064, 0.108364, 2.286741, 0.471410]  # t=36\nAPPROACH_040_JOINTS = [0.016619, -0.743991, 0.012127, -3.047344, 0.120551, 2.437097, 0.459306]  # t=40\nAPPROACH_044_JOINTS = [0.027614, -0.566876, 0.016470, -2.988511, 0.138593, 2.548990, 0.452611]  # t=44\nAPPROACH_048_JOINTS = [0.033806, -0.402732, 0.020323, -2.900935, 0.148614, 2.600217, 0.450794]  # t=48\nAPPROACH_051_JOINTS = [0.034026, -0.291259, 0.021070, -2.828865, 0.150502, 2.613642, 0.451425]  # t=51\nAPPROACH_052_JOINTS = [0.033692, -0.254750, 0.021393, -2.806394, 0.151180, 2.617830, 0.450547]  # t=52\nAPPROACH_056_JOINTS = [0.031397, -0.123958, 0.022869, -2.734875, 0.158675, 2.655998, 0.440715]  # t=56\nAPPROACH_060_JOINTS = [0.027788, -0.004131, 0.026508, -2.682925, 0.172790, 2.717153, 0.424140]  # t=60\nAPPROACH_064_JOINTS = [0.022837, 0.101295, 0.035518, -2.636831, 0.200883, 2.774439, 0.398968]  # t=64\nAPPROACH_068_JOINTS = [0.014363, 0.195639, 0.048503, -2.590348, 0.247722, 2.820299, 0.357173]  # t=68\nAPPROACH_072_JOINTS = [0.000093, 0.293928, 0.066476, -2.523961, 0.310011, 2.855739, 0.299280]  # t=72\nAPPROACH_075_JOINTS = [-0.013353, 0.366378, 0.077573, -2.465907, 0.347782, 2.872310, 0.257366]  # t=75\nDESCEND_076_JOINTS = [-0.017577, 0.389311, 0.080705, -2.445864, 0.356138, 2.876684, 0.246567]  # t=76\nDESCEND_077_JOINTS = [-0.021794, 0.411623, 0.083768, -2.425248, 0.363428, 2.879722, 0.237020]  # t=77\nDESCEND_078_JOINTS = [-0.025738, 0.433239, 0.085691, -2.404730, 0.367977, 2.882453, 0.229144]  # t=78\nDESCEND_079_JOINTS = [-0.029124, 0.454231, 0.086571, -2.384463, 0.369333, 2.885007, 0.223545]  # t=79\nDESCEND_080_JOINTS = [-0.031955, 0.474514, 0.087051, -2.364221, 0.368585, 2.886920, 0.220198]  # t=80\nDESCEND_081_JOINTS = [-0.034522, 0.493267, 0.088005, -2.344040, 0.367478, 2.887104, 0.218394]  # t=81\nDESCEND_082_JOINTS = [-0.036867, 0.511199, 0.088513, -2.324275, 0.365420, 2.886582, 0.217684]  # t=82\nDESCEND_083_JOINTS = [-0.038832, 0.528719, 0.088513, -2.304478, 0.362015, 2.886008, 0.217931]  # t=83\nDESCEND_084_JOINTS = [-0.040293, 0.544379, 0.089028, -2.284115, 0.357682, 2.884601, 0.219345]  # t=84\nGRASP_HOLD_085_JOINTS = [-0.041077, 0.555168, 0.089655, -2.268349, 0.351984, 2.879264, 0.222297]  # t=85\nLIFT_087_JOINTS = [-0.041827, 0.568223, 0.090190, -2.247183, 0.339817, 2.865647, 0.229649]  # t=87\nLIFT_089_JOINTS = [-0.041609, 0.580002, 0.090811, -2.227966, 0.327877, 2.853350, 0.238436]  # t=89\nLIFT_091_JOINTS = [-0.041336, 0.588665, 0.090262, -2.210466, 0.316663, 2.840916, 0.246946]  # t=91\nLIFT_093_JOINTS = [-0.040464, 0.600235, 0.090626, -2.193439, 0.306992, 2.829503, 0.255235]  # t=93\nLIFT_095_JOINTS = [-0.037795, 0.621550, 0.091575, -2.163926, 0.295719, 2.821410, 0.266398]  # t=95\nLIFT_097_JOINTS = [-0.034977, 0.629717, 0.089312, -2.148282, 0.282941, 2.808552, 0.278295]  # t=97\nLIFT_099_JOINTS = [-0.033492, 0.627594, 0.087798, -2.144619, 0.275072, 2.796952, 0.286801]  # t=99\nLIFT_101_JOINTS = [-0.032473, 0.620354, 0.091333, -2.149225, 0.273886, 2.799183, 0.290319]  # t=101\nLIFT_102_JOINTS = [-0.032357, 0.613801, 0.094204, -2.156481, 0.275542, 2.806322, 0.289978]  # t=102\nLIFT_103_JOINTS = [-0.033102, 0.601734, 0.098319, -2.169232, 0.280451, 2.811264, 0.288146]  # t=103\nLIFT_105_JOINTS = [-0.036911, 0.561908, 0.104906, -2.207903, 0.294748, 2.813847, 0.279210]  # t=105\nLIFT_106_JOINTS = [-0.039476, 0.527906, 0.107347, -2.239630, 0.302983, 2.815838, 0.272099]  # t=106\nLIFT_107_JOINTS = [-0.043235, 0.481664, 0.108852, -2.281787, 0.314211, 2.819458, 0.261636]  # t=107\nLIFT_108_JOINTS = [-0.048092, 0.426714, 0.110576, -2.330821, 0.329692, 2.825193, 0.246342]  # t=108\nTRANSPORT_111_JOINTS = [-0.064170, 0.242111, 0.120951, -2.493274, 0.401807, 2.852722, 0.176064]  # t=111\nTRANSPORT_112_JOINTS = [-0.069046, 0.177659, 0.124389, -2.547118, 0.434214, 2.862667, 0.144917]  # t=112\nTRANSPORT_114_JOINTS = [-0.074186, 0.042847, 0.132926, -2.652668, 0.510022, 2.876933, 0.075809]  # t=114\nTRANSPORT_116_JOINTS = [-0.071231, -0.094706, 0.136920, -2.754286, 0.588170, 2.884797, 0.007743]  # t=116\nTRANSPORT_117_JOINTS = [-0.066778, -0.159223, 0.136135, -2.801427, 0.619193, 2.884911, -0.019124]  # t=117\nTRANSPORT_120_JOINTS = [-0.047279, -0.355335, 0.128549, -2.938085, 0.656247, 2.870027, -0.043045]  # t=120\nTRANSPORT_123_JOINTS = [-0.030244, -0.569441, 0.120734, -3.059283, 0.614838, 2.828304, 0.010408]  # t=123\nTRANSPORT_124_JOINTS = [-0.029323, -0.640671, 0.118769, -3.076207, 0.584272, 2.798281, 0.044753]  # t=124\nTRANSPORT_126_JOINTS = [-0.042941, -0.757983, 0.114687, -3.068394, 0.487792, 2.691575, 0.137987]  # t=126\nTRANSPORT_128_JOINTS = [-0.047343, -0.846764, 0.111847, -3.043340, 0.403658, 2.587524, 0.222907]  # t=128\nTRANSPORT_129_JOINTS = [-0.046050, -0.881667, 0.107489, -3.026236, 0.370814, 2.537481, 0.254240]  # t=129\nTRANSPORT_132_JOINTS = [-0.027877, -0.954709, 0.105472, -2.958312, 0.307156, 2.388461, 0.330747]  # t=132\nTRANSPORT_135_JOINTS = [0.007988, -1.004638, 0.134612, -2.880975, 0.294873, 2.217669, 0.395057]  # t=135\nTRANSPORT_136_JOINTS = [0.023516, -1.011842, 0.154992, -2.858225, 0.304224, 2.171020, 0.414046]  # t=136\nTRANSPORT_138_JOINTS = [0.052973, -1.011933, 0.199285, -2.823837, 0.332925, 2.111424, 0.438300]  # t=138\nTRANSPORT_140_JOINTS = [0.078836, -0.984035, 0.250048, -2.801184, 0.374894, 2.101401, 0.447483]  # t=140\nTRANSPORT_141_JOINTS = [0.089885, -0.965728, 0.275512, -2.788971, 0.396395, 2.102293, 0.449096]  # t=141\nTRANSPORT_144_JOINTS = [0.116346, -0.903009, 0.351380, -2.747985, 0.459164, 2.112631, 0.445598]  # t=144\nTRANSPORT_147_JOINTS = [0.131708, -0.831593, 0.427633, -2.700380, 0.512625, 2.146193, 0.439000]  # t=147\nTRANSPORT_148_JOINTS = [0.133707, -0.803233, 0.453205, -2.683010, 0.527499, 2.165286, 0.436891]  # t=148\nTRANSPORT_150_JOINTS = [0.135094, -0.749200, 0.502410, -2.644342, 0.550813, 2.194872, 0.438152]  # t=150\nTRANSPORT_152_JOINTS = [0.132239, -0.697413, 0.546156, -2.601580, 0.563563, 2.219104, 0.441715]  # t=152\nTRANSPORT_153_JOINTS = [0.129534, -0.667737, 0.570064, -2.579593, 0.568805, 2.234512, 0.443688]  # t=153\nTRANSPORT_156_JOINTS = [0.117039, -0.580551, 0.645145, -2.513471, 0.562470, 2.274513, 0.466143]  # t=156\nTRANSPORT_159_JOINTS = [0.095833, -0.495333, 0.731866, -2.447204, 0.502838, 2.309019, 0.538028]  # t=159\nTRANSPORT_160_JOINTS = [0.087531, -0.466923, 0.758970, -2.422809, 0.478644, 2.318280, 0.568459]  # t=160\nTRANSPORT_162_JOINTS = [0.067747, -0.404689, 0.816136, -2.374583, 0.414244, 2.338482, 0.642234]  # t=162\nTRANSPORT_164_JOINTS = [0.045859, -0.339332, 0.871574, -2.327954, 0.333760, 2.352184, 0.725978]  # t=164\nTRANSPORT_165_JOINTS = [0.034203, -0.303035, 0.897567, -2.305186, 0.289396, 2.360994, 0.768011]  # t=165\nTRANSPORT_168_JOINTS = [0.001431, -0.186084, 0.964919, -2.238143, 0.136603, 2.378265, 0.897439]  # t=168\nTRANSPORT_171_JOINTS = [-0.011659, -0.074179, 1.009577, -2.172332, -0.022399, 2.365628, 1.024076]  # t=171\nTRANSPORT_172_JOINTS = [-0.010154, -0.038426, 1.016617, -2.149750, -0.073705, 2.356247, 1.063886]  # t=172\nTRANSPORT_174_JOINTS = [0.004162, 0.035834, 1.017804, -2.103406, -0.167979, 2.342468, 1.132315]  # t=174\nTRANSPORT_176_JOINTS = [0.036493, 0.114774, 1.005192, -2.060134, -0.265484, 2.328938, 1.199040]  # t=176\nTRANSPORT_177_JOINTS = [0.059596, 0.151481, 0.993532, -2.038826, -0.312301, 2.317053, 1.231648]  # t=177\nTRANSPORT_180_JOINTS = [0.153080, 0.259255, 0.937087, -1.966497, -0.439670, 2.280546, 1.320034]  # t=180\nTRANSPORT_182_JOINTS = [0.227746, 0.327963, 0.883711, -1.907523, -0.505057, 2.261363, 1.363759]  # t=182\nPLACE_184_JOINTS = [0.306180, 0.394817, 0.823047, -1.841246, -0.556426, 2.242106, 1.393443]  # t=184\nPLACE_186_JOINTS = [0.380019, 0.445895, 0.763178, -1.771905, -0.589005, 2.216167, 1.409963]  # t=186\nPLACE_188_JOINTS = [0.445244, 0.489948, 0.703754, -1.703316, -0.607072, 2.192042, 1.411380]  # t=188\nPLACE_190_JOINTS = [0.499043, 0.526721, 0.646196, -1.645235, -0.617170, 2.171063, 1.403238]  # t=190\nPLACE_192_JOINTS = [0.543557, 0.554560, 0.597001, -1.601424, -0.629823, 2.158054, 1.397751]  # t=192\nPLACE_193_JOINTS = [0.563103, 0.560228, 0.579078, -1.586584, -0.638498, 2.149807, 1.400134]  # t=193\nPLACE_194_JOINTS = [0.580320, 0.560623, 0.564341, -1.576410, -0.648331, 2.140196, 1.405580]  # t=194\nPLACE_196_JOINTS = [0.607993, 0.553403, 0.541356, -1.568503, -0.672984, 2.129970, 1.424293]  # t=196\nPLACE_198_JOINTS = [0.628176, 0.532442, 0.529939, -1.584171, -0.704201, 2.129758, 1.459132]  # t=198\nPLACE_200_JOINTS = [0.642156, 0.505968, 0.528806, -1.617321, -0.738029, 2.141387, 1.506650]  # t=200\nPLACE_202_JOINTS = [0.649573, 0.462756, 0.536959, -1.666574, -0.774810, 2.148727, 1.564565]  # t=202\nRELEASE_POSE_202_JOINTS = [0.649573, 0.462756, 0.536959, -1.666574, -0.774810, 2.148727, 1.564565]  # t=202\nRETRACT_204_JOINTS = [0.650066, 0.404087, 0.554971, -1.732233, -0.807688, 2.156195, 1.627934]  # t=204\nRETRACT_206_JOINTS = [0.643970, 0.334684, 0.581817, -1.805822, -0.832991, 2.163725, 1.690851]  # t=206\nRETRACT_208_JOINTS = [0.629875, 0.282279, 0.604370, -1.863601, -0.848635, 2.188977, 1.736335]  # t=208\nRETRACT_210_JOINTS = [0.609914, 0.234297, 0.624040, -1.901948, -0.863650, 2.204543, 1.762142]  # t=210\nRETRACT_211_JOINTS = [0.599012, 0.207447, 0.637670, -1.917078, -0.864869, 2.207205, 1.769652]  # t=211\nRETRACT_212_JOINTS = [0.588292, 0.177609, 0.655767, -1.930515, -0.862121, 2.205946, 1.775624]  # t=212\nRETRACT_214_JOINTS = [0.566743, 0.111557, 0.702270, -1.956143, -0.839232, 2.193761, 1.785100]  # t=214\nRETRACT_216_JOINTS = [0.543371, 0.045061, 0.754723, -1.974723, -0.794446, 2.178199, 1.784640]  # t=216\nRETRACT_217_JOINTS = [0.530817, 0.011897, 0.781818, -1.980150, -0.766052, 2.167511, 1.779479]  # t=217\nRETRACT_218_JOINTS = [0.517611, -0.024413, 0.809042, -1.984189, -0.733602, 2.152561, 1.772267]  # t=218\nRETRACT_220_JOINTS = [0.488826, -0.105314, 0.861472, -1.989025, -0.657120, 2.120751, 1.750745]  # t=220\nRETRACT_222_JOINTS = [0.456717, -0.191120, 0.909478, -1.993319, -0.571112, 2.085403, 1.723953]  # t=222\nRETRACT_224_JOINTS = [0.422668, -0.289068, 0.949248, -2.004909, -0.475497, 2.039851, 1.700769]  # t=224\nRETRACT_225_JOINTS = [0.405639, -0.341395, 0.965023, -2.013384, -0.425052, 2.018290, 1.685132]  # t=225\nRETRACT_226_JOINTS = [0.389176, -0.396539, 0.976748, -2.023893, -0.373222, 1.995234, 1.667103]  # t=226\nRETRACT_228_JOINTS = [0.360129, -0.513796, 0.986296, -2.047712, -0.265790, 1.953679, 1.626128]  # t=228\nRETRACT_229_JOINTS = [0.348095, -0.573898, 0.984350, -2.062766, -0.212118, 1.936455, 1.601884]  # t=229\nRETRACT_230_JOINTS = [0.338029, -0.633984, 0.978393, -2.080504, -0.159790, 1.921838, 1.574431]  # t=230\nRETRACT_232_JOINTS = [0.324305, -0.752182, 0.952459, -2.122618, -0.060870, 1.905230, 1.508999]  # t=232\nRETRACT_234_JOINTS = [0.320667, -0.867743, 0.911799, -2.176420, 0.032104, 1.900461, 1.436031]  # t=234\nRETRACT_235_JOINTS = [0.322238, -0.924503, 0.889014, -2.208033, 0.074855, 1.899267, 1.399129]  # t=235\nAPPROACH_000_JOINTS = [-0.030597, -1.046055, -0.031126, -2.267429, 0.041242, 1.468732, 0.708397]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=3, 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_008_JOINTS, input_type='joint', steps=3, 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_020_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=2, 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_032_JOINTS, input_type='joint', steps=4, 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_048_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=4, 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_075_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_085_JOINTS, input_type='joint', close_steps=9, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_085_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(LIFT_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(LIFT_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(LIFT_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_107_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_111_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_114_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_116_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_120_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_126_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_128_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_132_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_140_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_144_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_152_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_156_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_162_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_165_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_168_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_171_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_174_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_180_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_186_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_188_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_192_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_193_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_194_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_196_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_198_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_200_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_202_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_202_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_202_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_202_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_204_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_206_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_208_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_210_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_211_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_212_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_216_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_217_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_218_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_225_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_226_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_228_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_229_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_230_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_232_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_234_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_235_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 26750, "code_num_lines": 305, "code_num_nonblank_lines": 290, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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-06,0.0,0.0,1.6343890134179698e-12,-4.2710023549006506e-07,-1.156834587342412e-10,1.7420574053033718e-07,6.399856539818652e-08,-4.0743688680014166e-11,1.0920004551697691e-07,-2.0539339636714104e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-2.4638650158775216e-16,0.0,0.0,-6.210529403509736e-17,0.0,-5.5427395707929954e-17,-1.0072432930036442e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.04513064694622893,0.021217291268103004,-0.0034686815478584512,0.3252615728216474,-1.2734602184593555,-0.3342606246635435,-1.3361982283163518e-08,3.2346408530791186e-08,1.5219608418325338e-06,-3.6318576786947973e-06,-1.1529501383312237e-06,3.3212000696076555e-08,0.00022171583190406635,-0.0003174286402416386,6.834396405941984e-05,0.010717593244442358,0.008325754608675566,-0.0006083985520185328],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 116, "pretrain_task_id": 45, "retained_waypoint_count": 116, "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": 390836, "video_relpath": "videos/raw_extracted/45_PickPlaceSinkToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceStoveToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_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': 'PickPlaceStoveToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 60,\n    'stable_release_contact_loss_t': 156,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=5.541262, y=-3.689008, z=0.958358, qw=0.971169, qx=0.017796, qy=-0.048129, qz=-0.232802)\nGOAL_RECEPTACLE_POSE = pose(x=5.547819, y=-3.691117, z=0.957187, qw=0.951841, qx=0.000017, qy=-0.000004, qz=-0.306593)\n\nAPPROACH_003_JOINTS = [-0.039325, -0.996488, -0.055615, -2.293746, 0.020077, 1.541686, 0.701309]  # t=3\nAPPROACH_005_JOINTS = [-0.036609, -0.968710, -0.054480, -2.314876, 0.019509, 1.596368, 0.702115]  # t=5\nAPPROACH_006_JOINTS = [-0.034946, -0.946717, -0.054181, -2.330940, 0.019899, 1.635472, 0.702392]  # t=6\nAPPROACH_009_JOINTS = [-0.028934, -0.866214, -0.051391, -2.381392, 0.024320, 1.764752, 0.700726]  # t=9\nAPPROACH_012_JOINTS = [-0.020155, -0.772203, -0.053081, -2.422884, 0.036730, 1.905601, 0.654519]  # t=12\nAPPROACH_015_JOINTS = [-0.008496, -0.664351, -0.064649, -2.441746, 0.063933, 2.039661, 0.551445]  # t=15\nAPPROACH_018_JOINTS = [0.005012, -0.545987, -0.078912, -2.419991, 0.105366, 2.141395, 0.422422]  # t=18\nAPPROACH_020_JOINTS = [0.013525, -0.459025, -0.087861, -2.391854, 0.133961, 2.197857, 0.335130]  # t=20\nAPPROACH_021_JOINTS = [0.017225, -0.412763, -0.091119, -2.375518, 0.145097, 2.222068, 0.293949]  # t=21\nAPPROACH_024_JOINTS = [0.023173, -0.271061, -0.100185, -2.301736, 0.160205, 2.251859, 0.199348]  # t=24\nAPPROACH_026_JOINTS = [0.021658, -0.181988, -0.102717, -2.234436, 0.140250, 2.235725, 0.193152]  # t=26\nAPPROACH_027_JOINTS = [0.020331, -0.139837, -0.100412, -2.197584, 0.121472, 2.223216, 0.207523]  # t=27\nAPPROACH_030_JOINTS = [0.015626, -0.016647, -0.084141, -2.076711, 0.047767, 2.178673, 0.321991]  # t=30\nAPPROACH_033_JOINTS = [0.012712, 0.077271, -0.058550, -1.957517, 0.000487, 2.100038, 0.438521]  # t=33\nAPPROACH_034_JOINTS = [0.011181, 0.098313, -0.051997, -1.923422, -0.005427, 2.063652, 0.452090]  # t=34\nAPPROACH_036_JOINTS = [0.007060, 0.147772, -0.043224, -1.867417, -0.009090, 2.017451, 0.461712]  # t=36\nAPPROACH_039_JOINTS = [0.000500, 0.231854, -0.035438, -1.808618, -0.010145, 1.998128, 0.464048]  # t=39\nAPPROACH_042_JOINTS = [-0.004216, 0.300338, -0.029287, -1.751358, -0.018925, 1.979617, 0.468726]  # t=42\nDESCEND_043_JOINTS = [-0.005280, 0.320284, -0.027277, -1.733285, -0.023183, 1.976338, 0.471373]  # t=43\nDESCEND_044_JOINTS = [-0.006283, 0.338325, -0.025174, -1.715343, -0.025327, 1.974001, 0.473396]  # t=44\nDESCEND_045_JOINTS = [-0.007334, 0.354710, -0.023386, -1.697212, -0.026017, 1.971254, 0.474504]  # t=45\nDESCEND_046_JOINTS = [-0.008365, 0.370341, -0.021929, -1.678284, -0.026296, 1.968598, 0.475034]  # t=46\nDESCEND_047_JOINTS = [-0.009332, 0.385762, -0.020705, -1.658338, -0.026380, 1.965923, 0.475212]  # t=47\nDESCEND_048_JOINTS = [-0.010214, 0.400669, -0.019654, -1.637863, -0.026384, 1.961869, 0.475224]  # t=48\nDESCEND_049_JOINTS = [-0.011012, 0.416157, -0.018714, -1.617183, -0.026385, 1.958137, 0.475226]  # t=49\nDESCEND_050_JOINTS = [-0.011733, 0.432585, -0.017865, -1.596609, -0.026384, 1.955089, 0.475228]  # t=50\nDESCEND_051_JOINTS = [-0.012379, 0.449583, -0.017096, -1.576048, -0.026383, 1.952561, 0.475230]  # t=51\nDESCEND_052_JOINTS = [-0.013008, 0.467172, -0.016549, -1.556111, -0.026385, 1.950350, 0.475229]  # t=52\nDESCEND_053_JOINTS = [-0.013706, 0.484728, -0.016403, -1.537104, -0.026413, 1.948171, 0.475099]  # t=53\nDESCEND_054_JOINTS = [-0.014532, 0.501461, -0.016585, -1.520016, -0.026418, 1.944814, 0.474618]  # t=54\nDESCEND_055_JOINTS = [-0.015390, 0.517550, -0.016704, -1.505026, -0.026361, 1.941192, 0.473932]  # t=55\nDESCEND_056_JOINTS = [-0.016198, 0.532966, -0.016705, -1.491373, -0.026307, 1.938310, 0.473329]  # t=56\nDESCEND_057_JOINTS = [-0.016903, 0.547653, -0.016636, -1.478289, -0.026232, 1.937144, 0.472888]  # t=57\nDESCEND_058_JOINTS = [-0.017516, 0.561659, -0.016537, -1.465627, -0.026195, 1.936960, 0.472614]  # t=58\nDESCEND_059_JOINTS = [-0.018119, 0.574764, -0.016527, -1.452687, -0.026193, 1.936950, 0.472360]  # t=59\nGRASP_HOLD_060_JOINTS = [-0.018807, 0.585331, -0.016543, -1.438804, -0.025920, 1.934020, 0.471141]  # t=60\nLIFT_062_JOINTS = [-0.019989, 0.603658, -0.015987, -1.408166, -0.023976, 1.924503, 0.467663]  # t=62\nLIFT_064_JOINTS = [-0.020776, 0.624943, -0.015067, -1.373354, -0.022062, 1.916269, 0.464980]  # t=64\nLIFT_066_JOINTS = [-0.020776, 0.645929, -0.013198, -1.337667, -0.020811, 1.902300, 0.464502]  # t=66\nLIFT_067_JOINTS = [-0.020690, 0.654019, -0.012560, -1.321977, -0.020752, 1.891361, 0.464796]  # t=67\nLIFT_068_JOINTS = [-0.020643, 0.660607, -0.012205, -1.308088, -0.020866, 1.880261, 0.464802]  # t=68\nLIFT_069_JOINTS = [-0.020696, 0.666499, -0.012178, -1.295779, -0.020922, 1.870361, 0.464747]  # t=69\nLIFT_070_JOINTS = [-0.021382, 0.671971, -0.013558, -1.284812, -0.021324, 1.861803, 0.463955]  # t=70\nLIFT_072_JOINTS = [-0.024715, 0.680279, -0.019165, -1.267889, -0.020762, 1.845534, 0.457597]  # t=72\nLIFT_073_JOINTS = [-0.026866, 0.681923, -0.022234, -1.262527, -0.019791, 1.836650, 0.453085]  # t=73\nLIFT_074_JOINTS = [-0.029438, 0.680785, -0.025522, -1.259993, -0.017881, 1.827647, 0.447810]  # t=74\nLIFT_075_JOINTS = [-0.032792, 0.676460, -0.028644, -1.261067, -0.012115, 1.820427, 0.440784]  # t=75\nLIFT_076_JOINTS = [-0.037436, 0.668193, -0.031522, -1.266261, 0.000496, 1.817536, 0.430703]  # t=76\nLIFT_077_JOINTS = [-0.043387, 0.654962, -0.034628, -1.276425, 0.018924, 1.819474, 0.417119]  # t=77\nLIFT_078_JOINTS = [-0.050514, 0.635971, -0.037960, -1.292175, 0.042870, 1.826349, 0.399837]  # t=78\nLIFT_080_JOINTS = [-0.067383, 0.583515, -0.046416, -1.342276, 0.101023, 1.855179, 0.354526]  # t=80\nLIFT_081_JOINTS = [-0.076375, 0.550503, -0.051246, -1.376041, 0.133222, 1.876779, 0.327197]  # t=81\nPLACE_083_JOINTS = [-0.093051, 0.473402, -0.061230, -1.458074, 0.195609, 1.930814, 0.267598]  # t=83\nPLACE_085_JOINTS = [-0.106701, 0.373977, -0.069872, -1.558124, 0.259715, 1.997973, 0.201175]  # t=85\nPLACE_087_JOINTS = [-0.117247, 0.257712, -0.079431, -1.678251, 0.327693, 2.079770, 0.126040]  # t=87\nPLACE_089_JOINTS = [-0.125603, 0.131800, -0.093500, -1.816952, 0.408061, 2.178630, 0.030072]  # t=89\nPLACE_091_JOINTS = [-0.129965, 0.006330, -0.109707, -1.964489, 0.510902, 2.294933, -0.095249]  # t=91\nPLACE_093_JOINTS = [-0.127630, -0.111970, -0.124949, -2.112060, 0.651574, 2.421219, -0.257656]  # t=93\nPLACE_095_JOINTS = [-0.115629, -0.213847, -0.138937, -2.254588, 0.841463, 2.548139, -0.466563]  # t=95\nPLACE_097_JOINTS = [-0.094293, -0.314385, -0.160040, -2.365590, 1.082954, 2.624714, -0.692067]  # t=97\nPLACE_099_JOINTS = [-0.071453, -0.411482, -0.190000, -2.442866, 1.312787, 2.662243, -0.887495]  # t=99\nPLACE_101_JOINTS = [-0.054139, -0.495900, -0.221896, -2.501980, 1.499262, 2.699343, -1.048715]  # t=101\nPLACE_103_JOINTS = [-0.045449, -0.548027, -0.246269, -2.533663, 1.632591, 2.758148, -1.163418]  # t=103\nPLACE_105_JOINTS = [-0.045527, -0.575095, -0.258709, -2.537715, 1.717478, 2.829685, -1.229057]  # t=105\nPLACE_107_JOINTS = [-0.051398, -0.564805, -0.255243, -2.525548, 1.746642, 2.920998, -1.241093]  # t=107\nPLACE_109_JOINTS = [-0.060259, -0.531672, -0.234974, -2.508253, 1.721819, 3.032381, -1.195584]  # t=109\nPLACE_111_JOINTS = [-0.070218, -0.486230, -0.205954, -2.496903, 1.653927, 3.154082, -1.104164]  # t=111\nPLACE_113_JOINTS = [-0.079663, -0.429460, -0.177935, -2.503282, 1.553428, 3.279179, -0.991764]  # t=113\nPLACE_115_JOINTS = [-0.087678, -0.363168, -0.162855, -2.531534, 1.430375, 3.402400, -0.871346]  # t=115\nPLACE_117_JOINTS = [-0.104874, -0.287450, -0.159356, -2.573776, 1.309772, 3.517896, -0.770002]  # t=117\nPLACE_119_JOINTS = [-0.126200, -0.205639, -0.170193, -2.609808, 1.223193, 3.626914, -0.719587]  # t=119\nPLACE_121_JOINTS = [-0.142103, -0.141730, -0.176793, -2.629730, 1.191880, 3.726981, -0.715978]  # t=121\nPLACE_123_JOINTS = [-0.148162, -0.106737, -0.171076, -2.629023, 1.204957, 3.754084, -0.725465]  # t=123\nPLACE_125_JOINTS = [-0.148978, -0.098573, -0.168258, -2.619396, 1.217578, 3.752669, -0.735343]  # t=125\nPLACE_127_JOINTS = [-0.146514, -0.122801, -0.164864, -2.615178, 1.245098, 3.752485, -0.761110]  # t=127\nPLACE_129_JOINTS = [-0.143596, -0.163869, -0.163947, -2.612516, 1.296101, 3.746448, -0.807377]  # t=129\nPLACE_131_JOINTS = [-0.141935, -0.206157, -0.165097, -2.604331, 1.367000, 3.738146, -0.881635]  # t=131\nPLACE_133_JOINTS = [-0.145570, -0.219865, -0.182418, -2.579367, 1.446613, 3.734870, -1.018127]  # t=133\nPLACE_135_JOINTS = [-0.154837, -0.176587, -0.229913, -2.511524, 1.529121, 3.712341, -1.211928]  # t=135\nPLACE_137_JOINTS = [-0.160036, -0.103182, -0.279446, -2.414976, 1.641198, 3.697411, -1.440371]  # t=137\nPLACE_139_JOINTS = [-0.159239, -0.025206, -0.322287, -2.296939, 1.798901, 3.697796, -1.692591]  # t=139\nPLACE_141_JOINTS = [-0.155590, 0.030485, -0.351850, -2.176989, 1.997558, 3.708012, -1.920577]  # t=141\nPLACE_143_JOINTS = [-0.158423, 0.068783, -0.377079, -2.071820, 2.197776, 3.729735, -2.134101]  # t=143\nPLACE_145_JOINTS = [-0.178225, 0.120991, -0.409347, -1.983268, 2.393776, 3.737822, -2.356705]  # t=145\nPLACE_147_JOINTS = [-0.220968, 0.191552, -0.434624, -1.901628, 2.590365, 3.736062, -2.576412]  # t=147\nPLACE_149_JOINTS = [-0.290640, 0.269360, -0.430735, -1.821185, 2.784957, 3.739489, -2.778658]  # t=149\nPLACE_151_JOINTS = [-0.383316, 0.342687, -0.380509, -1.735785, 2.905423, 3.754468, -2.906722]  # t=151\nPLACE_153_JOINTS = [-0.472023, 0.386261, -0.262691, -1.681580, 2.897217, 3.752856, -2.884802]  # t=153\nPLACE_155_JOINTS = [-0.554267, 0.418485, -0.160037, -1.632064, 2.878801, 3.752857, -2.867395]  # t=155\nPLACE_156_JOINTS = [-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501]  # t=156\nRELEASE_POSE_156_JOINTS = [-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501]  # t=156\nRETRACT_158_JOINTS = [-0.652659, 0.444012, -0.039554, -1.597369, 2.808693, 3.752857, -2.839735]  # t=158\nRETRACT_159_JOINTS = [-0.679274, 0.442779, -0.006216, -1.595794, 2.785206, 3.752855, -2.827864]  # t=159\nRETRACT_160_JOINTS = [-0.703346, 0.434850, 0.024072, -1.598473, 2.765154, 3.752831, -2.816976]  # t=160\nRETRACT_161_JOINTS = [-0.725334, 0.421037, 0.050866, -1.605991, 2.750240, 3.752822, -2.808613]  # t=161\nRETRACT_162_JOINTS = [-0.745614, 0.400104, 0.074217, -1.619050, 2.743381, 3.752847, -2.804426]  # t=162\nRETRACT_164_JOINTS = [-0.782921, 0.341281, 0.109583, -1.659236, 2.763965, 3.752716, -2.813153]  # t=164\nRETRACT_166_JOINTS = [-0.814082, 0.264057, 0.124459, -1.714883, 2.825219, 3.752755, -2.851924]  # t=166\nRETRACT_168_JOINTS = [-0.831036, 0.159955, 0.117379, -1.795202, 2.903355, 3.752745, -2.901830]  # t=168\nRETRACT_169_JOINTS = [-0.826731, 0.101983, 0.118538, -1.847946, 2.899262, 3.752622, -2.896411]  # t=169\nRETRACT_170_JOINTS = [-0.813003, 0.041493, 0.115748, -1.904793, 2.897787, 3.752315, -2.888035]  # t=170\nRETRACT_172_JOINTS = [-0.759101, -0.085144, 0.082901, -2.018928, 2.897474, 3.752630, -2.867254]  # t=172\nRETRACT_173_JOINTS = [-0.719402, -0.152345, 0.052750, -2.074661, 2.897293, 3.752628, -2.855485]  # t=173\nRETRACT_174_JOINTS = [-0.671608, -0.223867, 0.014628, -2.127035, 2.897257, 3.752603, -2.842655]  # t=174\nRETRACT_176_JOINTS = [-0.555360, -0.379318, -0.082161, -2.227224, 2.885674, 3.752779, -2.810161]  # t=176\nRETRACT_177_JOINTS = [-0.489263, -0.463071, -0.137020, -2.276038, 2.867305, 3.752848, -2.786468]  # t=177\nRETRACT_178_JOINTS = [-0.420250, -0.551056, -0.193021, -2.322991, 2.836476, 3.752931, -2.754761]  # t=178\nRETRACT_180_JOINTS = [-0.282874, -0.741572, -0.292791, -2.413299, 2.735082, 3.753045, -2.661379]  # t=180\nRETRACT_182_JOINTS = [-0.164754, -0.953502, -0.348481, -2.509375, 2.596713, 3.753097, -2.528056]  # t=182\nRETRACT_184_JOINTS = [-0.082224, -1.181035, -0.343077, -2.618003, 2.457960, 3.753141, -2.368257]  # t=184\nRETRACT_185_JOINTS = [-0.054314, -1.294995, -0.319066, -2.676509, 2.397379, 3.753135, -2.287079]  # t=185\nRETRACT_186_JOINTS = [-0.028859, -1.402016, -0.301695, -2.745636, 2.342110, 3.752947, -2.218915]  # t=186\nRETRACT_187_JOINTS = [-0.004118, -1.492487, -0.302820, -2.814279, 2.276783, 3.752655, -2.160734]  # t=187\nRETRACT_188_JOINTS = [0.019178, -1.565019, -0.310346, -2.874449, 2.207197, 3.752656, -2.106092]  # t=188\nRETRACT_190_JOINTS = [0.055674, -1.677054, -0.323877, -2.972094, 2.088100, 3.752770, -2.013227]  # t=190\nRETRACT_191_JOINTS = [0.067458, -1.720419, -0.329187, -3.011691, 2.041010, 3.752746, -1.975961]  # t=191\nAPPROACH_000_JOINTS = [-0.040794, -1.004375, -0.055530, -2.287120, 0.022329, 1.525143, 0.699618]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_005_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_034_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_043_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_044_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_045_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_047_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_048_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_049_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_052_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_053_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_054_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_058_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_059_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_060_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_060_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_131_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_156_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_156_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_156_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_156_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_158_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_159_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_164_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_166_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_168_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_170_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_172_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_176_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_177_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_180_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_182_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_184_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_185_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_190_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 26349, "code_num_lines": 299, "code_num_nonblank_lines": 285, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"PickPlaceStoveToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceStoveToCounter\",\"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_4_right_group_1\",\"stove\":\"stove_right_group_1\"},\"fixtures\":{\"coffee_machine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_front_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group_1\":{\"cls\":\"Box\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"cube_6_dining_area_group_1\":{\"cls\":\"Box\"},\"dining_dining_area_group_1\":{\"cls\":\"Counter\"},\"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_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_front_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_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_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_4_dining_area_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_5_dining_area_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_dining_area_group_1_base\":{\"cls\":\"Box\"},\"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\":[4.851457378226791,-3.6562795808046324,0.0],\"lang\":\"Pick 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": "{\"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\":\"PickPlaceStoveToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceStoveToCounter\",\"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_4_right_group_1\",\"stove\":\"stove_right_group_1\"},\"fixtures\":{\"coffee_machine_front_group_1\":{\"cls\":\"CoffeeMachine\"},\"counter_1_main_group_1\":{\"cls\":\"Counter\"},\"counter_2_main_group_1\":{\"cls\":\"Counter\"},\"counter_3_front_group_1\":{\"cls\":\"Counter\"},\"counter_4_right_group_1\":{\"cls\":\"Counter\"},\"counter_5_right_group_1\":{\"cls\":\"Counter\"},\"counter_corner_1_right_group_1\":{\"cls\":\"Counter\"},\"cube_1_dining_area_group_1\":{\"cls\":\"Box\"},\"cube_1_front_group_1\":{\"cls\":\"Box\"},\"cube_2_main_group_1\":{\"cls\":\"Box\"},\"cube_3_main_group_1\":{\"cls\":\"Box\"},\"cube_4_right_group_1\":{\"cls\":\"Box\"},\"cube_6_dining_area_group_1\":{\"cls\":\"Box\"},\"dining_dining_area_group_1\":{\"cls\":\"Counter\"},\"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_front_group_1\":{\"cls\":\"FridgeFrenchDoor\"},\"fridgefrenchdoor_housing_front_group_1\":{\"cls\":\"HousingCabinet\"},\"hingecabinet_1_right_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_2_front_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"hingecabinet_4_front_group_1\":{\"cls\":\"HingeCabinet\"},\"micro_cab_right_group_1\":{\"cls\":\"HingeCabinet\"},\"microwave_right_group_1\":{\"cls\":\"Microwave\"},\"paper_towel_main_group_1\":{\"cls\":\"Accessory\"},\"singlecabinet_1_main_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_main_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_1_2\":{\"cls\":\"PanelCabinet\"},\"stack_1_main_group_1_base\":{\"cls\":\"Box\"},\"stack_2_main_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_main_group_1_base\":{\"cls\":\"Box\"},\"stack_3_dining_area_group_1_1\":{\"cls\":\"SingleCabinet\"},\"stack_3_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_4_dining_area_group_1_1\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_3\":{\"cls\":\"Drawer\"},\"stack_4_dining_area_group_1_base\":{\"cls\":\"Box\"},\"stack_5_dining_area_group_1_1\":{\"cls\":\"HingeCabinet\"},\"stack_5_dining_area_group_1_2\":{\"cls\":\"Drawer\"},\"stack_5_dining_area_group_1_base\":{\"cls\":\"Box\"},\"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\":[4.851457378226791,-3.6562795808046324,0.0],\"lang\":\"Pick 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-09,-9.40415424874088e-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,-1.0594257860529853e-08,-1.8096325652528924e-06,-0.0062571095184945445,-0.0007784487920051859,-0.002936954810378881,0.16259977676855558,-0.23926771307017436,-0.0001680479905410177,-8.903011177114867e-08,-2.2086203901779933e-07,2.493341933540437e-06,8.418234891396101e-06,2.0563797520723546e-06,-5.91076540368155e-10,3.817781820251224e-08,3.2239182518204746e-07,2.3551759468046615e-06,-1.2547500471011175e-06,-1.1850677870277871e-05,-5.166482555314923e-10],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 115, "pretrain_task_id": 46, "retained_waypoint_count": 115, "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": 412318, "video_relpath": "videos/raw_extracted/46_PickPlaceStoveToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceToasterOvenToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_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': 'PickPlaceToasterOvenToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    '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',\n    'stable_grasp_contact_t': 85,\n    'stable_release_contact_loss_t': 145,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.773928, y=-0.457796, z=1.088841, qw=0.948372, qx=0.014379, qy=-0.010157, qz=-0.316671)\nGOAL_RECEPTACLE_POSE = pose(x=0.475819, y=-0.501009, z=0.929317, qw=0.994362, qx=0.010217, qy=-0.001789, qz=-0.105533)\n\nAPPROACH_003_JOINTS = [-0.010503, -1.041093, -0.020181, -2.273883, 0.021904, 1.513505, 0.710962]  # t=3\nAPPROACH_004_JOINTS = [-0.010137, -1.043447, -0.013860, -2.276910, 0.028860, 1.510204, 0.715379]  # t=4\nAPPROACH_006_JOINTS = [-0.008626, -1.056585, 0.008929, -2.290603, 0.049938, 1.498748, 0.733705]  # t=6\nAPPROACH_009_JOINTS = [-0.007010, -1.103526, 0.067435, -2.330307, 0.086516, 1.495349, 0.812385]  # t=9\nAPPROACH_012_JOINTS = [-0.004270, -1.175918, 0.135936, -2.392853, 0.134265, 1.520511, 0.924553]  # t=12\nAPPROACH_015_JOINTS = [0.000729, -1.254029, 0.199199, -2.464426, 0.190124, 1.568390, 1.042564]  # t=15\nAPPROACH_018_JOINTS = [0.007077, -1.326421, 0.251572, -2.537104, 0.240204, 1.632478, 1.155351]  # t=18\nAPPROACH_019_JOINTS = [0.009463, -1.349120, 0.265050, -2.562150, 0.254640, 1.655004, 1.189902]  # t=19\nAPPROACH_021_JOINTS = [0.015241, -1.392833, 0.282991, -2.613277, 0.283318, 1.697186, 1.248726]  # t=21\nAPPROACH_024_JOINTS = [0.027177, -1.453747, 0.285487, -2.686498, 0.327991, 1.747401, 1.295759]  # t=24\nAPPROACH_027_JOINTS = [0.039937, -1.501514, 0.275676, -2.747934, 0.367558, 1.779059, 1.304037]  # t=27\nAPPROACH_030_JOINTS = [0.049395, -1.534385, 0.275744, -2.795714, 0.387413, 1.806025, 1.303840]  # t=30\nAPPROACH_033_JOINTS = [0.056620, -1.553464, 0.283689, -2.834073, 0.399113, 1.833300, 1.301471]  # t=33\nAPPROACH_036_JOINTS = [0.062733, -1.562201, 0.294368, -2.867793, 0.409967, 1.862620, 1.298434]  # t=36\nAPPROACH_039_JOINTS = [0.068084, -1.561125, 0.306697, -2.900725, 0.422395, 1.901334, 1.293679]  # t=39\nAPPROACH_042_JOINTS = [0.072611, -1.550779, 0.318334, -2.929637, 0.434721, 1.946931, 1.287417]  # t=42\nAPPROACH_045_JOINTS = [0.075827, -1.531418, 0.326572, -2.950106, 0.444151, 1.994470, 1.280552]  # t=45\nAPPROACH_046_JOINTS = [0.076522, -1.523396, 0.328170, -2.954443, 0.446159, 2.009571, 1.278500]  # t=46\nAPPROACH_048_JOINTS = [0.077126, -1.503758, 0.330259, -2.960408, 0.449239, 2.041194, 1.274182]  # t=48\nAPPROACH_051_JOINTS = [0.077049, -1.470179, 0.328828, -2.962239, 0.452623, 2.082123, 1.268654]  # t=51\nDESCEND_053_JOINTS = [0.076741, -1.445264, 0.326070, -2.961863, 0.457565, 2.109740, 1.264967]  # t=53\nDESCEND_055_JOINTS = [0.076961, -1.416746, 0.329259, -2.959234, 0.463644, 2.138379, 1.261730]  # t=55\nDESCEND_057_JOINTS = [0.077616, -1.385904, 0.337208, -2.953564, 0.470953, 2.166142, 1.261047]  # t=57\nDESCEND_059_JOINTS = [0.077969, -1.351034, 0.348388, -2.947139, 0.480072, 2.198353, 1.261070]  # t=59\nDESCEND_060_JOINTS = [0.077927, -1.332191, 0.354262, -2.943992, 0.484769, 2.215507, 1.261065]  # t=60\nDESCEND_061_JOINTS = [0.077887, -1.311764, 0.360707, -2.940729, 0.490197, 2.233046, 1.261065]  # t=61\nDESCEND_063_JOINTS = [0.077474, -1.267552, 0.374294, -2.932998, 0.501574, 2.267630, 1.261087]  # t=63\nDESCEND_065_JOINTS = [0.076875, -1.225555, 0.386284, -2.924177, 0.510479, 2.294998, 1.261772]  # t=65\nDESCEND_067_JOINTS = [0.076132, -1.190305, 0.394615, -2.916718, 0.515552, 2.314853, 1.262682]  # t=67\nDESCEND_069_JOINTS = [0.075446, -1.160421, 0.400279, -2.912855, 0.518784, 2.332071, 1.262648]  # t=69\nDESCEND_070_JOINTS = [0.075241, -1.146459, 0.402765, -2.912138, 0.520548, 2.341072, 1.262235]  # t=70\nDESCEND_071_JOINTS = [0.075125, -1.133724, 0.404695, -2.912358, 0.522067, 2.349601, 1.261432]  # t=71\nDESCEND_073_JOINTS = [0.074976, -1.108503, 0.408424, -2.914968, 0.526073, 2.369905, 1.258364]  # t=73\nDESCEND_075_JOINTS = [0.072294, -1.081809, 0.407923, -2.908597, 0.524655, 2.393411, 1.251956]  # t=75\nDESCEND_077_JOINTS = [0.067264, -1.050840, 0.405371, -2.896315, 0.519074, 2.411132, 1.245594]  # t=77\nDESCEND_079_JOINTS = [0.061363, -1.017226, 0.402925, -2.882269, 0.512700, 2.428760, 1.239298]  # t=79\nDESCEND_080_JOINTS = [0.058439, -1.000291, 0.402106, -2.874999, 0.509338, 2.437537, 1.236088]  # t=80\nDESCEND_081_JOINTS = [0.055560, -0.983170, 0.401689, -2.867482, 0.505707, 2.446048, 1.232793]  # t=81\nDESCEND_083_JOINTS = [0.049713, -0.946641, 0.401647, -2.847822, 0.496759, 2.456070, 1.227100]  # t=83\nDESCEND_085_JOINTS = [0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548]  # t=85\nGRASP_HOLD_085_JOINTS = [0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548]  # t=85\nLIFT_086_JOINTS = [0.046550, -0.903129, 0.410967, -2.809069, 0.485625, 2.426506, 1.240088]  # t=86\nLIFT_087_JOINTS = [0.047779, -0.904303, 0.412782, -2.802092, 0.482003, 2.406456, 1.249517]  # t=87\nLIFT_088_JOINTS = [0.050620, -0.915178, 0.411917, -2.799897, 0.479925, 2.381767, 1.256803]  # t=88\nLIFT_089_JOINTS = [0.055673, -0.934044, 0.412679, -2.799466, 0.478912, 2.353494, 1.263396]  # t=89\nLIFT_090_JOINTS = [0.061605, -0.960262, 0.412472, -2.802234, 0.477421, 2.322172, 1.270732]  # t=90\nLIFT_091_JOINTS = [0.068306, -0.990859, 0.411836, -2.807580, 0.476850, 2.290228, 1.277189]  # t=91\nLIFT_092_JOINTS = [0.075913, -1.023919, 0.411396, -2.814662, 0.478006, 2.258446, 1.281429]  # t=92\nLIFT_093_JOINTS = [0.084405, -1.060771, 0.410216, -2.822263, 0.479868, 2.224139, 1.284133]  # t=93\nLIFT_094_JOINTS = [0.093715, -1.103875, 0.406822, -2.827945, 0.480522, 2.184135, 1.286398]  # t=94\nLIFT_095_JOINTS = [0.103300, -1.151688, 0.401275, -2.830710, 0.479573, 2.140951, 1.288172]  # t=95\nTRANSPORT_097_JOINTS = [0.120763, -1.249363, 0.385250, -2.826757, 0.473988, 2.058864, 1.287501]  # t=97\nTRANSPORT_099_JOINTS = [0.136285, -1.328958, 0.376082, -2.811304, 0.479181, 1.992092, 1.281084]  # t=99\nTRANSPORT_100_JOINTS = [0.143772, -1.352149, 0.383300, -2.799464, 0.494994, 1.973814, 1.275679]  # t=100\nTRANSPORT_101_JOINTS = [0.150431, -1.362633, 0.399378, -2.785588, 0.519142, 1.966847, 1.269801]  # t=101\nTRANSPORT_103_JOINTS = [0.159677, -1.358078, 0.443658, -2.752698, 0.575200, 1.968598, 1.257137]  # t=103\nTRANSPORT_105_JOINTS = [0.164507, -1.332872, 0.489907, -2.716878, 0.634425, 1.978672, 1.232926]  # t=105\nTRANSPORT_107_JOINTS = [0.166545, -1.295809, 0.535821, -2.682751, 0.695360, 1.992481, 1.197595]  # t=107\nTRANSPORT_109_JOINTS = [0.168180, -1.259353, 0.581950, -2.649600, 0.753734, 2.002712, 1.163615]  # t=109\nTRANSPORT_110_JOINTS = [0.167326, -1.240380, 0.606821, -2.633874, 0.779079, 2.012182, 1.151936]  # t=110\nTRANSPORT_111_JOINTS = [0.164837, -1.220639, 0.631754, -2.620374, 0.800239, 2.025006, 1.143766]  # t=111\nTRANSPORT_113_JOINTS = [0.158007, -1.184516, 0.676524, -2.603028, 0.830877, 2.050505, 1.131916]  # t=113\nTRANSPORT_115_JOINTS = [0.149468, -1.148785, 0.728986, -2.593563, 0.850633, 2.078829, 1.125161]  # t=115\nTRANSPORT_117_JOINTS = [0.138525, -1.110075, 0.792286, -2.585110, 0.860628, 2.111360, 1.123147]  # t=117\nTRANSPORT_118_JOINTS = [0.132331, -1.090420, 0.824514, -2.581049, 0.862080, 2.127398, 1.123317]  # t=118\nTRANSPORT_119_JOINTS = [0.125877, -1.071444, 0.855754, -2.578058, 0.860628, 2.142175, 1.123763]  # t=119\nTRANSPORT_121_JOINTS = [0.113200, -1.037669, 0.911831, -2.575242, 0.850064, 2.166550, 1.125743]  # t=121\nTRANSPORT_123_JOINTS = [0.103251, -1.012826, 0.953454, -2.576810, 0.830873, 2.179651, 1.127531]  # t=123\nTRANSPORT_125_JOINTS = [0.095827, -0.993695, 0.983521, -2.578787, 0.812815, 2.188947, 1.130219]  # t=125\nTRANSPORT_127_JOINTS = [0.089252, -0.974292, 1.008570, -2.581992, 0.807475, 2.206694, 1.131757]  # t=127\nTRANSPORT_129_JOINTS = [0.084049, -0.954354, 1.028641, -2.587780, 0.812733, 2.231517, 1.126300]  # t=129\nTRANSPORT_130_JOINTS = [0.081433, -0.944090, 1.037514, -2.591721, 0.816692, 2.246050, 1.120616]  # t=130\nTRANSPORT_131_JOINTS = [0.077631, -0.932490, 1.046172, -2.596239, 0.821051, 2.263881, 1.112871]  # t=131\nTRANSPORT_133_JOINTS = [0.066497, -0.905086, 1.062044, -2.605204, 0.829599, 2.304575, 1.092210]  # t=133\nTRANSPORT_135_JOINTS = [0.055391, -0.876614, 1.076046, -2.612240, 0.837211, 2.340118, 1.069324]  # t=135\nTRANSPORT_137_JOINTS = [0.046907, -0.851700, 1.087765, -2.617869, 0.842242, 2.370682, 1.048685]  # t=137\nTRANSPORT_138_JOINTS = [0.043264, -0.841279, 1.092568, -2.620351, 0.842399, 2.387387, 1.039079]  # t=138\nPLACE_139_JOINTS = [0.039438, -0.831129, 1.097356, -2.622698, 0.841757, 2.405929, 1.028882]  # t=139\nPLACE_140_JOINTS = [0.036371, -0.822370, 1.101109, -2.624784, 0.839996, 2.424382, 1.017881]  # t=140\nPLACE_141_JOINTS = [0.034944, -0.816248, 1.103166, -2.626824, 0.836879, 2.441325, 1.007157]  # t=141\nPLACE_142_JOINTS = [0.035743, -0.813875, 1.104160, -2.629550, 0.832062, 2.456562, 0.998922]  # t=142\nPLACE_143_JOINTS = [0.038352, -0.815393, 1.105324, -2.633462, 0.825045, 2.472932, 0.994729]  # t=143\nPLACE_144_JOINTS = [0.043059, -0.821122, 1.105465, -2.637970, 0.816008, 2.489377, 0.994200]  # t=144\nPLACE_145_JOINTS = [0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945]  # t=145\nRELEASE_POSE_145_JOINTS = [0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945]  # t=145\nRETRACT_147_JOINTS = [0.089446, -0.890130, 1.074001, -2.650580, 0.775862, 2.493761, 1.022985]  # t=147\nRETRACT_149_JOINTS = [0.133419, -0.957398, 1.034089, -2.653890, 0.746685, 2.472260, 1.052741]  # t=149\nRETRACT_151_JOINTS = [0.178290, -1.028908, 0.990574, -2.654162, 0.716674, 2.440157, 1.083094]  # t=151\nRETRACT_153_JOINTS = [0.222404, -1.102494, 0.945728, -2.653639, 0.689993, 2.404615, 1.109787]  # t=153\nRETRACT_155_JOINTS = [0.259953, -1.172058, 0.899927, -2.655685, 0.666204, 2.375870, 1.126811]  # t=155\nRETRACT_157_JOINTS = [0.292486, -1.232597, 0.847776, -2.655979, 0.659966, 2.348865, 1.128765]  # t=157\nRETRACT_159_JOINTS = [0.318120, -1.285909, 0.794889, -2.654293, 0.662283, 2.323664, 1.125117]  # t=159\nRETRACT_160_JOINTS = [0.328323, -1.311669, 0.769359, -2.651759, 0.662878, 2.310243, 1.123327]  # t=160\nRETRACT_161_JOINTS = [0.337041, -1.337611, 0.744144, -2.648007, 0.662939, 2.295749, 1.122359]  # t=161\nRETRACT_163_JOINTS = [0.349557, -1.388731, 0.695511, -2.636960, 0.662652, 2.266483, 1.122400]  # t=163\nRETRACT_165_JOINTS = [0.355212, -1.435479, 0.650191, -2.620664, 0.664119, 2.239310, 1.124300]  # t=165\nRETRACT_167_JOINTS = [0.354047, -1.474228, 0.609757, -2.597785, 0.668342, 2.213482, 1.128140]  # t=167\nRETRACT_169_JOINTS = [0.346976, -1.506049, 0.575078, -2.565761, 0.671045, 2.184632, 1.137377]  # t=169\nRETRACT_171_JOINTS = [0.335379, -1.531905, 0.544657, -2.524021, 0.671659, 2.151874, 1.151765]  # t=171\nRETRACT_173_JOINTS = [0.319104, -1.548508, 0.517557, -2.474736, 0.671665, 2.121035, 1.167658]  # t=173\nRETRACT_174_JOINTS = [0.309275, -1.552371, 0.505210, -2.447757, 0.671497, 2.107198, 1.174783]  # t=174\nAPPROACH_000_JOINTS = [-0.010712, -1.040482, -0.026759, -2.272686, 0.015270, 1.514669, 0.707433]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_085_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_085_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(TRANSPORT_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_139_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_140_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_142_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_144_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_145_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_145_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_145_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_174_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 23622, "code_num_lines": 273, "code_num_nonblank_lines": 258, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"PickPlaceToasterOvenToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceToasterOvenToCounter\",\"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\",\"toaster_oven\":\"toaster_oven_main_group\"},\"fixtures\":{\"box_1_island_group\":{\"cls\":\"Box\"},\"box_2_island_group\":{\"cls\":\"Box\"},\"box_front_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_front_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"OpenCabinet\"},\"coffee_machine_right_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_right_group\":{\"cls\":\"Counter\"},\"dishwasher_front_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeFrenchDoor\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"paper_towel_right_group\":{\"cls\":\"Accessory\"},\"sink_1_front_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_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_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_3\":{\"cls\":\"Drawer\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"HingeCabinet\"},\"stack_4_main_group_4\":{\"cls\":\"HingeCabinet\"},\"stack_4_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_oven_main_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_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_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_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\":[0.906655759899866,-0.7718173603946096,0.0],\"lang\":\"Pick the hotdog bun from the rack and place it on the plate on the 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}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceToasterOvenToCounter\"}", "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\":\"PickPlaceToasterOvenToCounter\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"PickPlaceToasterOvenToCounter\",\"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\",\"toaster_oven\":\"toaster_oven_main_group\"},\"fixtures\":{\"box_1_island_group\":{\"cls\":\"Box\"},\"box_2_island_group\":{\"cls\":\"Box\"},\"box_front_group\":{\"cls\":\"Box\"},\"box_right_group\":{\"cls\":\"Box\"},\"cab_1_front_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_1_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_main_group\":{\"cls\":\"HingeCabinet\"},\"cab_2_right_group\":{\"cls\":\"HingeCabinet\"},\"cab_3_main_group\":{\"cls\":\"OpenCabinet\"},\"coffee_machine_right_group\":{\"cls\":\"CoffeeMachine\"},\"counter_1_front_group\":{\"cls\":\"Counter\"},\"counter_1_main_group\":{\"cls\":\"Counter\"},\"counter_1_right_group\":{\"cls\":\"Counter\"},\"counter_2_main_group\":{\"cls\":\"Counter\"},\"counter_corner_right_group\":{\"cls\":\"Counter\"},\"dishwasher_front_group\":{\"cls\":\"Dishwasher\"},\"floor_1_backing_room\":{\"cls\":\"Floor\"},\"floor_1_room\":{\"cls\":\"Floor\"},\"fridge_housing_main_group\":{\"cls\":\"HousingCabinet\"},\"fridge_main_group\":{\"cls\":\"FridgeFrenchDoor\"},\"island_island_group\":{\"cls\":\"Counter\"},\"light_switch_1_room\":{\"cls\":\"WallAccessory\"},\"light_switch_2_room\":{\"cls\":\"WallAccessory\"},\"light_switch_3_room\":{\"cls\":\"WallAccessory\"},\"light_switch_4_room\":{\"cls\":\"WallAccessory\"},\"microwave_main_group\":{\"cls\":\"Microwave\"},\"paper_towel_right_group\":{\"cls\":\"Accessory\"},\"sink_1_front_group\":{\"cls\":\"Sink\"},\"stack_1_front_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_front_group_base\":{\"cls\":\"Box\"},\"stack_1_island_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_island_group_base\":{\"cls\":\"Box\"},\"stack_1_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_1_main_group_base\":{\"cls\":\"Box\"},\"stack_1_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_1_right_group_2\":{\"cls\":\"Drawer\"},\"stack_1_right_group_base\":{\"cls\":\"Box\"},\"stack_2_front_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_front_group_2\":{\"cls\":\"Drawer\"},\"stack_2_front_group_base\":{\"cls\":\"Box\"},\"stack_2_island_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_2_island_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_2_right_group_1\":{\"cls\":\"SingleCabinet\"},\"stack_2_right_group_2\":{\"cls\":\"Drawer\"},\"stack_2_right_group_base\":{\"cls\":\"Box\"},\"stack_3_main_group_1\":{\"cls\":\"HingeCabinet\"},\"stack_3_main_group_2\":{\"cls\":\"Drawer\"},\"stack_3_main_group_base\":{\"cls\":\"Box\"},\"stack_3_right_group_1\":{\"cls\":\"Drawer\"},\"stack_3_right_group_2\":{\"cls\":\"Drawer\"},\"stack_3_right_group_3\":{\"cls\":\"Drawer\"},\"stack_3_right_group_base\":{\"cls\":\"Box\"},\"stack_4_main_group_1\":{\"cls\":\"Drawer\"},\"stack_4_main_group_2\":{\"cls\":\"Drawer\"},\"stack_4_main_group_3\":{\"cls\":\"HingeCabinet\"},\"stack_4_main_group_4\":{\"cls\":\"HingeCabinet\"},\"stack_4_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_oven_main_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_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_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_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\":[0.906655759899866,-0.7718173603946096,0.0],\"lang\":\"Pick the hotdog bun from the rack and place it on the plate on the 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,-1.9552520399855406e-15,0.0,0.0,-4.7173077198971464e-08,1.8934918962843012e-05,-5.127530490072771e-07,6.96234626745485e-10,-1.0311304974247233e-07,-5.127529968905676e-07,-4.871065797461545e-12,-1.0311363673730676e-07,0.0,-4.919123348566013e-18,0.0,-0.0023136356987864177,-0.0031605291298845927,-0.00011229034872872278,0.15364153646727122,0.00270341116318207,-0.0016228945542098353,-5.476257533967476e-08,-1.171815650561551e-07,1.5796339412939688e-06,1.3588536538535027e-05,-3.1293649942885163e-06,-1.1692309524981119e-07],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"PickPlaceToasterOvenToCounter\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 100, "pretrain_task_id": 47, "retained_waypoint_count": 100, "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": 312015, "video_relpath": "videos/raw_extracted/47_PickPlaceToasterOvenToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PickPlaceToasterToCounter\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_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': 'PickPlaceToasterToCounter',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 109,\n    'stable_release_contact_loss_t': 271,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.465153, y=-0.242034, z=1.080905, qw=1.000000, qx=0.000000, qy=0.000005, qz=0.000000)\nGOAL_RECEPTACLE_POSE = pose(x=0.180522, y=-0.464177, z=0.945027, qw=0.954857, qx=-0.120464, qy=0.096689, qz=0.253747)\n\nAPPROACH_005_JOINTS = [-0.040281, -1.069696, 0.009711, -2.305087, 0.028936, 1.495986, 0.693381]  # t=5\nAPPROACH_010_JOINTS = [-0.030311, -1.129598, 0.000713, -2.340251, 0.027130, 1.471019, 0.671973]  # t=10\nAPPROACH_015_JOINTS = [-0.025444, -1.258958, -0.012487, -2.459531, 0.021533, 1.638361, 0.660834]  # t=15\nAPPROACH_018_JOINTS = [-0.023014, -1.354657, -0.015959, -2.545582, 0.023910, 1.760438, 0.650861]  # t=18\nAPPROACH_020_JOINTS = [-0.021369, -1.415491, -0.018281, -2.603902, 0.027538, 1.842742, 0.640696]  # t=20\nAPPROACH_023_JOINTS = [-0.019444, -1.482089, -0.021667, -2.689435, 0.033060, 1.963739, 0.626195]  # t=23\nAPPROACH_025_JOINTS = [-0.018770, -1.503245, -0.021878, -2.738410, 0.035157, 2.041121, 0.621558]  # t=25\nAPPROACH_030_JOINTS = [-0.016900, -1.481476, -0.018619, -2.817923, 0.039394, 2.209703, 0.618711]  # t=30\nAPPROACH_031_JOINTS = [-0.016207, -1.461266, -0.017606, -2.827030, 0.040606, 2.247047, 0.618277]  # t=31\nAPPROACH_035_JOINTS = [-0.012840, -1.355983, -0.014190, -2.838730, 0.045542, 2.384443, 0.616031]  # t=35\nAPPROACH_040_JOINTS = [-0.008566, -1.183603, -0.010616, -2.814714, 0.050085, 2.545425, 0.615222]  # t=40\nAPPROACH_045_JOINTS = [-0.016331, -0.977320, -0.000433, -2.747725, 0.032075, 2.672020, 0.650689]  # t=45\nAPPROACH_048_JOINTS = [-0.030899, -0.891109, 0.004533, -2.702494, 0.003716, 2.684162, 0.693993]  # t=48\nAPPROACH_050_JOINTS = [-0.035262, -0.856602, 0.010599, -2.674676, -0.007276, 2.654168, 0.712378]  # t=50\nAPPROACH_052_JOINTS = [-0.035868, -0.821773, 0.011521, -2.642219, -0.010494, 2.609828, 0.715813]  # t=52\nAPPROACH_055_JOINTS = [-0.036271, -0.763785, 0.005556, -2.593785, -0.013580, 2.565767, 0.712631]  # t=55\nAPPROACH_060_JOINTS = [-0.033802, -0.701095, 0.001015, -2.560779, -0.014012, 2.569485, 0.710574]  # t=60\nAPPROACH_065_JOINTS = [-0.031398, -0.639308, -0.000859, -2.571527, -0.013600, 2.631093, 0.711831]  # t=65\nAPPROACH_070_JOINTS = [-0.030534, -0.575845, -0.001428, -2.565869, -0.014866, 2.701449, 0.712838]  # t=70\nAPPROACH_075_JOINTS = [-0.029684, -0.504701, -0.000563, -2.530917, -0.015847, 2.739604, 0.714371]  # t=75\nAPPROACH_080_JOINTS = [-0.028753, -0.454855, 0.004002, -2.522695, -0.019416, 2.774671, 0.721809]  # t=80\nAPPROACH_083_JOINTS = [-0.028654, -0.418512, 0.006562, -2.517046, -0.022671, 2.805003, 0.727110]  # t=83\nDESCEND_085_JOINTS = [-0.028699, -0.391395, 0.007496, -2.510809, -0.025073, 2.826186, 0.730239]  # t=85\nDESCEND_087_JOINTS = [-0.028786, -0.357421, 0.007522, -2.501950, -0.027259, 2.850207, 0.732278]  # t=87\nDESCEND_088_JOINTS = [-0.028890, -0.340040, 0.007444, -2.497475, -0.028366, 2.863141, 0.733165]  # t=88\nDESCEND_089_JOINTS = [-0.029171, -0.329961, 0.007264, -2.490393, -0.029915, 2.872238, 0.734757]  # t=89\nDESCEND_091_JOINTS = [-0.029466, -0.307911, 0.007304, -2.471190, -0.032781, 2.880926, 0.738072]  # t=91\nDESCEND_093_JOINTS = [-0.029536, -0.284259, 0.007383, -2.448221, -0.035269, 2.883463, 0.740947]  # t=93\nDESCEND_095_JOINTS = [-0.029469, -0.261760, 0.007411, -2.424888, -0.037265, 2.883355, 0.743186]  # t=95\nDESCEND_097_JOINTS = [-0.029276, -0.243792, 0.007338, -2.405436, -0.038792, 2.881267, 0.744851]  # t=97\nDESCEND_099_JOINTS = [-0.028104, -0.237549, 0.007778, -2.397079, -0.036313, 2.876449, 0.746215]  # t=99\nDESCEND_100_JOINTS = [-0.027116, -0.235697, 0.007814, -2.394475, -0.032881, 2.875029, 0.746231]  # t=100\nDESCEND_101_JOINTS = [-0.026072, -0.234055, 0.007521, -2.392194, -0.028672, 2.874076, 0.745698]  # t=101\nDESCEND_102_JOINTS = [-0.025056, -0.232515, 0.006886, -2.390108, -0.024120, 2.873403, 0.744429]  # t=102\nDESCEND_103_JOINTS = [-0.023994, -0.230924, 0.006016, -2.387992, -0.018863, 2.872965, 0.742499]  # t=103\nDESCEND_105_JOINTS = [-0.022044, -0.227058, 0.003214, -2.383110, -0.007709, 2.872487, 0.736193]  # t=105\nDESCEND_107_JOINTS = [-0.020291, -0.222806, -0.000237, -2.377773, 0.003507, 2.871949, 0.727683]  # t=107\nDESCEND_108_JOINTS = [-0.019486, -0.220535, -0.001966, -2.374960, 0.008865, 2.871688, 0.723119]  # t=108\nGRASP_HOLD_109_JOINTS = [-0.018687, -0.218321, -0.003587, -2.372224, 0.014217, 2.871353, 0.718576]  # t=109\nLIFT_110_JOINTS = [-0.017827, -0.216541, -0.004322, -2.369945, 0.018617, 2.870774, 0.714679]  # t=110\nLIFT_111_JOINTS = [-0.017124, -0.215165, -0.004514, -2.368098, 0.021222, 2.870145, 0.712101]  # t=111\nLIFT_112_JOINTS = [-0.016686, -0.213925, -0.004670, -2.366579, 0.022454, 2.869617, 0.710958]  # t=112\nLIFT_113_JOINTS = [-0.016394, -0.213462, -0.004734, -2.365855, 0.022949, 2.868978, 0.710684]  # t=113\nLIFT_114_JOINTS = [-0.016191, -0.213448, -0.004730, -2.365676, 0.023031, 2.868639, 0.710695]  # t=114\nLIFT_115_JOINTS = [-0.016023, -0.213467, -0.004712, -2.365674, 0.023032, 2.868587, 0.710724]  # t=115\nLIFT_116_JOINTS = [-0.015865, -0.213522, -0.004683, -2.365713, 0.023032, 2.868712, 0.710755]  # t=116\nLIFT_117_JOINTS = [-0.015660, -0.213873, -0.004570, -2.365633, 0.023196, 2.872687, 0.710794]  # t=117\nLIFT_118_JOINTS = [-0.015397, -0.215087, -0.004403, -2.366279, 0.023566, 2.881662, 0.710796]  # t=118\nLIFT_119_JOINTS = [-0.015096, -0.220205, -0.004217, -2.369655, 0.024131, 2.893480, 0.710815]  # t=119\nLIFT_120_JOINTS = [-0.014795, -0.230153, -0.004123, -2.376762, 0.024817, 2.906849, 0.710798]  # t=120\nLIFT_121_JOINTS = [-0.014477, -0.243386, -0.004064, -2.386701, 0.025611, 2.921504, 0.710709]  # t=121\nLIFT_122_JOINTS = [-0.014139, -0.258016, -0.004004, -2.397849, 0.026489, 2.937305, 0.710547]  # t=122\nLIFT_123_JOINTS = [-0.013786, -0.273049, -0.003942, -2.409309, 0.027422, 2.953647, 0.710331]  # t=123\nLIFT_124_JOINTS = [-0.013431, -0.288526, -0.003882, -2.420767, 0.028374, 2.969760, 0.710080]  # t=124\nLIFT_125_JOINTS = [-0.013080, -0.304752, -0.003828, -2.432058, 0.029319, 2.985089, 0.709814]  # t=125\nLIFT_126_JOINTS = [-0.012746, -0.321599, -0.003787, -2.442601, 0.030214, 2.999122, 0.709553]  # t=126\nLIFT_127_JOINTS = [-0.012447, -0.338327, -0.003768, -2.451830, 0.031007, 3.011048, 0.709321]  # t=127\nTRANSPORT_130_JOINTS = [-0.011952, -0.384497, -0.003708, -2.467265, 0.032400, 3.029958, 0.709078]  # t=130\nTRANSPORT_131_JOINTS = [-0.011965, -0.398144, -0.003686, -2.468050, 0.032484, 3.029407, 0.709101]  # t=131\nTRANSPORT_133_JOINTS = [-0.012255, -0.425989, -0.003683, -2.467641, 0.032484, 3.018866, 0.709104]  # t=133\nTRANSPORT_135_JOINTS = [-0.012882, -0.457767, -0.003685, -2.468209, 0.032423, 2.998140, 0.709100]  # t=135\nTRANSPORT_136_JOINTS = [-0.013303, -0.475944, -0.003687, -2.469365, 0.032313, 2.984543, 0.709098]  # t=136\nTRANSPORT_139_JOINTS = [-0.015363, -0.542190, -0.003819, -2.478201, 0.030194, 2.932272, 0.708935]  # t=139\nTRANSPORT_142_JOINTS = [-0.020548, -0.627516, -0.003755, -2.503234, 0.018431, 2.870736, 0.707828]  # t=142\nTRANSPORT_143_JOINTS = [-0.023486, -0.657373, -0.003245, -2.513079, 0.010303, 2.850571, 0.707340]  # t=143\nTRANSPORT_145_JOINTS = [-0.030241, -0.721003, -0.000349, -2.535534, -0.009781, 2.809297, 0.707592]  # t=145\nTRANSPORT_147_JOINTS = [-0.036676, -0.787635, 0.007731, -2.560067, -0.031749, 2.767512, 0.711234]  # t=147\nTRANSPORT_148_JOINTS = [-0.039451, -0.821379, 0.014609, -2.572668, -0.042816, 2.746601, 0.715490]  # t=148\nTRANSPORT_151_JOINTS = [-0.043434, -0.923466, 0.048263, -2.609190, -0.074074, 2.683811, 0.729910]  # t=151\nTRANSPORT_154_JOINTS = [-0.036209, -1.019290, 0.093345, -2.633109, -0.092688, 2.609288, 0.722977]  # t=154\nTRANSPORT_155_JOINTS = [-0.031004, -1.047867, 0.109528, -2.636453, -0.094309, 2.579639, 0.714987]  # t=155\nTRANSPORT_157_JOINTS = [-0.018271, -1.100338, 0.143739, -2.636214, -0.093733, 2.515259, 0.695891]  # t=157\nTRANSPORT_159_JOINTS = [-0.003314, -1.145019, 0.181624, -2.630362, -0.089176, 2.448559, 0.675916]  # t=159\nTRANSPORT_160_JOINTS = [0.004527, -1.164044, 0.202303, -2.626502, -0.085699, 2.415843, 0.667376]  # t=160\nTRANSPORT_163_JOINTS = [0.030272, -1.208694, 0.270225, -2.611387, -0.065947, 2.316014, 0.642865]  # t=163\nTRANSPORT_166_JOINTS = [0.056454, -1.230714, 0.340130, -2.581800, -0.033601, 2.217043, 0.615703]  # t=166\nTRANSPORT_167_JOINTS = [0.064210, -1.232764, 0.363568, -2.568385, -0.022327, 2.184619, 0.606866]  # t=167\nTRANSPORT_169_JOINTS = [0.074927, -1.225484, 0.405184, -2.538283, -0.006569, 2.121219, 0.588442]  # t=169\nTRANSPORT_171_JOINTS = [0.077020, -1.200995, 0.436717, -2.504279, -0.007404, 2.060320, 0.563628]  # t=171\nTRANSPORT_172_JOINTS = [0.076360, -1.183877, 0.452258, -2.484122, -0.010740, 2.028061, 0.547349]  # t=172\nTRANSPORT_175_JOINTS = [0.069130, -1.119474, 0.502920, -2.411076, -0.026670, 1.921011, 0.498267]  # t=175\nTRANSPORT_178_JOINTS = [0.054706, -1.038386, 0.568925, -2.334731, -0.046646, 1.816526, 0.461212]  # t=178\nTRANSPORT_179_JOINTS = [0.048334, -1.008118, 0.594982, -2.309054, -0.053733, 1.785787, 0.452140]  # t=179\nTRANSPORT_181_JOINTS = [0.033653, -0.945756, 0.653644, -2.260057, -0.066358, 1.734581, 0.446277]  # t=181\nTRANSPORT_183_JOINTS = [0.017786, -0.887430, 0.701561, -2.238145, -0.070783, 1.715556, 0.452071]  # t=183\nTRANSPORT_184_JOINTS = [0.011303, -0.864718, 0.720415, -2.236212, -0.072831, 1.713908, 0.455258]  # t=184\nTRANSPORT_187_JOINTS = [-0.003162, -0.813352, 0.769578, -2.251387, -0.075443, 1.734903, 0.469011]  # t=187\nTRANSPORT_190_JOINTS = [-0.014997, -0.777450, 0.804141, -2.284784, -0.087126, 1.786911, 0.487956]  # t=190\nTRANSPORT_191_JOINTS = [-0.018227, -0.767555, 0.813068, -2.296797, -0.090703, 1.806121, 0.494250]  # t=191\nTRANSPORT_193_JOINTS = [-0.024002, -0.749823, 0.827442, -2.318514, -0.096819, 1.842810, 0.508600]  # t=193\nTRANSPORT_195_JOINTS = [-0.030222, -0.734026, 0.836926, -2.336257, -0.107934, 1.878076, 0.525612]  # t=195\nTRANSPORT_196_JOINTS = [-0.033673, -0.726726, 0.840844, -2.343779, -0.116874, 1.897529, 0.535913]  # t=196\nTRANSPORT_199_JOINTS = [-0.048398, -0.697564, 0.859493, -2.369161, -0.155442, 1.977481, 0.582132]  # t=199\nTRANSPORT_202_JOINTS = [-0.063923, -0.672151, 0.885791, -2.394719, -0.209146, 2.053521, 0.651474]  # t=202\nTRANSPORT_203_JOINTS = [-0.067891, -0.665887, 0.894303, -2.402226, -0.225677, 2.073042, 0.674240]  # t=203\nTRANSPORT_205_JOINTS = [-0.070990, -0.657518, 0.909896, -2.411205, -0.244811, 2.092212, 0.708013]  # t=205\nTRANSPORT_207_JOINTS = [-0.072861, -0.648734, 0.923311, -2.415771, -0.255473, 2.104301, 0.731812]  # t=207\nTRANSPORT_208_JOINTS = [-0.074105, -0.644270, 0.929596, -2.418069, -0.260742, 2.109838, 0.742913]  # t=208\nTRANSPORT_211_JOINTS = [-0.078846, -0.633111, 0.948734, -2.427371, -0.280774, 2.129606, 0.780031]  # t=211\nTRANSPORT_214_JOINTS = [-0.085813, -0.625446, 0.973059, -2.441213, -0.311328, 2.159133, 0.831903]  # t=214\nTRANSPORT_215_JOINTS = [-0.088789, -0.623435, 0.982337, -2.447908, -0.323628, 2.170909, 0.852477]  # t=215\nTRANSPORT_217_JOINTS = [-0.094940, -0.621654, 1.000459, -2.462351, -0.349590, 2.193510, 0.895028]  # t=217\nTRANSPORT_218_JOINTS = [-0.097863, -0.622011, 1.008746, -2.469434, -0.362483, 2.203825, 0.915722]  # t=218\nPLACE_220_JOINTS = [-0.103748, -0.624477, 1.024596, -2.483477, -0.388604, 2.224329, 0.956875]  # t=220\nPLACE_222_JOINTS = [-0.109646, -0.626743, 1.039435, -2.497397, -0.410429, 2.243367, 0.993003]  # t=222\nPLACE_224_JOINTS = [-0.116537, -0.626597, 1.052741, -2.510669, -0.427074, 2.262596, 1.022139]  # t=224\nPLACE_226_JOINTS = [-0.128192, -0.619848, 1.060374, -2.521414, -0.441571, 2.286879, 1.040318]  # t=226\nPLACE_228_JOINTS = [-0.140712, -0.612147, 1.065937, -2.526701, -0.454545, 2.304569, 1.051195]  # t=228\nPLACE_230_JOINTS = [-0.153021, -0.604488, 1.070208, -2.527431, -0.466171, 2.316650, 1.058052]  # t=230\nPLACE_232_JOINTS = [-0.163841, -0.597374, 1.074548, -2.526037, -0.474964, 2.324453, 1.063388]  # t=232\nPLACE_234_JOINTS = [-0.172201, -0.591310, 1.077025, -2.522737, -0.477763, 2.331490, 1.069144]  # t=234\nPLACE_236_JOINTS = [-0.174816, -0.588163, 1.076713, -2.519505, -0.467900, 2.339906, 1.077132]  # t=236\nPLACE_238_JOINTS = [-0.172682, -0.587564, 1.071292, -2.519130, -0.447188, 2.355953, 1.085458]  # t=238\nPLACE_240_JOINTS = [-0.167161, -0.589440, 1.060419, -2.522496, -0.421397, 2.378190, 1.090985]  # t=240\nPLACE_242_JOINTS = [-0.160386, -0.592286, 1.047269, -2.530695, -0.396874, 2.404451, 1.093251]  # t=242\nPLACE_244_JOINTS = [-0.152947, -0.600961, 1.034861, -2.540145, -0.383419, 2.427170, 1.097420]  # t=244\nPLACE_246_JOINTS = [-0.145986, -0.610569, 1.026735, -2.552692, -0.377494, 2.446448, 1.102372]  # t=246\nPLACE_248_JOINTS = [-0.141443, -0.615928, 1.020971, -2.560804, -0.375297, 2.457585, 1.100443]  # t=248\nPLACE_249_JOINTS = [-0.139838, -0.617516, 1.018872, -2.563011, -0.374691, 2.460623, 1.099283]  # t=249\nPLACE_250_JOINTS = [-0.138593, -0.618562, 1.017216, -2.564468, -0.374335, 2.462567, 1.098352]  # t=250\nPLACE_252_JOINTS = [-0.136947, -0.619498, 1.014998, -2.565851, -0.374228, 2.464506, 1.097333]  # t=252\nPLACE_254_JOINTS = [-0.136083, -0.619567, 1.014021, -2.566265, -0.374234, 2.465006, 1.097220]  # t=254\nPLACE_256_JOINTS = [-0.135716, -0.619513, 1.013732, -2.566282, -0.374239, 2.465011, 1.097222]  # t=256\nPLACE_258_JOINTS = [-0.135586, -0.619502, 1.013711, -2.566282, -0.374242, 2.465011, 1.097225]  # t=258\nPLACE_260_JOINTS = [-0.135076, -0.619572, 1.013382, -2.565982, -0.373520, 2.464154, 1.096658]  # t=260\nPLACE_262_JOINTS = [-0.132955, -0.621715, 1.011116, -2.563632, -0.371492, 2.459807, 1.094120]  # t=262\nPLACE_264_JOINTS = [-0.128078, -0.627468, 1.005466, -2.558181, -0.366419, 2.449949, 1.087191]  # t=264\nPLACE_266_JOINTS = [-0.119609, -0.637860, 0.994583, -2.548154, -0.356706, 2.432235, 1.072290]  # t=266\nPLACE_268_JOINTS = [-0.108459, -0.651346, 0.978398, -2.533942, -0.342531, 2.408500, 1.048375]  # t=268\nPLACE_270_JOINTS = [-0.097147, -0.663493, 0.959769, -2.518544, -0.325612, 2.383037, 1.017270]  # t=270\nPLACE_271_JOINTS = [-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389]  # t=271\nRELEASE_POSE_271_JOINTS = [-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389]  # t=271\nRETRACT_274_JOINTS = [-0.078551, -0.683783, 0.923789, -2.486175, -0.296853, 2.333493, 0.954883]  # t=274\nRETRACT_276_JOINTS = [-0.071581, -0.691739, 0.909764, -2.472625, -0.285818, 2.314507, 0.932152]  # t=276\nRETRACT_277_JOINTS = [-0.068890, -0.695110, 0.903495, -2.466621, -0.281744, 2.306881, 0.922804]  # t=277\nRETRACT_280_JOINTS = [-0.062779, -0.703523, 0.887125, -2.449899, -0.272950, 2.286871, 0.898982]  # t=280\nRETRACT_283_JOINTS = [-0.057775, -0.712492, 0.871151, -2.430011, -0.267255, 2.263720, 0.875607]  # t=283\nRETRACT_286_JOINTS = [-0.052460, -0.723488, 0.853330, -2.403196, -0.261112, 2.231931, 0.847927]  # t=286\nRETRACT_289_JOINTS = [-0.038518, -0.750061, 0.830977, -2.375418, -0.242393, 2.174796, 0.813619]  # t=289\nRETRACT_292_JOINTS = [-0.003094, -0.815640, 0.801931, -2.375634, -0.198485, 2.086386, 0.771800]  # t=292\nRETRACT_295_JOINTS = [0.045813, -0.913109, 0.761616, -2.410279, -0.147035, 2.021803, 0.734068]  # t=295\nRETRACT_298_JOINTS = [0.089274, -1.013500, 0.705316, -2.457956, -0.118734, 1.990714, 0.684697]  # t=298\nRETRACT_301_JOINTS = [0.117767, -1.094538, 0.635961, -2.487838, -0.112219, 1.972895, 0.617935]  # t=301\nRETRACT_304_JOINTS = [0.133056, -1.155699, 0.559823, -2.502669, -0.112126, 1.957805, 0.545690]  # t=304\nRETRACT_307_JOINTS = [0.148339, -1.216689, 0.474052, -2.522354, -0.076602, 1.960260, 0.486384]  # t=307\nRETRACT_309_JOINTS = [0.156860, -1.256423, 0.422883, -2.540775, -0.050289, 1.969800, 0.448508]  # t=309\nAPPROACH_000_JOINTS = [-0.047683, -1.052556, 0.009189, -2.296085, 0.029837, 1.549504, 0.700324]  # 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_pregrasp():\n    \"\"\"Coarse approach into the pregrasp corridor.\"\"\"\n    moveJoint(APPROACH_000_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_023_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_083_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef execute_grasp_approach():\n    \"\"\"Final Cartesian descent into grasp alignment.\"\"\"\n    moveJoint(DESCEND_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(DESCEND_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(DESCEND_108_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef close_gripper_on_object():\n    \"\"\"Close the gripper and let the grasp settle briefly.\"\"\"\n    grasp(hold_target=GRASP_HOLD_109_JOINTS, input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)\n    wait(duration=0.05, hold_target=GRASP_HOLD_109_JOINTS, input_type='joint', gripper=1.0)\n\ndef lift_object():\n    \"\"\"Lift the grasped object clear of the counter.\"\"\"\n    moveJoint(LIFT_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_112_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_114_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_117_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_118_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_119_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_120_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_121_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_122_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(LIFT_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef transport_to_place():\n    \"\"\"Carry the object through the curved transport corridor.\"\"\"\n    moveJoint(TRANSPORT_130_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_139_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_142_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_143_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_148_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_151_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_154_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_155_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_160_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_163_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_166_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_175_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_178_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_184_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_187_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_190_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_196_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_199_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_202_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_203_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_207_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_208_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_211_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_214_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(TRANSPORT_218_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef prepare_release():\n    \"\"\"Set the object into the receptacle and stabilize before release.\"\"\"\n    moveJoint(PLACE_220_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_222_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_224_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_226_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_228_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_230_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_232_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_234_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_236_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_238_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_240_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_242_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_244_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_246_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_248_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PLACE_249_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_250_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_252_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_254_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_256_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_258_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_260_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_262_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_264_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_266_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_268_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_270_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PLACE_271_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    wait(duration=0.05, hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', gripper=-1.0)\n\ndef release_object():\n    \"\"\"Open the gripper and hold briefly to avoid disturbing the placement.\"\"\"\n    release(hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)\n    wait(duration=0.05, hold_target=RELEASE_POSE_271_JOINTS, input_type='joint', gripper=-1.0)\n\ndef retreat_after_release():\n    \"\"\"Retreat away from the placed object without clipping it.\"\"\"\n    moveJoint(RETRACT_274_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_276_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_277_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_280_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_283_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_286_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_289_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_292_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_295_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_298_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_301_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_304_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_307_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(RETRACT_309_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\nmove_to_pregrasp()\nexecute_grasp_approach()\nclose_gripper_on_object()\nlift_object()\ntransport_to_place()\nprepare_release()\nrelease_object()\nretreat_after_release()\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": 32677, "code_num_lines": 363, "code_num_nonblank_lines": 348, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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}},\"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,-7.33817746023263e-12,-4.108147278042365e-11,-1.9864938453083376e-11,0.0,2.858596689464548e-10,-1.5389948660782283e-12,1.9449551895345644e-07,2.3121355044604258e-11,4.288524695694606e-09,7.082249226311826e-13,-1.1293089586210574e-08,-1.4935413303555668e-08,1.7554166836644715e-06,1.1038917401195494e-06,-1.2261943668585925e-06,3.5857196590552067e-09],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 145, "pretrain_task_id": 48, "retained_waypoint_count": 145, "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": 486667, "video_relpath": "videos/raw_extracted/48_PickPlaceToasterToCounter.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: PreheatOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_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': 'PreheatOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 158,\n    'stable_release_contact_loss_t': 158,\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_002_JOINTS = [-0.023101, -1.021632, -0.053028, -2.269831, 0.070872, 1.499142, 0.696212]  # t=2\nAPPROACH_003_JOINTS = [-0.023584, -1.036834, -0.056010, -2.267821, 0.067839, 1.478095, 0.695476]  # t=3\nAPPROACH_005_JOINTS = [-0.026401, -1.087699, -0.079965, -2.270066, 0.059151, 1.429997, 0.686604]  # t=5\nAPPROACH_007_JOINTS = [-0.031136, -1.155250, -0.124132, -2.285396, 0.050896, 1.393721, 0.666989]  # t=7\nAPPROACH_009_JOINTS = [-0.038878, -1.231946, -0.186617, -2.307681, 0.038259, 1.366903, 0.644603]  # t=9\nAPPROACH_010_JOINTS = [-0.043829, -1.272384, -0.223674, -2.319696, 0.028833, 1.356379, 0.629002]  # t=10\nAPPROACH_012_JOINTS = [-0.056144, -1.354842, -0.305030, -2.341982, 0.007837, 1.337044, 0.593696]  # t=12\nAPPROACH_015_JOINTS = [-0.081989, -1.476777, -0.435117, -2.366966, -0.034840, 1.308176, 0.533631]  # t=15\nAPPROACH_018_JOINTS = [-0.114355, -1.592052, -0.572503, -2.375087, -0.083227, 1.279067, 0.431576]  # t=18\nAPPROACH_020_JOINTS = [-0.134748, -1.655044, -0.663109, -2.372880, -0.114339, 1.273657, 0.326064]  # t=20\nAPPROACH_021_JOINTS = [-0.143471, -1.679512, -0.709089, -2.370365, -0.126787, 1.275124, 0.266461]  # t=21\nAPPROACH_023_JOINTS = [-0.158214, -1.713525, -0.800281, -2.366061, -0.153575, 1.285831, 0.142628]  # t=23\nAPPROACH_025_JOINTS = [-0.170355, -1.732794, -0.880371, -2.368468, -0.170936, 1.311038, 0.013055]  # t=25\nAPPROACH_028_JOINTS = [-0.188667, -1.749100, -0.992127, -2.372847, -0.149169, 1.362335, -0.177502]  # t=28\nAPPROACH_030_JOINTS = [-0.199650, -1.748361, -1.057082, -2.385388, -0.135870, 1.392508, -0.305126]  # t=30\nAPPROACH_033_JOINTS = [-0.206203, -1.724349, -1.136908, -2.411333, -0.127873, 1.440888, -0.492358]  # t=33\nAPPROACH_035_JOINTS = [-0.203668, -1.694457, -1.177397, -2.422860, -0.124252, 1.466773, -0.601575]  # t=35\nAPPROACH_040_JOINTS = [-0.189446, -1.603958, -1.239859, -2.451875, -0.117599, 1.530393, -0.825006]  # t=40\nAPPROACH_042_JOINTS = [-0.181639, -1.566571, -1.254880, -2.474205, -0.114341, 1.576332, -0.888869]  # t=42\nAPPROACH_045_JOINTS = [-0.169080, -1.513559, -1.276985, -2.516060, -0.106361, 1.662067, -0.968624]  # t=45\nAPPROACH_047_JOINTS = [-0.159658, -1.481917, -1.298155, -2.546152, -0.094538, 1.724306, -1.022263]  # t=47\nAPPROACH_050_JOINTS = [-0.142562, -1.438442, -1.336868, -2.592065, -0.073117, 1.821900, -1.109988]  # t=50\nAPPROACH_055_JOINTS = [-0.097132, -1.376110, -1.410897, -2.666586, -0.017050, 1.995094, -1.272728]  # t=55\nAPPROACH_058_JOINTS = [-0.065913, -1.346900, -1.442013, -2.688860, 0.027158, 2.068319, -1.356611]  # t=58\nAPPROACH_060_JOINTS = [-0.044088, -1.329442, -1.454719, -2.689241, 0.053104, 2.101629, -1.399178]  # t=60\nAPPROACH_065_JOINTS = [0.024842, -1.297097, -1.480160, -2.678250, 0.103949, 2.175646, -1.492446]  # t=65\nAPPROACH_070_JOINTS = [0.101354, -1.273683, -1.518591, -2.677661, 0.113641, 2.255392, -1.570307]  # t=70\nAPPROACH_075_JOINTS = [0.176964, -1.278153, -1.581884, -2.680219, 0.115449, 2.338881, -1.675477]  # t=75\nAPPROACH_080_JOINTS = [0.265541, -1.315240, -1.640006, -2.677371, 0.126972, 2.427955, -1.750285]  # t=80\nAPPROACH_084_JOINTS = [0.316493, -1.367309, -1.681186, -2.660324, 0.133016, 2.458475, -1.818380]  # t=84\nPRESS_086_JOINTS = [0.324427, -1.393294, -1.692746, -2.650377, 0.131851, 2.454670, -1.845620]  # t=86\nPRESS_088_JOINTS = [0.330299, -1.416254, -1.701339, -2.643620, 0.128084, 2.454315, -1.862779]  # t=88\nPRESS_089_JOINTS = [0.332383, -1.427173, -1.705240, -2.640796, 0.125967, 2.454119, -1.870321]  # t=89\nPRESS_090_JOINTS = [0.333998, -1.437832, -1.709462, -2.638495, 0.123881, 2.453951, -1.878016]  # t=90\nPRESS_092_JOINTS = [0.334996, -1.457126, -1.718774, -2.635341, 0.119275, 2.451732, -1.891649]  # t=92\nPRESS_094_JOINTS = [0.333417, -1.472528, -1.729040, -2.634527, 0.113047, 2.447756, -1.901436]  # t=94\nPRESS_096_JOINTS = [0.329581, -1.483383, -1.738101, -2.637098, 0.103889, 2.444290, -1.907843]  # t=96\nPRESS_097_JOINTS = [0.328092, -1.487154, -1.740917, -2.638343, 0.098848, 2.444813, -1.907130]  # t=97\nPRESS_098_JOINTS = [0.327013, -1.490447, -1.742720, -2.639210, 0.094050, 2.445607, -1.905301]  # t=98\nPRESS_100_JOINTS = [0.325389, -1.496012, -1.745140, -2.640221, 0.085335, 2.446574, -1.900661]  # t=100\nPRESS_101_JOINTS = [0.324397, -1.498727, -1.746225, -2.640901, 0.081559, 2.446247, -1.899882]  # t=101\nPRESS_102_JOINTS = [0.322703, -1.502397, -1.747487, -2.642937, 0.078712, 2.444825, -1.903607]  # t=102\nPRESS_104_JOINTS = [0.317663, -1.512554, -1.752486, -2.650514, 0.077300, 2.443164, -1.922077]  # t=104\nPRESS_106_JOINTS = [0.314119, -1.519887, -1.758136, -2.655355, 0.076544, 2.445935, -1.931941]  # t=106\nPRESS_108_JOINTS = [0.312308, -1.524233, -1.760939, -2.657581, 0.074605, 2.447964, -1.934362]  # t=108\nPRESS_110_JOINTS = [0.311190, -1.527839, -1.762573, -2.658691, 0.073320, 2.448326, -1.935652]  # t=110\nPRESS_112_JOINTS = [0.310428, -1.530678, -1.764006, -2.659206, 0.072262, 2.448393, -1.936632]  # t=112\nPRESS_114_JOINTS = [0.310135, -1.532231, -1.764842, -2.659219, 0.070733, 2.448395, -1.936388]  # t=114\nPRESS_115_JOINTS = [0.310164, -1.532757, -1.765036, -2.659220, 0.070063, 2.448538, -1.936134]  # t=115\nPRESS_116_JOINTS = [0.311081, -1.533480, -1.765123, -2.659310, 0.069500, 2.450022, -1.935860]  # t=116\nPRESS_118_JOINTS = [0.316202, -1.535781, -1.765134, -2.659569, 0.068468, 2.457041, -1.935180]  # t=118\nPRESS_120_JOINTS = [0.323929, -1.538924, -1.764897, -2.659237, 0.067389, 2.466132, -1.934365]  # t=120\nPRESS_122_JOINTS = [0.327409, -1.542120, -1.760204, -2.655977, 0.067420, 2.468154, -1.932652]  # t=122\nPRESS_124_JOINTS = [0.330886, -1.545008, -1.754440, -2.652172, 0.066775, 2.470179, -1.929887]  # t=124\nPRESS_126_JOINTS = [0.332874, -1.547033, -1.751829, -2.649935, 0.065712, 2.470508, -1.929502]  # t=126\nPRESS_128_JOINTS = [0.333198, -1.548409, -1.751354, -2.649431, 0.065101, 2.470617, -1.929578]  # t=128\nPRESS_130_JOINTS = [0.331349, -1.551804, -1.753544, -2.651033, 0.070002, 2.473553, -1.929688]  # t=130\nPRESS_132_JOINTS = [0.330357, -1.556259, -1.758058, -2.651109, 0.079086, 2.473124, -1.924486]  # t=132\nPRESS_133_JOINTS = [0.330138, -1.558630, -1.760635, -2.650737, 0.085462, 2.472458, -1.918280]  # t=133\nPRESS_134_JOINTS = [0.329767, -1.561296, -1.763552, -2.650557, 0.093357, 2.472274, -1.910509]  # t=134\nPRESS_136_JOINTS = [0.328438, -1.567459, -1.770500, -2.650943, 0.113236, 2.473267, -1.891578]  # t=136\nPRESS_138_JOINTS = [0.326419, -1.574405, -1.778458, -2.652272, 0.136997, 2.475800, -1.870084]  # t=138\nPRESS_140_JOINTS = [0.323948, -1.582421, -1.787427, -2.654029, 0.163985, 2.478841, -1.848350]  # t=140\nPRESS_141_JOINTS = [0.322636, -1.586831, -1.792312, -2.654905, 0.178695, 2.480224, -1.837257]  # t=141\nPRESS_142_JOINTS = [0.321253, -1.591300, -1.797319, -2.655894, 0.193954, 2.481734, -1.825775]  # t=142\nPRESS_144_JOINTS = [0.318058, -1.600016, -1.807115, -2.658705, 0.225880, 2.486365, -1.801081]  # t=144\nPRESS_146_JOINTS = [0.314438, -1.608134, -1.816495, -2.662540, 0.258787, 2.492674, -1.774679]  # t=146\nPRESS_148_JOINTS = [0.310722, -1.615918, -1.825450, -2.666768, 0.292948, 2.499790, -1.746490]  # t=148\nPRESS_150_JOINTS = [0.306935, -1.623269, -1.833524, -2.671459, 0.328341, 2.508517, -1.716354]  # t=150\nPRESS_151_JOINTS = [0.304945, -1.626849, -1.837376, -2.674052, 0.346598, 2.513459, -1.700912]  # t=151\nPRESS_152_JOINTS = [0.302878, -1.630349, -1.841054, -2.676834, 0.365282, 2.518865, -1.685099]  # t=152\nPRESS_154_JOINTS = [0.298268, -1.636697, -1.847535, -2.683516, 0.403751, 2.532114, -1.651984]  # t=154\nPRESS_156_JOINTS = [0.292802, -1.643745, -1.854192, -2.691439, 0.446243, 2.547754, -1.618555]  # t=156\nPRESS_158_JOINTS = [0.286377, -1.651705, -1.861257, -2.700631, 0.492495, 2.565227, -1.586933]  # t=158\nPRESS_159_JOINTS = [0.282799, -1.656094, -1.864751, -2.705670, 0.517132, 2.574806, -1.572047]  # t=159\nPRESS_160_JOINTS = [0.279041, -1.660857, -1.868355, -2.710854, 0.542747, 2.584532, -1.558105]  # t=160\nPRESS_162_JOINTS = [0.270999, -1.671176, -1.875481, -2.721733, 0.596717, 2.604709, -1.532685]  # t=162\nPRESS_164_JOINTS = [0.261638, -1.681872, -1.881408, -2.734428, 0.655282, 2.627937, -1.509443]  # t=164\nPRESS_166_JOINTS = [0.251981, -1.693285, -1.885428, -2.747606, 0.719267, 2.654514, -1.486354]  # t=166\nPRESS_167_JOINTS = [0.246940, -1.699519, -1.886611, -2.754468, 0.754721, 2.669688, -1.473968]  # t=167\nPRESS_168_JOINTS = [0.241224, -1.706222, -1.887463, -2.761954, 0.793154, 2.685746, -1.462091]  # t=168\nPRESS_169_JOINTS = [0.233566, -1.712949, -1.888050, -2.771555, 0.835282, 2.702102, -1.451800]  # t=169\nPRESS_170_JOINTS = [0.223238, -1.719064, -1.887670, -2.784374, 0.880638, 2.718734, -1.444970]  # t=170\nPRESS_172_JOINTS = [0.198222, -1.731893, -1.884169, -2.814616, 0.973763, 2.752777, -1.464472]  # t=172\nPRESS_173_JOINTS = [0.190611, -1.736937, -1.879697, -2.826023, 1.009864, 2.771045, -1.489677]  # t=173\nAPPROACH_000_JOINTS = [-0.023089, -1.014794, -0.052474, -2.271407, 0.071344, 1.510767, 0.696210]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=2, 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_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_047_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_058_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_084_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_086_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_088_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_090_JOINTS, input_type='joint', steps=1, 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_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, 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_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=1, 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_108_JOINTS, input_type='joint', steps=2, 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_115_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_118_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_122_JOINTS, input_type='joint', steps=2, 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_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_134_JOINTS, input_type='joint', steps=1, 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_141_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_142_JOINTS, input_type='joint', steps=1, 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_150_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, 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_166_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_170_JOINTS, input_type='joint', steps=1, 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_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 19268, "code_num_lines": 214, "code_num_nonblank_lines": 205, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 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}},\"initial_state\":[0.5000000000000003,11.951404915514667,8.861636279006602,2.166557037187598e-07,2.0696770590587353e-08,-0.023229121382236925,-1.0139611518970328,-0.05237881756573002,-2.271576674662596,0.07142517116396362,1.5124838946413832,0.696203889043438,0.02057947212028059,-0.02048708667774208,0.0,0.0,0.0,0.0,0.0,-2.3386721926323845e-15,-2.287603491581916e-15,-2.287603491581916e-15,0.0,0.0,0.0,0.0,-2.2899206385051325e-15,-2.285324101610812e-15,-2.285324101610812e-15,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.00020444044865602096,-0.007822585266092206,1.2430416362428023e-09,-0.0006579637753044443,-1.9497627615334471e-16,-1.9456566670220255e-16,-1.9456566670220255e-16,-2.6408619136055844e-15,-1.468357368642274e-06,2.3823646946813952e-09,-8.749991321994431e-10,8.36174912626184e-05,2.6901753636497045e-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,-2.44206226963124e-09,4.905555316232085e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.006247571616514806,-0.006247571616514806,-7.985989130492847e-06,0.0,0.0,0.0,0.0,0.0,-1.6067348277280494e-10,5.163977721688359e-07,-0.0003630060812571652,0.0,0.0,0.0,0.0,0.0,-5.975457177100131e-15,-5.975457177100131e-15,-6.238838566674322e-07,-1.9027256109647903e-07,-2.8261563571416486e-06,3.047748897066059e-07,-8.80257361151338e-06,3.0099134253691175e-06,-0.000615358820837099,0.0010940076853194812,-0.000792690558022264,-0.0010215595916602531,-9.628837975899493e-05,-0.000423783680160077,0.0005122656739503389,0.0,0.0,0.0,0.0,0.0,-1.0357290074908536e-16,-9.057485765070888e-17,-9.057485765070888e-17,0.0,0.0,0.0,0.0,-9.113979656209424e-17,-9.002140629884352e-17,-9.002140629884352e-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,-2.067177613488774e-06,-5.63109921543086e-07,2.5293660671564835e-09,3.202941810742404e-13,-7.86162556312823e-18,-7.761745447504121e-18,-7.761745447504121e-18,-1.1003275616940793e-16,-2.6601536720100448e-08,4.8476834331502025e-09,-1.580376297124159e-11,5.631357689417703e-09,5.399202922205345e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.8552857498875405e-06,-4.410721318003311e-11,9.981922392690136e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.6312216837056094e-07,-4.6312216837056094e-07,-1.4464039939658294e-07,0.0,0.0,0.0,0.0,0.0,-3.269430726862668e-10,1.0507811978495593e-06,-6.848048834435804e-08,0.0,0.0,0.0,0.0,0.0,-2.557230122761188e-16,-2.557230122761188e-16],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 86, "pretrain_task_id": 49, "retained_waypoint_count": 86, "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": 240505, "video_relpath": "videos/raw_extracted/49_PreheatOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: SlideDishwasherRack\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_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': 'SlideDishwasherRack',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 175,\n    'stable_release_contact_loss_t': 175,\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_005_JOINTS = [-0.017389, -1.013524, -0.042367, -2.320128, 0.098111, 1.534877, 0.658483]  # t=5\nAPPROACH_008_JOINTS = [-0.017117, -1.031725, -0.043857, -2.318757, 0.096725, 1.507603, 0.658998]  # t=8\nAPPROACH_010_JOINTS = [-0.017360, -1.072758, -0.050845, -2.319250, 0.103317, 1.462039, 0.660363]  # t=10\nAPPROACH_011_JOINTS = [-0.017533, -1.100491, -0.054337, -2.322949, 0.108688, 1.439233, 0.661472]  # t=11\nAPPROACH_014_JOINTS = [-0.016971, -1.188111, -0.043832, -2.345354, 0.137516, 1.376422, 0.681350]  # t=14\nAPPROACH_015_JOINTS = [-0.016516, -1.215188, -0.036022, -2.355002, 0.153141, 1.361275, 0.693298]  # t=15\nAPPROACH_017_JOINTS = [-0.015497, -1.264682, -0.016860, -2.377729, 0.190147, 1.339881, 0.723688]  # t=17\nAPPROACH_020_JOINTS = [-0.013790, -1.329424, 0.012263, -2.419513, 0.250946, 1.318257, 0.776716]  # t=20\nAPPROACH_022_JOINTS = [-0.011739, -1.367074, 0.032385, -2.447843, 0.295267, 1.307724, 0.809899]  # t=22\nAPPROACH_025_JOINTS = [-0.008154, -1.398613, 0.066583, -2.479579, 0.366147, 1.299761, 0.867019]  # t=25\nAPPROACH_030_JOINTS = [0.003243, -1.425564, 0.147447, -2.511559, 0.461328, 1.277804, 0.946090]  # t=30\nAPPROACH_035_JOINTS = [0.022793, -1.491919, 0.229761, -2.561354, 0.542615, 1.264385, 1.011049]  # t=35\nAPPROACH_040_JOINTS = [0.045285, -1.535977, 0.324665, -2.644754, 0.640986, 1.276479, 1.073889]  # t=40\nAPPROACH_045_JOINTS = [0.069590, -1.549488, 0.388243, -2.713874, 0.712681, 1.286498, 1.123602]  # t=45\nAPPROACH_046_JOINTS = [0.074283, -1.547994, 0.400579, -2.727295, 0.728722, 1.286904, 1.136834]  # t=46\nAPPROACH_050_JOINTS = [0.095563, -1.538611, 0.449447, -2.786248, 0.776000, 1.285862, 1.160810]  # t=50\nAPPROACH_053_JOINTS = [0.116490, -1.532974, 0.505607, -2.818678, 0.789411, 1.287809, 1.157183]  # t=53\nAPPROACH_055_JOINTS = [0.133396, -1.529519, 0.557326, -2.832052, 0.801624, 1.294625, 1.154279]  # t=55\nAPPROACH_060_JOINTS = [0.174676, -1.497321, 0.700027, -2.861326, 0.847058, 1.327319, 1.162903]  # t=60\nAPPROACH_065_JOINTS = [0.205365, -1.422531, 0.829231, -2.875508, 0.904195, 1.382224, 1.195429]  # t=65\nAPPROACH_070_JOINTS = [0.224638, -1.318971, 0.936307, -2.900375, 0.979231, 1.458576, 1.209921]  # t=70\nAPPROACH_075_JOINTS = [0.225459, -1.183360, 1.092606, -2.895568, 1.076986, 1.597158, 1.236756]  # t=75\nAPPROACH_080_JOINTS = [0.204439, -1.050294, 1.227432, -2.873462, 1.135484, 1.738414, 1.268527]  # t=80\nAPPROACH_083_JOINTS = [0.177964, -0.976709, 1.293403, -2.862264, 1.152657, 1.809402, 1.278455]  # t=83\nAPPROACH_085_JOINTS = [0.152951, -0.931240, 1.335424, -2.857495, 1.156007, 1.854283, 1.280339]  # t=85\nAPPROACH_090_JOINTS = [0.057727, -0.824207, 1.479002, -2.841337, 1.180219, 1.977061, 1.279297]  # t=90\nAPPROACH_091_JOINTS = [0.035045, -0.808578, 1.501063, -2.827316, 1.180928, 1.994670, 1.279135]  # t=91\nPRESS_093_JOINTS = [-0.009153, -0.787103, 1.532949, -2.792108, 1.169285, 2.009411, 1.282925]  # t=93\nPRESS_095_JOINTS = [-0.051773, -0.776394, 1.561483, -2.759613, 1.152441, 2.007281, 1.286568]  # t=95\nPRESS_097_JOINTS = [-0.092135, -0.775723, 1.585532, -2.730756, 1.134846, 1.995004, 1.288707]  # t=97\nPRESS_098_JOINTS = [-0.111699, -0.778420, 1.596450, -2.717793, 1.127547, 1.986715, 1.288419]  # t=98\nPRESS_099_JOINTS = [-0.131692, -0.783430, 1.607867, -2.707530, 1.121708, 1.980493, 1.287043]  # t=99\nPRESS_101_JOINTS = [-0.173869, -0.798390, 1.633704, -2.691679, 1.117473, 1.971255, 1.277409]  # t=101\nPRESS_103_JOINTS = [-0.217215, -0.818532, 1.663714, -2.676333, 1.121352, 1.960075, 1.262225]  # t=103\nPRESS_105_JOINTS = [-0.260916, -0.844276, 1.698233, -2.660178, 1.132923, 1.947195, 1.244387]  # t=105\nPRESS_107_JOINTS = [-0.303991, -0.876555, 1.731885, -2.642691, 1.147043, 1.930597, 1.224917]  # t=107\nPRESS_109_JOINTS = [-0.346407, -0.915220, 1.762683, -2.623156, 1.161978, 1.909562, 1.203819]  # t=109\nPRESS_111_JOINTS = [-0.387888, -0.958981, 1.791264, -2.601143, 1.180754, 1.885494, 1.180516]  # t=111\nPRESS_113_JOINTS = [-0.427290, -1.005777, 1.813090, -2.577434, 1.203898, 1.859464, 1.153380]  # t=113\nPRESS_115_JOINTS = [-0.464373, -1.054030, 1.827185, -2.553189, 1.227547, 1.831246, 1.123700]  # t=115\nPRESS_117_JOINTS = [-0.500486, -1.103049, 1.837786, -2.528054, 1.251151, 1.803283, 1.094099]  # t=117\nPRESS_119_JOINTS = [-0.536297, -1.152034, 1.852434, -2.500889, 1.278149, 1.776699, 1.067067]  # t=119\nPRESS_121_JOINTS = [-0.568584, -1.198501, 1.868997, -2.473040, 1.306833, 1.748079, 1.044756]  # t=121\nPRESS_122_JOINTS = [-0.582083, -1.220091, 1.876974, -2.458986, 1.321050, 1.732568, 1.036278]  # t=122\nPRESS_123_JOINTS = [-0.593844, -1.240959, 1.885040, -2.444605, 1.335448, 1.717978, 1.030108]  # t=123\nPRESS_125_JOINTS = [-0.613461, -1.281466, 1.901495, -2.416594, 1.364629, 1.692684, 1.022484]  # t=125\nPRESS_127_JOINTS = [-0.629442, -1.320739, 1.918207, -2.388686, 1.395892, 1.671742, 1.020624]  # t=127\nPRESS_129_JOINTS = [-0.642912, -1.358902, 1.933604, -2.362398, 1.427847, 1.653021, 1.023189]  # t=129\nPRESS_130_JOINTS = [-0.649616, -1.377920, 1.938923, -2.350449, 1.443576, 1.644971, 1.026221]  # t=130\nPRESS_131_JOINTS = [-0.657581, -1.397703, 1.943381, -2.338739, 1.459995, 1.638429, 1.030232]  # t=131\nPRESS_133_JOINTS = [-0.677284, -1.437986, 1.948743, -2.316471, 1.491264, 1.623234, 1.039038]  # t=133\nPRESS_134_JOINTS = [-0.688308, -1.457738, 1.950839, -2.304687, 1.506041, 1.613672, 1.043732]  # t=134\nPRESS_135_JOINTS = [-0.698391, -1.475563, 1.950567, -2.293643, 1.519351, 1.602207, 1.047480]  # t=135\nPRESS_136_JOINTS = [-0.708532, -1.493494, 1.952960, -2.280695, 1.533391, 1.593110, 1.052826]  # t=136\nPRESS_137_JOINTS = [-0.719192, -1.511703, 1.958168, -2.265071, 1.548163, 1.585218, 1.061184]  # t=137\nPRESS_139_JOINTS = [-0.740534, -1.547587, 1.970463, -2.230171, 1.576989, 1.571265, 1.083399]  # t=139\nPRESS_141_JOINTS = [-0.761343, -1.582468, 1.980539, -2.195070, 1.604208, 1.558434, 1.107979]  # t=141\nPRESS_143_JOINTS = [-0.781447, -1.616492, 1.988752, -2.160194, 1.631212, 1.545820, 1.132667]  # t=143\nPRESS_144_JOINTS = [-0.790969, -1.632954, 1.991847, -2.143430, 1.644353, 1.539398, 1.144437]  # t=144\nPRESS_145_JOINTS = [-0.799510, -1.647972, 1.991128, -2.130083, 1.655580, 1.532314, 1.155619]  # t=145\nPRESS_146_JOINTS = [-0.808062, -1.662911, 1.990199, -2.117314, 1.666650, 1.526119, 1.165712]  # t=146\nPRESS_147_JOINTS = [-0.817220, -1.677714, 1.988377, -2.105513, 1.676931, 1.519349, 1.175676]  # t=147\nPRESS_149_JOINTS = [-0.836423, -1.704007, 1.978633, -2.088366, 1.693988, 1.499944, 1.195621]  # t=149\nPRESS_151_JOINTS = [-0.857854, -1.726367, 1.966152, -2.076028, 1.712635, 1.478011, 1.218445]  # t=151\nPRESS_152_JOINTS = [-0.869477, -1.736272, 1.960257, -2.070421, 1.722540, 1.467271, 1.231512]  # t=152\nPRESS_153_JOINTS = [-0.881101, -1.744792, 1.954180, -2.063891, 1.732308, 1.456751, 1.246542]  # t=153\nPRESS_155_JOINTS = [-0.905542, -1.759351, 1.943694, -2.052760, 1.751574, 1.437629, 1.280690]  # t=155\nPRESS_157_JOINTS = [-0.932609, -1.763047, 1.936695, -2.043207, 1.766857, 1.428508, 1.317614]  # t=157\nPRESS_158_JOINTS = [-0.947295, -1.762855, 1.934730, -2.037918, 1.772960, 1.428208, 1.336101]  # t=158\nPRESS_159_JOINTS = [-0.961615, -1.762828, 1.932525, -2.030019, 1.779593, 1.427762, 1.355845]  # t=159\nPRESS_161_JOINTS = [-0.991020, -1.762835, 1.927799, -2.016046, 1.793831, 1.427683, 1.399690]  # t=161\nPRESS_162_JOINTS = [-1.005461, -1.762836, 1.925361, -2.008742, 1.801828, 1.428379, 1.423217]  # t=162\nPRESS_163_JOINTS = [-1.019812, -1.762840, 1.922864, -2.001157, 1.810731, 1.430656, 1.449074]  # t=163\nPRESS_165_JOINTS = [-1.050993, -1.762884, 1.918904, -1.981193, 1.830863, 1.443294, 1.510024]  # t=165\nPRESS_167_JOINTS = [-1.087779, -1.762892, 1.916669, -1.949213, 1.849136, 1.470325, 1.584209]  # t=167\nPRESS_169_JOINTS = [-1.127998, -1.762904, 1.914951, -1.912210, 1.861187, 1.496695, 1.664018]  # t=169\nPRESS_171_JOINTS = [-1.170044, -1.762923, 1.912852, -1.869887, 1.869717, 1.521355, 1.747590]  # t=171\nPRESS_173_JOINTS = [-1.212636, -1.762942, 1.910830, -1.821981, 1.874359, 1.548546, 1.835084]  # t=173\nPRESS_175_JOINTS = [-1.239331, -1.762943, 1.919599, -1.784083, 1.882648, 1.595111, 1.925636]  # t=175\nPRESS_177_JOINTS = [-1.263043, -1.762996, 1.927110, -1.741964, 1.885437, 1.648463, 2.023369]  # t=177\nPRESS_178_JOINTS = [-1.273987, -1.762745, 1.931584, -1.718964, 1.883489, 1.677457, 2.075767]  # t=178\nPRESS_179_JOINTS = [-1.270753, -1.762703, 1.935694, -1.710988, 1.881883, 1.699863, 2.128648]  # t=179\nPRESS_180_JOINTS = [-1.263091, -1.763226, 1.942042, -1.705993, 1.884516, 1.729024, 2.182593]  # t=180\nPRESS_181_JOINTS = [-1.257387, -1.763077, 1.951857, -1.698074, 1.886076, 1.770241, 2.236486]  # t=181\nPRESS_183_JOINTS = [-1.251529, -1.763076, 1.975227, -1.674393, 1.881978, 1.867013, 2.345582]  # t=183\nPRESS_185_JOINTS = [-1.254940, -1.763114, 1.998403, -1.641893, 1.864532, 1.963161, 2.455954]  # t=185\nPRESS_186_JOINTS = [-1.258619, -1.763122, 2.008974, -1.624422, 1.851503, 2.006504, 2.511520]  # t=186\nRETREAT_187_JOINTS = [-1.261874, -1.763103, 2.017327, -1.608189, 1.835938, 2.042734, 2.566176]  # t=187\nRETREAT_188_JOINTS = [-1.263338, -1.763083, 2.021739, -1.595522, 1.818873, 2.069564, 2.618568]  # t=188\nRETREAT_189_JOINTS = [-1.261510, -1.763048, 2.022706, -1.587718, 1.802950, 2.086146, 2.667926]  # t=189\nRETREAT_190_JOINTS = [-1.256194, -1.763035, 2.020820, -1.584586, 1.790417, 2.095184, 2.714018]  # t=190\nAPPROACH_000_JOINTS = [-0.018353, -1.010615, -0.042065, -2.318150, 0.098307, 1.531062, 0.658620]  # 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_005_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_083_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_133_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_135_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_144_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_146_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_152_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_158_JOINTS, input_type='joint', steps=1, 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_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_178_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_180_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_190_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": 20553, "code_num_lines": 230, "code_num_nonblank_lines": 220, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 92, "pretrain_task_id": 50, "retained_waypoint_count": 92, "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": 636032, "video_relpath": "videos/raw_extracted/50_SlideDishwasherRack.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: SlideOvenRack\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_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': 'SlideOvenRack',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 232,\n    'stable_release_contact_loss_t': 232,\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_004_JOINTS = [0.012755, -1.044313, -0.014626, -2.276543, 0.043884, 1.474689, 0.677100]  # t=4\nAPPROACH_005_JOINTS = [0.012569, -1.050911, -0.003490, -2.278665, 0.053386, 1.464872, 0.682444]  # t=5\nAPPROACH_007_JOINTS = [0.013084, -1.071959, 0.032222, -2.290329, 0.079868, 1.444352, 0.705138]  # t=7\nAPPROACH_010_JOINTS = [0.016985, -1.132155, 0.108501, -2.325186, 0.135236, 1.409268, 0.758238]  # t=10\nAPPROACH_013_JOINTS = [0.025995, -1.219960, 0.195506, -2.376508, 0.208290, 1.383876, 0.822655]  # t=13\nAPPROACH_015_JOINTS = [0.034887, -1.281938, 0.251806, -2.413711, 0.261404, 1.368087, 0.865168]  # t=15\nAPPROACH_016_JOINTS = [0.040447, -1.313234, 0.278358, -2.431044, 0.288186, 1.358405, 0.883932]  # t=16\nAPPROACH_019_JOINTS = [0.062584, -1.407497, 0.352029, -2.477301, 0.370195, 1.325762, 0.921438]  # t=19\nAPPROACH_020_JOINTS = [0.070997, -1.436477, 0.375697, -2.491273, 0.398810, 1.319186, 0.929886]  # t=20\nAPPROACH_024_JOINTS = [0.104772, -1.517386, 0.472104, -2.530929, 0.519156, 1.303442, 0.949813]  # t=24\nAPPROACH_025_JOINTS = [0.112267, -1.525332, 0.493049, -2.537905, 0.548795, 1.299227, 0.946357]  # t=25\nAPPROACH_027_JOINTS = [0.122977, -1.522981, 0.534827, -2.550390, 0.610032, 1.298942, 0.940820]  # t=27\nAPPROACH_030_JOINTS = [0.128504, -1.478758, 0.600508, -2.556924, 0.703659, 1.313525, 0.933687]  # t=30\nAPPROACH_031_JOINTS = [0.128842, -1.458851, 0.623301, -2.555631, 0.732398, 1.323125, 0.931582]  # t=31\nAPPROACH_035_JOINTS = [0.127900, -1.373395, 0.733218, -2.542885, 0.838737, 1.390592, 0.932080]  # t=35\nAPPROACH_039_JOINTS = [0.122624, -1.285547, 0.879827, -2.524608, 0.944103, 1.511081, 0.951544]  # t=39\nAPPROACH_040_JOINTS = [0.119599, -1.262094, 0.918895, -2.519427, 0.970172, 1.545356, 0.958824]  # t=40\nAPPROACH_043_JOINTS = [0.103181, -1.186747, 1.041736, -2.504772, 1.045799, 1.654833, 0.982242]  # t=43\nAPPROACH_045_JOINTS = [0.085607, -1.134465, 1.124291, -2.496326, 1.089793, 1.726865, 0.994821]  # t=45\nAPPROACH_046_JOINTS = [0.074725, -1.108989, 1.165545, -2.492058, 1.107412, 1.762456, 0.999440]  # t=46\nAPPROACH_050_JOINTS = [0.019005, -1.020718, 1.328798, -2.474288, 1.163591, 1.906647, 1.015611]  # t=50\nAPPROACH_055_JOINTS = [-0.101243, -0.953225, 1.574010, -2.438412, 1.265828, 2.093367, 1.026464]  # t=55\nAPPROACH_057_JOINTS = [-0.164325, -0.953387, 1.673683, -2.413427, 1.320515, 2.144152, 1.023181]  # t=57\nAPPROACH_059_JOINTS = [-0.225465, -0.972245, 1.755225, -2.384812, 1.380364, 2.164201, 1.011303]  # t=59\nAPPROACH_060_JOINTS = [-0.248745, -0.986096, 1.780007, -2.372913, 1.404830, 2.161455, 1.002631]  # t=60\nAPPROACH_062_JOINTS = [-0.269015, -1.011508, 1.784882, -2.361677, 1.430178, 2.129779, 0.983944]  # t=62\nAPPROACH_065_JOINTS = [-0.273148, -1.055573, 1.764692, -2.353800, 1.452574, 2.072916, 0.968095]  # t=65\nAPPROACH_068_JOINTS = [-0.271854, -1.100849, 1.751041, -2.348003, 1.475050, 2.024987, 0.962720]  # t=68\nAPPROACH_070_JOINTS = [-0.287787, -1.135819, 1.774974, -2.334871, 1.503192, 1.995843, 0.962793]  # t=70\nAPPROACH_075_JOINTS = [-0.379207, -1.253405, 1.877063, -2.238299, 1.563581, 1.933322, 1.008289]  # t=75\nAPPROACH_077_JOINTS = [-0.414558, -1.303792, 1.901797, -2.188167, 1.579464, 1.905142, 1.046853]  # t=77\nAPPROACH_080_JOINTS = [-0.458165, -1.377751, 1.926036, -2.116643, 1.599715, 1.859137, 1.109901]  # t=80\nAPPROACH_085_JOINTS = [-0.501885, -1.475658, 1.928838, -2.031127, 1.637382, 1.782990, 1.207756]  # t=85\nAPPROACH_090_JOINTS = [-0.521127, -1.543071, 1.923821, -1.984175, 1.678040, 1.744816, 1.287456]  # t=90\nAPPROACH_095_JOINTS = [-0.515897, -1.608195, 1.948325, -1.945129, 1.685879, 1.808328, 1.400094]  # t=95\nAPPROACH_100_JOINTS = [-0.492653, -1.660548, 1.981257, -1.912741, 1.681505, 1.887855, 1.569117]  # t=100\nAPPROACH_105_JOINTS = [-0.475596, -1.678351, 1.978737, -1.911884, 1.691991, 1.882214, 1.681354]  # t=105\nAPPROACH_109_JOINTS = [-0.472872, -1.687923, 1.974466, -1.911832, 1.700608, 1.871727, 1.741322]  # t=109\nAPPROACH_110_JOINTS = [-0.473410, -1.690335, 1.973501, -1.911929, 1.702001, 1.870338, 1.754507]  # t=110\nAPPROACH_115_JOINTS = [-0.467171, -1.707642, 1.969652, -1.909893, 1.665012, 1.901210, 1.855464]  # t=115\nAPPROACH_120_JOINTS = [-0.439868, -1.723646, 1.976159, -1.900045, 1.583729, 1.962253, 2.014504]  # t=120\nAPPROACH_125_JOINTS = [-0.427324, -1.748652, 1.984782, -1.890724, 1.519664, 2.014230, 2.163314]  # t=125\nAPPROACH_130_JOINTS = [-0.432550, -1.762870, 1.995153, -1.885121, 1.456893, 2.067393, 2.302735]  # t=130\nAPPROACH_132_JOINTS = [-0.437758, -1.762857, 2.001701, -1.884056, 1.434737, 2.087867, 2.353798]  # t=132\nAPPROACH_135_JOINTS = [-0.457348, -1.762897, 2.012402, -1.878913, 1.419970, 2.105288, 2.408099]  # t=135\nAPPROACH_140_JOINTS = [-0.532471, -1.762948, 2.037768, -1.849720, 1.424102, 2.145791, 2.433723]  # t=140\nAPPROACH_145_JOINTS = [-0.610718, -1.762970, 2.051894, -1.810871, 1.434546, 2.177125, 2.424417]  # t=145\nAPPROACH_148_JOINTS = [-0.654004, -1.762971, 2.060503, -1.782143, 1.440722, 2.197697, 2.412773]  # t=148\nPRESS_150_JOINTS = [-0.681977, -1.763002, 2.058708, -1.771842, 1.445463, 2.201639, 2.386838]  # t=150\nPRESS_152_JOINTS = [-0.711498, -1.763016, 2.056973, -1.760683, 1.454591, 2.205182, 2.355730]  # t=152\nPRESS_154_JOINTS = [-0.741570, -1.763021, 2.054795, -1.748860, 1.465050, 2.207446, 2.323542]  # t=154\nPRESS_156_JOINTS = [-0.771601, -1.763035, 2.052346, -1.736406, 1.475927, 2.208672, 2.291835]  # t=156\nPRESS_157_JOINTS = [-0.786732, -1.763036, 2.051075, -1.729787, 1.481410, 2.209024, 2.276034]  # t=157\nPRESS_158_JOINTS = [-0.802533, -1.763055, 2.049884, -1.722580, 1.486764, 2.209914, 2.259863]  # t=158\nPRESS_160_JOINTS = [-0.836653, -1.763055, 2.047157, -1.706072, 1.496886, 2.210846, 2.225500]  # t=160\nPRESS_161_JOINTS = [-0.853547, -1.763052, 2.045372, -1.696920, 1.501580, 2.208938, 2.208291]  # t=161\nPRESS_162_JOINTS = [-0.868784, -1.763031, 2.043078, -1.687852, 1.505763, 2.203884, 2.192041]  # t=162\nPRESS_163_JOINTS = [-0.881975, -1.763033, 2.040598, -1.679237, 1.509532, 2.196826, 2.177413]  # t=163\nPRESS_164_JOINTS = [-0.892678, -1.763028, 2.038103, -1.670884, 1.511164, 2.188022, 2.165062]  # t=164\nPRESS_165_JOINTS = [-0.900860, -1.763020, 2.035667, -1.663260, 1.511710, 2.177760, 2.155097]  # t=165\nPRESS_166_JOINTS = [-0.906863, -1.763021, 2.033353, -1.656676, 1.512010, 2.167007, 2.146686]  # t=166\nPRESS_167_JOINTS = [-0.910443, -1.763031, 2.031609, -1.651095, 1.509773, 2.158024, 2.141288]  # t=167\nPRESS_168_JOINTS = [-0.911923, -1.763030, 2.030521, -1.646077, 1.505036, 2.150419, 2.138780]  # t=168\nPRESS_170_JOINTS = [-0.912054, -1.763034, 2.029374, -1.636799, 1.490815, 2.138832, 2.138297]  # t=170\nPRESS_172_JOINTS = [-0.911483, -1.763070, 2.030132, -1.626711, 1.466150, 2.136173, 2.144337]  # t=172\nPRESS_174_JOINTS = [-0.909633, -1.763064, 2.032769, -1.615593, 1.429716, 2.139835, 2.159814]  # t=174\nPRESS_176_JOINTS = [-0.906300, -1.763032, 2.034865, -1.605079, 1.396387, 2.138633, 2.174809]  # t=176\nPRESS_178_JOINTS = [-0.902996, -1.763036, 2.034197, -1.597845, 1.379813, 2.129274, 2.184498]  # t=178\nPRESS_180_JOINTS = [-0.898660, -1.763033, 2.033560, -1.594663, 1.376400, 2.123535, 2.195074]  # t=180\nPRESS_182_JOINTS = [-0.892886, -1.763027, 2.032951, -1.593524, 1.380511, 2.119194, 2.204301]  # t=182\nPRESS_184_JOINTS = [-0.886145, -1.763025, 2.032505, -1.593846, 1.387878, 2.115697, 2.211785]  # t=184\nPRESS_186_JOINTS = [-0.878496, -1.763017, 2.032269, -1.595577, 1.397107, 2.112797, 2.217131]  # t=186\nPRESS_188_JOINTS = [-0.869610, -1.763001, 2.032015, -1.599494, 1.411234, 2.110003, 2.218909]  # t=188\nPRESS_190_JOINTS = [-0.860883, -1.762993, 2.029932, -1.604830, 1.435918, 2.101072, 2.213332]  # t=190\nPRESS_191_JOINTS = [-0.857170, -1.763013, 2.029111, -1.607431, 1.448612, 2.098065, 2.210350]  # t=191\nPRESS_192_JOINTS = [-0.853560, -1.763014, 2.028912, -1.609948, 1.459121, 2.096994, 2.208394]  # t=192\nPRESS_194_JOINTS = [-0.846466, -1.763013, 2.029082, -1.613782, 1.473594, 2.095872, 2.207026]  # t=194\nPRESS_196_JOINTS = [-0.840222, -1.762997, 2.028749, -1.615911, 1.484883, 2.092461, 2.207045]  # t=196\nPRESS_198_JOINTS = [-0.836206, -1.762958, 2.025532, -1.615957, 1.503140, 2.079063, 2.203880]  # t=198\nPRESS_199_JOINTS = [-0.835807, -1.762955, 2.021649, -1.614706, 1.519806, 2.065850, 2.198321]  # t=199\nPRESS_200_JOINTS = [-0.836803, -1.762958, 2.016773, -1.611273, 1.540109, 2.050441, 2.191315]  # t=200\nPRESS_201_JOINTS = [-0.839259, -1.762965, 2.011255, -1.606177, 1.561962, 2.032818, 2.183188]  # t=201\nPRESS_202_JOINTS = [-0.843233, -1.762980, 2.005628, -1.597866, 1.583980, 2.015452, 2.175249]  # t=202\nPRESS_203_JOINTS = [-0.848500, -1.762986, 2.000161, -1.586114, 1.604243, 1.998535, 2.169345]  # t=203\nPRESS_204_JOINTS = [-0.854923, -1.762988, 1.994790, -1.571830, 1.622348, 1.980988, 2.165739]  # t=204\nPRESS_205_JOINTS = [-0.862510, -1.762986, 1.989547, -1.555289, 1.639186, 1.962032, 2.163845]  # t=205\nPRESS_206_JOINTS = [-0.870009, -1.762968, 1.984793, -1.547228, 1.652406, 1.935904, 2.159231]  # t=206\nPRESS_208_JOINTS = [-0.886037, -1.762979, 1.975538, -1.537382, 1.681661, 1.886403, 2.139312]  # t=208\nPRESS_210_JOINTS = [-0.902315, -1.762986, 1.968258, -1.525151, 1.704468, 1.843028, 2.121178]  # t=210\nPRESS_211_JOINTS = [-0.910048, -1.762986, 1.965228, -1.517892, 1.711686, 1.823630, 2.115035]  # t=211\nPRESS_212_JOINTS = [-0.917290, -1.762991, 1.962402, -1.509959, 1.715565, 1.806152, 2.112026]  # t=212\nPRESS_214_JOINTS = [-0.929663, -1.762995, 1.958037, -1.491835, 1.712733, 1.778898, 2.116665]  # t=214\nPRESS_215_JOINTS = [-0.934880, -1.762993, 1.956179, -1.481979, 1.708675, 1.766452, 2.122390]  # t=215\nPRESS_216_JOINTS = [-0.939675, -1.762999, 1.954423, -1.471471, 1.702984, 1.754361, 2.130202]  # t=216\nPRESS_218_JOINTS = [-0.947617, -1.763015, 1.951672, -1.448425, 1.683920, 1.734836, 2.150988]  # t=218\nPRESS_220_JOINTS = [-0.952957, -1.763018, 1.949835, -1.423106, 1.656985, 1.719256, 2.176969]  # t=220\nPRESS_221_JOINTS = [-0.955175, -1.763025, 1.948567, -1.409543, 1.643082, 1.709169, 2.189174]  # t=221\nPRESS_222_JOINTS = [-0.957489, -1.763044, 1.947047, -1.395121, 1.629916, 1.696453, 2.201230]  # t=222\nPRESS_224_JOINTS = [-0.963672, -1.763092, 1.943345, -1.361815, 1.606801, 1.661273, 2.226746]  # t=224\nPRESS_226_JOINTS = [-0.973588, -1.763143, 1.939324, -1.320253, 1.590114, 1.611604, 2.254494]  # t=226\nPRESS_228_JOINTS = [-0.988361, -1.763179, 1.936339, -1.267931, 1.580553, 1.550533, 2.284929]  # t=228\nPRESS_229_JOINTS = [-0.997610, -1.763194, 1.935548, -1.236783, 1.578904, 1.519248, 2.302030]  # t=229\nPRESS_230_JOINTS = [-1.007109, -1.763152, 1.933098, -1.206180, 1.577862, 1.487466, 2.323894]  # t=230\nPRESS_232_JOINTS = [-1.023255, -1.763175, 1.923936, -1.150116, 1.584248, 1.423993, 2.377499]  # t=232\nPRESS_233_JOINTS = [-1.030330, -1.763184, 1.920537, -1.120834, 1.590310, 1.395118, 2.404976]  # t=233\nPRESS_234_JOINTS = [-1.039588, -1.763216, 1.918282, -1.091153, 1.595428, 1.386589, 2.428784]  # t=234\nPRESS_235_JOINTS = [-1.050359, -1.763186, 1.920748, -1.062000, 1.595691, 1.392226, 2.447630]  # t=235\nPRESS_236_JOINTS = [-1.061683, -1.763174, 1.925220, -1.034104, 1.593524, 1.400630, 2.463991]  # t=236\nRETREAT_247_JOINTS = [-1.112305, -1.763197, 2.007871, -0.814548, 1.607050, 1.572780, 2.613757]  # t=247\nAPPROACH_000_JOINTS = [0.015714, -1.034627, -0.021152, -2.276251, 0.036749, 1.494713, 0.676051]  # 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_004_JOINTS, input_type='joint', steps=3, 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_010_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, 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_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_068_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_109_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_132_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_140_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_145_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_148_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_150_JOINTS, input_type='joint', steps=2, 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_157_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_158_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_160_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_162_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_164_JOINTS, input_type='joint', steps=1, 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_167_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_168_JOINTS, input_type='joint', steps=1, 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_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_192_JOINTS, input_type='joint', steps=1, 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_196_JOINTS, input_type='joint', steps=2, 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_199_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_200_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_201_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_202_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_203_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_204_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_205_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_206_JOINTS, input_type='joint', steps=1, 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_211_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_212_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_214_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_216_JOINTS, input_type='joint', steps=1, 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_221_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_222_JOINTS, input_type='joint', steps=1, 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_229_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_230_JOINTS, input_type='joint', steps=1, 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_233_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_234_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_235_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_236_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_247_JOINTS, input_type='joint', steps=11, 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": 24104, "code_num_lines": 266, "code_num_nonblank_lines": 256, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 110, "pretrain_task_id": 51, "retained_waypoint_count": 110, "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": 470755, "video_relpath": "videos/raw_extracted/51_SlideOvenRack.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: SlideToasterOvenRack\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_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': 'SlideToasterOvenRack',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 92,\n    'stable_release_contact_loss_t': 92,\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_002_JOINTS = [-0.018310, -1.066318, -0.038208, -2.259889, 0.014578, 1.510757, 0.707621]  # t=2\nAPPROACH_003_JOINTS = [-0.018537, -1.072299, -0.039852, -2.265157, 0.021217, 1.503298, 0.712612]  # t=3\nAPPROACH_004_JOINTS = [-0.018483, -1.079103, -0.039946, -2.278356, 0.030403, 1.500383, 0.717944]  # t=4\nAPPROACH_006_JOINTS = [-0.018372, -1.100761, -0.041601, -2.324280, 0.053462, 1.503538, 0.727067]  # t=6\nAPPROACH_009_JOINTS = [-0.019111, -1.176738, -0.030842, -2.408603, 0.076365, 1.508501, 0.744690]  # t=9\nAPPROACH_011_JOINTS = [-0.020314, -1.246201, -0.014297, -2.477201, 0.085939, 1.534421, 0.766971]  # t=11\nAPPROACH_012_JOINTS = [-0.020563, -1.280639, -0.004207, -2.517263, 0.092328, 1.560492, 0.777946]  # t=12\nAPPROACH_014_JOINTS = [-0.021034, -1.348775, 0.014091, -2.598420, 0.101684, 1.619359, 0.799544]  # t=14\nAPPROACH_015_JOINTS = [-0.021220, -1.386782, 0.021529, -2.636837, 0.104290, 1.643986, 0.810261]  # t=15\nAPPROACH_018_JOINTS = [-0.018805, -1.495652, 0.047891, -2.754547, 0.120023, 1.723313, 0.836344]  # t=18\nAPPROACH_020_JOINTS = [-0.015274, -1.566563, 0.064919, -2.827532, 0.131174, 1.774388, 0.848071]  # t=20\nAPPROACH_021_JOINTS = [-0.013102, -1.602993, 0.073942, -2.860740, 0.135362, 1.799901, 0.854099]  # t=21\nAPPROACH_024_JOINTS = [-0.004755, -1.706964, 0.101245, -2.944092, 0.142709, 1.857555, 0.871120]  # t=24\nAPPROACH_026_JOINTS = [0.001236, -1.756093, 0.109921, -2.988664, 0.147189, 1.885532, 0.875030]  # t=26\nAPPROACH_027_JOINTS = [0.003951, -1.764691, 0.112731, -3.005225, 0.148844, 1.903378, 0.875783]  # t=27\nAPPROACH_030_JOINTS = [0.010442, -1.752947, 0.114598, -3.027836, 0.149869, 1.952497, 0.873680]  # t=30\nAPPROACH_033_JOINTS = [0.015440, -1.727200, 0.114383, -3.047399, 0.151715, 2.008723, 0.868306]  # t=33\nAPPROACH_036_JOINTS = [0.019025, -1.681157, 0.115287, -3.071089, 0.156165, 2.093717, 0.861468]  # t=36\nAPPROACH_039_JOINTS = [0.020426, -1.603276, 0.117009, -3.071885, 0.160646, 2.181141, 0.855082]  # t=39\nAPPROACH_040_JOINTS = [0.020626, -1.571962, 0.117278, -3.071871, 0.162454, 2.213531, 0.852067]  # t=40\nAPPROACH_042_JOINTS = [0.020833, -1.502174, 0.117925, -3.071861, 0.166724, 2.283615, 0.845334]  # t=42\nAPPROACH_044_JOINTS = [0.021092, -1.432088, 0.118559, -3.071798, 0.170498, 2.348035, 0.839618]  # t=44\nAPPROACH_045_JOINTS = [0.021639, -1.401049, 0.118062, -3.071777, 0.172435, 2.371060, 0.835555]  # t=45\nAPPROACH_048_JOINTS = [0.024365, -1.333129, 0.112888, -3.071842, 0.177004, 2.402904, 0.820271]  # t=48\nAPPROACH_051_JOINTS = [0.027619, -1.263724, 0.110512, -3.071915, 0.183883, 2.452968, 0.805268]  # t=51\nAPPROACH_054_JOINTS = [0.029773, -1.165040, 0.112679, -3.071858, 0.192455, 2.543077, 0.796073]  # t=54\nAPPROACH_057_JOINTS = [0.032496, -1.088952, 0.112765, -3.071866, 0.198552, 2.605429, 0.789382]  # t=57\nAPPROACH_058_JOINTS = [0.033301, -1.076919, 0.112318, -3.071864, 0.198975, 2.612533, 0.788614]  # t=58\nPRESS_060_JOINTS = [0.033998, -1.060742, 0.111605, -3.067049, 0.196971, 2.623720, 0.787478]  # t=60\nPRESS_062_JOINTS = [0.034165, -1.045003, 0.111209, -3.061544, 0.194073, 2.634150, 0.786279]  # t=62\nPRESS_064_JOINTS = [0.034165, -1.028038, 0.110875, -3.055556, 0.191221, 2.645452, 0.784745]  # t=64\nPRESS_066_JOINTS = [0.034093, -1.011390, 0.110361, -3.049302, 0.188301, 2.655912, 0.783085]  # t=66\nPRESS_067_JOINTS = [0.034040, -1.003800, 0.110019, -3.046267, 0.186874, 2.660314, 0.782357]  # t=67\nPRESS_068_JOINTS = [0.033988, -0.996996, 0.109628, -3.043412, 0.185506, 2.663981, 0.781761]  # t=68\nPRESS_070_JOINTS = [0.033927, -0.986681, 0.108701, -3.038541, 0.183037, 2.668534, 0.781114]  # t=70\nPRESS_071_JOINTS = [0.033960, -0.984736, 0.108197, -3.037163, 0.182012, 2.668148, 0.781109]  # t=71\nPRESS_072_JOINTS = [0.034156, -0.987201, 0.107807, -3.037121, 0.181144, 2.664146, 0.781204]  # t=72\nPRESS_073_JOINTS = [0.034786, -0.992782, 0.108229, -3.038452, 0.180604, 2.657878, 0.781826]  # t=73\nPRESS_074_JOINTS = [0.036429, -1.002283, 0.110505, -3.041132, 0.180660, 2.648413, 0.783732]  # t=74\nPRESS_076_JOINTS = [0.039976, -1.034133, 0.116828, -3.047405, 0.178830, 2.608639, 0.790785]  # t=76\nPRESS_078_JOINTS = [0.044161, -1.071667, 0.124482, -3.051467, 0.177579, 2.553095, 0.800624]  # t=78\nPRESS_080_JOINTS = [0.046959, -1.109150, 0.129467, -3.052752, 0.175105, 2.488475, 0.809649]  # t=80\nPRESS_082_JOINTS = [0.047670, -1.154374, 0.128307, -3.050110, 0.169551, 2.396868, 0.814736]  # t=82\nPRESS_084_JOINTS = [0.047870, -1.199225, 0.125446, -3.039923, 0.163828, 2.282891, 0.819490]  # t=84\nPRESS_086_JOINTS = [0.047792, -1.239521, 0.120572, -3.022557, 0.159284, 2.150927, 0.824409]  # t=86\nPRESS_087_JOINTS = [0.047689, -1.258342, 0.115459, -3.011791, 0.159371, 2.078458, 0.826226]  # t=87\nPRESS_088_JOINTS = [0.047274, -1.275342, 0.108424, -2.999889, 0.160295, 2.003271, 0.827661]  # t=88\nPRESS_090_JOINTS = [0.045434, -1.299196, 0.093141, -2.973527, 0.162019, 1.852690, 0.831252]  # t=90\nPRESS_092_JOINTS = [0.042867, -1.308295, 0.078954, -2.945916, 0.163837, 1.707060, 0.834091]  # t=92\nPRESS_094_JOINTS = [0.040066, -1.301387, 0.066326, -2.917951, 0.166579, 1.579844, 0.832874]  # t=94\nPRESS_095_JOINTS = [0.038892, -1.291686, 0.060373, -2.905650, 0.168173, 1.529135, 0.830635]  # t=95\nPRESS_096_JOINTS = [0.038144, -1.277473, 0.054442, -2.894176, 0.169443, 1.489885, 0.827570]  # t=96\nPRESS_097_JOINTS = [0.037995, -1.258870, 0.048173, -2.883497, 0.170629, 1.462801, 0.824320]  # t=97\nPRESS_098_JOINTS = [0.038367, -1.237446, 0.041005, -2.873105, 0.172029, 1.444367, 0.821357]  # t=98\nPRESS_099_JOINTS = [0.039070, -1.216231, 0.033398, -2.862643, 0.173793, 1.426874, 0.819279]  # t=99\nRETREAT_107_JOINTS = [0.032334, -1.227559, 0.036522, -2.837022, 0.191153, 1.313266, 0.821020]  # t=107\nAPPROACH_000_JOINTS = [-0.018436, -1.062742, -0.038319, -2.258365, 0.009854, 1.517683, 0.706290]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, 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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=2, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_058_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_060_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_062_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_064_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_066_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_070_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\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_086_JOINTS, input_type='joint', steps=2, 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_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_107_JOINTS, input_type='joint', steps=8, 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": 13682, "code_num_lines": 160, "code_num_nonblank_lines": 150, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 57, "pretrain_task_id": 52, "retained_waypoint_count": 57, "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": 183036, "video_relpath": "videos/raw_extracted/52_SlideToasterOvenRack.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: StartCoffeeMachine\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_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': 'StartCoffeeMachine',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 67,\n    'stable_release_contact_loss_t': 67,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=5.802913, y=-3.751754, z=0.998361, qw=0.912257, qx=0.000134, qy=0.000142, qz=-0.409618)\nGOAL_RECEPTACLE_POSE = pose(x=5.802914, y=-3.751791, z=0.998378, qw=0.912267, qx=0.000526, qy=0.000275, qz=-0.409595)\n\nAPPROACH_003_JOINTS = [-0.025241, -1.034618, -0.050414, -2.303311, 0.074662, 1.566283, 0.738405]  # t=3\nAPPROACH_006_JOINTS = [-0.025062, -1.067114, -0.052134, -2.336046, 0.076796, 1.627912, 0.729823]  # t=6\nAPPROACH_009_JOINTS = [-0.025301, -1.132842, -0.054674, -2.398797, 0.080574, 1.714648, 0.716344]  # t=9\nAPPROACH_010_JOINTS = [-0.025433, -1.157253, -0.055426, -2.425094, 0.082121, 1.748583, 0.711539]  # t=10\nAPPROACH_012_JOINTS = [-0.025801, -1.206928, -0.056769, -2.482486, 0.085396, 1.819103, 0.702125]  # t=12\nAPPROACH_014_JOINTS = [-0.026388, -1.255030, -0.057574, -2.540569, 0.088121, 1.882786, 0.695073]  # t=14\nAPPROACH_015_JOINTS = [-0.026566, -1.276224, -0.057555, -2.566904, 0.089549, 1.907944, 0.692354]  # t=15\nAPPROACH_018_JOINTS = [-0.026126, -1.321716, -0.054217, -2.627063, 0.095563, 1.953592, 0.687558]  # t=18\nAPPROACH_019_JOINTS = [-0.025748, -1.331523, -0.052009, -2.641278, 0.097973, 1.963732, 0.687235]  # t=19\nAPPROACH_021_JOINTS = [-0.024838, -1.343657, -0.046509, -2.664151, 0.102926, 1.984154, 0.687554]  # t=21\nAPPROACH_024_JOINTS = [-0.023449, -1.343676, -0.040182, -2.689174, 0.108728, 2.020645, 0.687349]  # t=24\nAPPROACH_027_JOINTS = [-0.021568, -1.324389, -0.036844, -2.702592, 0.113605, 2.066243, 0.684228]  # t=27\nAPPROACH_030_JOINTS = [-0.019588, -1.295348, -0.035166, -2.707324, 0.117461, 2.112539, 0.680581]  # t=30\nAPPROACH_033_JOINTS = [-0.017185, -1.258296, -0.033289, -2.707776, 0.121995, 2.163923, 0.676448]  # t=33\nAPPROACH_036_JOINTS = [-0.014658, -1.219418, -0.031889, -2.708514, 0.126668, 2.214023, 0.671571]  # t=36\nAPPROACH_039_JOINTS = [-0.011951, -1.181841, -0.030944, -2.711784, 0.132209, 2.268015, 0.665131]  # t=39\nAPPROACH_042_JOINTS = [-0.008686, -1.148371, -0.030257, -2.721509, 0.140222, 2.335381, 0.655314]  # t=42\nAPPROACH_045_JOINTS = [-0.004484, -1.119411, -0.029731, -2.743866, 0.151641, 2.418459, 0.641363]  # t=45\nAPPROACH_048_JOINTS = [0.001269, -1.093311, -0.029010, -2.775817, 0.167050, 2.514718, 0.623704]  # t=48\nAPPROACH_051_JOINTS = [0.009065, -1.063203, -0.027990, -2.808957, 0.185464, 2.614810, 0.604456]  # t=51\nAPPROACH_054_JOINTS = [0.019485, -1.022038, -0.027208, -2.832871, 0.205771, 2.713171, 0.584903]  # t=54\nAPPROACH_055_JOINTS = [0.023362, -1.006458, -0.027521, -2.837562, 0.212720, 2.744965, 0.579011]  # t=55\nPRESS_071_JOINTS = [0.028899, -1.113189, -0.044861, -2.910099, 0.229024, 2.804234, 0.615175]  # t=71\nRETREAT_073_JOINTS = [0.031949, -1.213183, -0.054697, -2.940291, 0.234977, 2.770497, 0.594519]  # t=73\nRETREAT_075_JOINTS = [0.030451, -1.317684, -0.063077, -2.961995, 0.235672, 2.720888, 0.580707]  # t=75\nRETREAT_077_JOINTS = [0.027010, -1.409341, -0.068772, -2.967159, 0.234722, 2.665458, 0.573120]  # t=77\nRETREAT_079_JOINTS = [0.024142, -1.473806, -0.071686, -2.953129, 0.234540, 2.608775, 0.570109]  # t=79\nRETREAT_081_JOINTS = [0.022427, -1.512359, -0.073551, -2.920075, 0.235309, 2.550420, 0.569276]  # t=81\nRETREAT_083_JOINTS = [0.021564, -1.534205, -0.076046, -2.874414, 0.237222, 2.490613, 0.567894]  # t=83\nRETREAT_085_JOINTS = [0.019621, -1.546044, -0.079511, -2.824790, 0.237374, 2.422404, 0.568771]  # t=85\nRETREAT_087_JOINTS = [0.015677, -1.555855, -0.085173, -2.775880, 0.234521, 2.335298, 0.573040]  # t=87\nRETREAT_089_JOINTS = [0.009346, -1.572305, -0.093377, -2.727107, 0.227129, 2.226187, 0.582547]  # t=89\nRETREAT_090_JOINTS = [0.005476, -1.582872, -0.099016, -2.703295, 0.221866, 2.167560, 0.588109]  # t=90\nRETREAT_091_JOINTS = [0.001286, -1.595778, -0.106944, -2.680339, 0.215748, 2.107469, 0.592186]  # t=91\nRETREAT_093_JOINTS = [-0.007647, -1.627210, -0.129816, -2.637899, 0.201843, 1.991048, 0.593621]  # t=93\nRETREAT_094_JOINTS = [-0.012448, -1.644500, -0.144562, -2.618128, 0.193390, 1.937896, 0.591480]  # t=94\nRETREAT_095_JOINTS = [-0.017909, -1.662692, -0.162552, -2.599127, 0.181740, 1.889732, 0.587795]  # t=95\nRETREAT_096_JOINTS = [-0.023677, -1.681392, -0.182550, -2.581362, 0.168661, 1.846307, 0.582217]  # t=96\nAPPROACH_000_JOINTS = [-0.025554, -1.030225, -0.050075, -2.298869, 0.074377, 1.552870, 0.739870]  # t=1\nPRESS_067_JOINTS = [0.020571, -0.999995, -0.034956, -2.865440, 0.219134, 2.840460, 0.637911]  # t=67\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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=12, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_083_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_085_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_096_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": 10388, "code_num_lines": 126, "code_num_nonblank_lines": 116, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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 coffee.\",\"layout_id\":50,\"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_14/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"ensure_valid_placement\":false,\"fixture\":\"coffee_machine_right_group_1\",\"margin\":0.0,\"rotation\":[0.39269908169872414,0.7853981633974483]},\"reset_region\":{\"name\":\"bottom\",\"offset\":[0.0,-0.200406475814675,-0.12823056340119296],\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":11},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06550269573926926,\"qx\":0.698758602142334,\"qy\":0.6989390850067139,\"qz\":0.13758589327335358,\"x\":5.7249215153833495,\"y\":-3.6784222652707705,\"z\":1.2894669062091795},\"goal_pose\":{\"qw\":0.9122671856882374,\"qx\":0.0005257824276583655,\"qy\":0.0002751881737694838,\"qz\":-0.4095952022921786,\"x\":5.802913769536892,\"y\":-3.7517913156817793,\"z\":0.9983776952082501},\"object_pose\":{\"qw\":0.9122573234015938,\"qx\":0.0001337955320511579,\"qy\":0.00014208609350083995,\"qz\":-0.4096175506621462,\"x\":5.802912507090234,\"y\":-3.7517543093755252,\"z\":0.9983610189448224}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"StartCoffeeMachine\"}", "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\":\"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 coffee.\",\"layout_id\":50,\"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_14/model.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"mug\",\"placement\":{\"ensure_object_boundary_in_range\":false,\"ensure_valid_placement\":false,\"fixture\":\"coffee_machine_right_group_1\",\"margin\":0.0,\"rotation\":[0.39269908169872414,0.7853981633974483]},\"reset_region\":{\"name\":\"bottom\",\"offset\":[0.0,-0.200406475814675,-0.12823056340119296],\"size\":[0.01,0.01]},\"type\":\"object\"}],\"style_id\":11},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.06550269573926926,\"qx\":0.698758602142334,\"qy\":0.6989390850067139,\"qz\":0.13758589327335358,\"x\":5.7249215153833495,\"y\":-3.6784222652707705,\"z\":1.2894669062091795},\"goal_pose\":{\"qw\":0.9122671856882374,\"qx\":0.0005257824276583655,\"qy\":0.0002751881737694838,\"qz\":-0.4095952022921786,\"x\":5.802913769536892,\"y\":-3.7517913156817793,\"z\":0.9983776952082501},\"object_pose\":{\"qw\":0.9122573234015938,\"qx\":0.0001337955320511579,\"qy\":0.00014208609350083995,\"qz\":-0.4096175506621462,\"x\":5.802912507090234,\"y\":-3.7517543093755252,\"z\":0.9983610189448224}},\"initial_state\":[0.5000000000000003,-13.670230807175876,-4.527715692615601,-2.108546018300505e-07,3.398987510015255e-08,-0.025696716396200768,-1.0300591331282645,-0.050059506043296016,-2.298711435470973,0.07437320012744918,1.5520450042631468,0.739869619068247,0.020560150256595324,-0.020506408854587675,6.375449778869498e-09,-1.963015870318237e-09,-0.0003656793495139256,-0.0003591140332645169,0.0,0.0,0.0,0.0,-9.835857869074156e-17,0.0,-9.920593199469949e-17,-1.2320495911978678e-05,-0.007396925072360172,0.0,0.0,0.0,0.0,-1.2807937761724392e-15,0.0,0.0,0.0,-1.3860345388599315e-16,0.0,-1.383667544548654e-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,-1.999699021949599e-11,3.343590766056191e-09,-4.80390038328988e-10,0.0,0.0,0.0,0.0,0.0,-0.006923549681356428,0.0,0.0,-1.2907267527893832e-05,1.1618967065628987e-08,1.7131980846611864e-08,5.167675803002297e-09,2.4210544356264545e-09,1.118786707628673e-12,-9.599832354573731e-14,0.0,0.0,-1.2617246669582815e-05,-1.2617246669582815e-05,-1.2617246669582815e-05,-1.2617246669582815e-05,-1.2525718509159879e-05,0.0,-1.5552361087412378e-15,0.0,0.0,-7.275704012108161e-16,-7.275704012108161e-16,-7.210609249074346e-16,0.0,0.0,-3.4464574392831e-15,0.0,0.0,-4.556626183703947e-05,-0.007625713346776985,7.080830873093497e-10,-0.00041583900419784925,-0.007587674968225808,-1.0261024261427132e-10,-0.00041583899717989933,5.802912507090234,-3.7517543093755252,0.9983610189448224,0.9122573234015938,0.0001337955320511579,0.00014208609350083995,-0.4096175506621462,6.155050638875654e-07,4.7339749495275733e-07,2.8440753320011082e-06,7.367154800958034e-08,8.42382521481137e-06,0.0005530287639936349,0.0006372497911773876,-2.706223147403745e-05,0.0008006626266566734,0.00014855886891035046,0.0001031389612417347,-0.0003965589969279129,0.0005394910852828622,1.297295523472088e-08,-3.54717587628013e-11,-2.1770730161973455e-08,-1.3846002683996705e-07,0.0,0.0,0.0,0.0,-4.140189976693345e-18,0.0,-4.495049300894424e-18,-2.2123740681966314e-07,-5.405696871607903e-07,0.0,0.0,0.0,0.0,-6.237068014833482e-17,0.0,0.0,0.0,-5.0770501114461274e-18,0.0,-5.0267038493271064e-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,-1.6991403364932801e-09,-3.6118306301131357e-13,6.803605304317198e-09,-8.6767428708941e-12,0.0,0.0,0.0,0.0,0.0,-0.00791877101902395,0.0,0.0,-2.3463400701423328e-07,2.364250724214367e-08,3.486049826549537e-08,1.0515290378855383e-08,4.926410127896314e-09,2.276529634482229e-12,-1.7339245394360226e-15,0.0,0.0,-2.809736862150965e-07,-2.809736862150965e-07,-2.809736862150965e-07,-2.809736862150965e-07,-2.7894631803721633e-07,0.0,-6.362129129379188e-17,0.0,0.0,-2.7321073009890428e-17,-2.7321073009890428e-17,-2.5927871568643283e-17,0.0,0.0,-1.6958517411771848e-16,0.0,0.0,-9.885500196176533e-07,-5.531171543846253e-07,1.4408216694343104e-09,-5.541333217059556e-08,-5.510760240623944e-07,-1.8533329977959327e-12,-5.541334695603546e-08,5.076604908872455e-06,-1.8704591648329547e-05,3.110341442564499e-06,0.000178874762147819,0.00035063406801906304,7.215335452084146e-07],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"StartCoffeeMachine\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 40, "pretrain_task_id": 53, "retained_waypoint_count": 40, "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": 168446, "video_relpath": "videos/raw_extracted/53_StartCoffeeMachine.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOffMicrowave\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_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': 'TurnOffMicrowave',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 123,\n    'stable_release_contact_loss_t': 123,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=3.281729, y=-0.359868, z=1.474919, qw=0.958304, qx=-0.003767, qy=0.012689, qz=0.285445)\nGOAL_RECEPTACLE_POSE = pose(x=3.281729, y=-0.359868, z=1.474919, qw=0.958304, qx=-0.003767, qy=0.012689, qz=0.285445)\n\nAPPROACH_002_JOINTS = [0.007144, -1.050902, -0.014364, -2.245706, 0.084238, 1.519166, 0.704316]  # t=2\nAPPROACH_004_JOINTS = [0.005323, -1.068916, -0.014868, -2.244506, 0.083965, 1.500082, 0.703579]  # t=4\nAPPROACH_005_JOINTS = [0.004210, -1.081716, -0.015545, -2.245052, 0.083663, 1.488907, 0.702924]  # t=5\nAPPROACH_010_JOINTS = [-0.003162, -1.188847, -0.018196, -2.272333, 0.077017, 1.491743, 0.702193]  # t=10\nAPPROACH_012_JOINTS = [-0.005709, -1.225626, -0.025669, -2.279986, 0.072230, 1.517033, 0.691197]  # t=12\nAPPROACH_015_JOINTS = [-0.010312, -1.265320, -0.056978, -2.282652, 0.051934, 1.562799, 0.662169]  # t=15\nAPPROACH_016_JOINTS = [-0.011676, -1.276380, -0.067747, -2.281514, 0.046171, 1.578251, 0.651717]  # t=16\nAPPROACH_018_JOINTS = [-0.014712, -1.296859, -0.094530, -2.278393, 0.031594, 1.610405, 0.627494]  # t=18\nAPPROACH_019_JOINTS = [-0.016195, -1.307267, -0.109184, -2.275993, 0.024850, 1.626880, 0.613731]  # t=19\nAPPROACH_020_JOINTS = [-0.017664, -1.317218, -0.124015, -2.273991, 0.018580, 1.643606, 0.599700]  # t=20\nAPPROACH_025_JOINTS = [-0.023859, -1.345629, -0.194765, -2.262113, -0.004105, 1.728972, 0.531616]  # t=25\nAPPROACH_030_JOINTS = [-0.027260, -1.347000, -0.271368, -2.239282, -0.011441, 1.805078, 0.462470]  # t=30\nAPPROACH_035_JOINTS = [-0.027243, -1.349488, -0.350626, -2.232022, 0.006636, 1.911938, 0.378293]  # t=35\nAPPROACH_040_JOINTS = [-0.024571, -1.365207, -0.422030, -2.250222, 0.053759, 2.063507, 0.273833]  # t=40\nAPPROACH_041_JOINTS = [-0.023098, -1.369680, -0.436828, -2.257168, 0.067996, 2.098192, 0.248473]  # t=41\nAPPROACH_045_JOINTS = [-0.010711, -1.385900, -0.493478, -2.288256, 0.146067, 2.241488, 0.133816]  # t=45\nAPPROACH_048_JOINTS = [0.006631, -1.389613, -0.523787, -2.306547, 0.221074, 2.335462, 0.043075]  # t=48\nAPPROACH_050_JOINTS = [0.022177, -1.383781, -0.537554, -2.314435, 0.272152, 2.392727, -0.016131]  # t=50\nAPPROACH_052_JOINTS = [0.042098, -1.371058, -0.549793, -2.317215, 0.326159, 2.442825, -0.073765]  # t=52\nAPPROACH_055_JOINTS = [0.076837, -1.340223, -0.567867, -2.306708, 0.403186, 2.495127, -0.150140]  # t=55\nAPPROACH_060_JOINTS = [0.135160, -1.268401, -0.598008, -2.243225, 0.503458, 2.509826, -0.229181]  # t=60\nAPPROACH_061_JOINTS = [0.148500, -1.250732, -0.607351, -2.224440, 0.523902, 2.506936, -0.242703]  # t=61\nAPPROACH_065_JOINTS = [0.199679, -1.178625, -0.662124, -2.138304, 0.596758, 2.474024, -0.289254]  # t=65\nAPPROACH_070_JOINTS = [0.261643, -1.083404, -0.742523, -2.004651, 0.673526, 2.406039, -0.321992]  # t=70\nAPPROACH_071_JOINTS = [0.273890, -1.063913, -0.757107, -1.977923, 0.686440, 2.392067, -0.327077]  # t=71\nAPPROACH_075_JOINTS = [0.315388, -0.998597, -0.805482, -1.895142, 0.725829, 2.338229, -0.353509]  # t=75\nAPPROACH_080_JOINTS = [0.357869, -0.938542, -0.840313, -1.842545, 0.781385, 2.323622, -0.400365]  # t=80\nAPPROACH_085_JOINTS = [0.416779, -0.876023, -0.878795, -1.820411, 0.881342, 2.340094, -0.492180]  # t=85\nAPPROACH_087_JOINTS = [0.435784, -0.871229, -0.895634, -1.816550, 0.934770, 2.331480, -0.548824]  # t=87\nAPPROACH_090_JOINTS = [0.456298, -0.880699, -0.918868, -1.819315, 1.017520, 2.304444, -0.642330]  # t=90\nAPPROACH_091_JOINTS = [0.462323, -0.882907, -0.927326, -1.823480, 1.041396, 2.293922, -0.670169]  # t=91\nAPPROACH_095_JOINTS = [0.491671, -0.858273, -0.960226, -1.819379, 1.100395, 2.265191, -0.724227]  # t=95\nAPPROACH_100_JOINTS = [0.525775, -0.818409, -1.003691, -1.783975, 1.136361, 2.218875, -0.743480]  # t=100\nAPPROACH_101_JOINTS = [0.531689, -0.811022, -1.010744, -1.777227, 1.140972, 2.214111, -0.746002]  # t=101\nAPPROACH_104_JOINTS = [0.558222, -0.778264, -1.029518, -1.754534, 1.162973, 2.219024, -0.756137]  # t=104\nPRESS_105_JOINTS = [0.559538, -0.777105, -1.031909, -1.752510, 1.164905, 2.214966, -0.755636]  # t=105\nPRESS_106_JOINTS = [0.558221, -0.776433, -1.030521, -1.752758, 1.164508, 2.217393, -0.752869]  # t=106\nPRESS_108_JOINTS = [0.554140, -0.774514, -1.024701, -1.755495, 1.163443, 2.233129, -0.748880]  # t=108\nPRESS_110_JOINTS = [0.552399, -0.772424, -1.022154, -1.756643, 1.165011, 2.242676, -0.745798]  # t=110\nPRESS_112_JOINTS = [0.550612, -0.770016, -1.021087, -1.756311, 1.162994, 2.244903, -0.741330]  # t=112\nPRESS_113_JOINTS = [0.549549, -0.767353, -1.021745, -1.754589, 1.160635, 2.242253, -0.736921]  # t=113\nPRESS_114_JOINTS = [0.548038, -0.763496, -1.023909, -1.751512, 1.157756, 2.234840, -0.731317]  # t=114\nPRESS_116_JOINTS = [0.542708, -0.751521, -1.030364, -1.742147, 1.149977, 2.212424, -0.714556]  # t=116\nPRESS_117_JOINTS = [0.538855, -0.743716, -1.033404, -1.736403, 1.144365, 2.200718, -0.702604]  # t=117\nPRESS_118_JOINTS = [0.534583, -0.734921, -1.036200, -1.729891, 1.137138, 2.189218, -0.687896]  # t=118\nPRESS_120_JOINTS = [0.525934, -0.713932, -1.043559, -1.712484, 1.117288, 2.161193, -0.649614]  # t=120\nPRESS_122_JOINTS = [0.518779, -0.688324, -1.056607, -1.687271, 1.093344, 2.120095, -0.602332]  # t=122\nPRESS_123_JOINTS = [0.517062, -0.678424, -1.063750, -1.675874, 1.085992, 2.100327, -0.583536]  # t=123\nPRESS_124_JOINTS = [0.517131, -0.672774, -1.069837, -1.667312, 1.082611, 2.085652, -0.571660]  # t=124\nPRESS_125_JOINTS = [0.517742, -0.673926, -1.075678, -1.656241, 1.083897, 2.073398, -0.568517]  # t=125\nPRESS_126_JOINTS = [0.517540, -0.682840, -1.082175, -1.645410, 1.086933, 2.057860, -0.571951]  # t=126\nPRESS_127_JOINTS = [0.516091, -0.698600, -1.088709, -1.636217, 1.090046, 2.038646, -0.579696]  # t=127\nRETREAT_129_JOINTS = [0.512850, -0.744374, -1.098377, -1.620736, 1.105648, 2.002499, -0.611477]  # t=129\nRETREAT_130_JOINTS = [0.512301, -0.772118, -1.100546, -1.616864, 1.120025, 1.986753, -0.637317]  # t=130\nRETREAT_131_JOINTS = [0.511613, -0.803211, -1.100329, -1.617975, 1.137602, 1.970215, -0.669746]  # t=131\nRETREAT_132_JOINTS = [0.510412, -0.837334, -1.097878, -1.623852, 1.157227, 1.952615, -0.712273]  # t=132\nRETREAT_133_JOINTS = [0.508205, -0.873955, -1.092758, -1.635576, 1.176020, 1.931148, -0.765481]  # t=133\nRETREAT_134_JOINTS = [0.503646, -0.912573, -1.083744, -1.654851, 1.192916, 1.906361, -0.822305]  # t=134\nRETREAT_135_JOINTS = [0.495561, -0.952414, -1.070378, -1.681468, 1.208460, 1.881983, -0.877635]  # t=135\nRETREAT_136_JOINTS = [0.483847, -0.992980, -1.053735, -1.714169, 1.224522, 1.861460, -0.930977]  # t=136\nRETREAT_137_JOINTS = [0.468505, -1.034179, -1.035678, -1.753177, 1.241522, 1.845572, -0.981384]  # t=137\nRETREAT_139_JOINTS = [0.425970, -1.117596, -0.999415, -1.849306, 1.269401, 1.823258, -1.070828]  # t=139\nRETREAT_141_JOINTS = [0.368734, -1.200476, -0.964963, -1.958847, 1.283306, 1.809012, -1.140068]  # t=141\nRETREAT_143_JOINTS = [0.301744, -1.281849, -0.931187, -2.069477, 1.298046, 1.804287, -1.189594]  # t=143\nRETREAT_144_JOINTS = [0.266647, -1.321002, -0.912884, -2.121978, 1.309621, 1.805094, -1.209290]  # t=144\nRETREAT_145_JOINTS = [0.231928, -1.357249, -0.892175, -2.170911, 1.325136, 1.809842, -1.225590]  # t=145\nRETREAT_147_JOINTS = [0.164492, -1.421621, -0.845466, -2.258747, 1.362400, 1.827190, -1.246030]  # t=147\nRETREAT_149_JOINTS = [0.099084, -1.478592, -0.793765, -2.332677, 1.396599, 1.849207, -1.245995]  # t=149\nRETREAT_150_JOINTS = [0.068201, -1.503839, -0.764001, -2.361636, 1.414101, 1.862768, -1.237513]  # t=150\nAPPROACH_000_JOINTS = [0.007781, -1.047156, -0.014442, -2.246671, 0.084042, 1.524396, 0.704567]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=4, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_061_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_104_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_106_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_108_JOINTS, input_type='joint', steps=2, 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_113_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_114_JOINTS, input_type='joint', steps=1, 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_120_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_129_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_132_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_135_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_144_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_145_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_150_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": 16295, "code_num_lines": 186, "code_num_nonblank_lines": 176, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 70, "pretrain_task_id": 54, "retained_waypoint_count": 70, "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": 246421, "video_relpath": "videos/raw_extracted/54_TurnOffMicrowave.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOffSinkFaucet\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_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': 'TurnOffSinkFaucet',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 117,\n    'stable_release_contact_loss_t': 117,\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=5.233928, y=-2.809772, z=0.940525, qw=0.653941, qx=-0.000537, qy=-0.000498, qz=-0.756545)\n\nAPPROACH_002_JOINTS = [-0.000523, -1.038089, -0.015882, -2.323054, 0.054658, 1.509204, 0.668663]  # t=2\nAPPROACH_005_JOINTS = [-0.003232, -1.121580, -0.019852, -2.325807, 0.049516, 1.483869, 0.665168]  # t=5\nAPPROACH_006_JOINTS = [-0.005807, -1.166656, -0.033907, -2.337906, 0.039557, 1.484371, 0.656755]  # t=6\nAPPROACH_008_JOINTS = [-0.012649, -1.264377, -0.085828, -2.373255, 0.015203, 1.492431, 0.623776]  # t=8\nAPPROACH_010_JOINTS = [-0.019676, -1.348919, -0.155767, -2.416134, -0.002133, 1.515508, 0.575108]  # t=10\nAPPROACH_013_JOINTS = [-0.029347, -1.411663, -0.275669, -2.467526, -0.018678, 1.555806, 0.500888]  # t=13\nAPPROACH_015_JOINTS = [-0.033214, -1.414544, -0.357341, -2.479470, -0.025167, 1.581423, 0.442301]  # t=15\nAPPROACH_018_JOINTS = [-0.028825, -1.365734, -0.476280, -2.473982, -0.020665, 1.632747, 0.326340]  # t=18\nAPPROACH_020_JOINTS = [-0.019008, -1.309183, -0.549850, -2.451087, -0.011599, 1.659725, 0.235333]  # t=20\nAPPROACH_022_JOINTS = [-0.003455, -1.244567, -0.614279, -2.415849, 0.007237, 1.678674, 0.134234]  # t=22\nAPPROACH_025_JOINTS = [0.017142, -1.166147, -0.673910, -2.368975, 0.045653, 1.687584, 0.011530]  # t=25\nAPPROACH_030_JOINTS = [0.052695, -1.059486, -0.737862, -2.375643, 0.123427, 1.813856, -0.152928]  # t=30\nAPPROACH_032_JOINTS = [0.076628, -1.010745, -0.764016, -2.395674, 0.173224, 1.895335, -0.228385]  # t=32\nAPPROACH_035_JOINTS = [0.129460, -0.924743, -0.807749, -2.415943, 0.277431, 1.994074, -0.368020]  # t=35\nAPPROACH_036_JOINTS = [0.150541, -0.894509, -0.824379, -2.418648, 0.318811, 2.021526, -0.423888]  # t=36\nAPPROACH_040_JOINTS = [0.237621, -0.789860, -0.898157, -2.406291, 0.502832, 2.081940, -0.685643]  # t=40\nAPPROACH_045_JOINTS = [0.334706, -0.675235, -0.999183, -2.350464, 0.686964, 2.048393, -0.953772]  # t=45\nAPPROACH_049_JOINTS = [0.409795, -0.565136, -1.077592, -2.283526, 0.776571, 1.991588, -1.047434]  # t=49\nAPPROACH_050_JOINTS = [0.430578, -0.534721, -1.095496, -2.265680, 0.800597, 1.980731, -1.064497]  # t=50\nAPPROACH_053_JOINTS = [0.494575, -0.438462, -1.151916, -2.211630, 0.878722, 1.949897, -1.110495]  # t=53\nAPPROACH_055_JOINTS = [0.538061, -0.368430, -1.189120, -2.177537, 0.941669, 1.932810, -1.136696]  # t=55\nAPPROACH_060_JOINTS = [0.624148, -0.159615, -1.277932, -2.106605, 1.131319, 1.866147, -1.210121]  # t=60\nAPPROACH_065_JOINTS = [0.542593, 0.115052, -1.239777, -2.038029, 1.367780, 1.731343, -1.279144]  # t=65\nAPPROACH_066_JOINTS = [0.488577, 0.162586, -1.195907, -2.018679, 1.405636, 1.701035, -1.288531]  # t=66\nAPPROACH_069_JOINTS = [0.285963, 0.270225, -1.021361, -1.941699, 1.477376, 1.619430, -1.305560]  # t=69\nAPPROACH_070_JOINTS = [0.214516, 0.295532, -0.959318, -1.912229, 1.488060, 1.594649, -1.310062]  # t=70\nAPPROACH_074_JOINTS = [-0.039893, 0.373133, -0.726661, -1.793091, 1.494636, 1.528937, -1.313854]  # t=74\nAPPROACH_075_JOINTS = [-0.091500, 0.390025, -0.675190, -1.763985, 1.492504, 1.521666, -1.311354]  # t=75\nAPPROACH_080_JOINTS = [-0.276573, 0.480017, -0.467525, -1.619502, 1.485112, 1.527749, -1.284928]  # t=80\nAPPROACH_085_JOINTS = [-0.372412, 0.580192, -0.337281, -1.480305, 1.482701, 1.560589, -1.254292]  # t=85\nAPPROACH_090_JOINTS = [-0.419470, 0.688958, -0.253390, -1.332347, 1.483916, 1.603458, -1.216156]  # t=90\nAPPROACH_095_JOINTS = [-0.446835, 0.791486, -0.197080, -1.189996, 1.475741, 1.622606, -1.174949]  # t=95\nAPPROACH_100_JOINTS = [-0.461074, 0.855115, -0.152388, -1.106252, 1.455852, 1.624638, -1.148678]  # t=100\nAPPROACH_101_JOINTS = [-0.464673, 0.859892, -0.147787, -1.098653, 1.451469, 1.620216, -1.147132]  # t=101\nPRESS_102_JOINTS = [-0.467974, 0.861619, -0.143819, -1.095523, 1.447683, 1.616885, -1.147050]  # t=102\nPRESS_103_JOINTS = [-0.470595, 0.862031, -0.139808, -1.094651, 1.444553, 1.615780, -1.147597]  # t=103\nPRESS_105_JOINTS = [-0.474243, 0.860965, -0.132140, -1.096631, 1.438960, 1.615183, -1.149438]  # t=105\nPRESS_107_JOINTS = [-0.475467, 0.858028, -0.124699, -1.103070, 1.432716, 1.614268, -1.152322]  # t=107\nPRESS_109_JOINTS = [-0.475017, 0.853137, -0.118021, -1.111598, 1.427308, 1.612110, -1.156265]  # t=109\nPRESS_111_JOINTS = [-0.473120, 0.845481, -0.112712, -1.124494, 1.423496, 1.611548, -1.159899]  # t=111\nPRESS_113_JOINTS = [-0.471918, 0.839218, -0.111209, -1.135850, 1.422777, 1.611886, -1.163350]  # t=113\nPRESS_115_JOINTS = [-0.470144, 0.833872, -0.110434, -1.144574, 1.422995, 1.611070, -1.164839]  # t=115\nPRESS_116_JOINTS = [-0.469013, 0.831374, -0.110191, -1.148214, 1.423023, 1.610280, -1.165224]  # t=116\nPRESS_117_JOINTS = [-0.467764, 0.828992, -0.110057, -1.151422, 1.423038, 1.609404, -1.165402]  # t=117\nPRESS_119_JOINTS = [-0.464946, 0.824555, -0.110066, -1.156829, 1.422932, 1.607195, -1.165415]  # t=119\nPRESS_121_JOINTS = [-0.461869, 0.820266, -0.110140, -1.161695, 1.422919, 1.604791, -1.165408]  # t=121\nPRESS_123_JOINTS = [-0.458503, 0.815389, -0.110238, -1.167353, 1.422703, 1.603022, -1.164452]  # t=123\nPRESS_125_JOINTS = [-0.454963, 0.810058, -0.110194, -1.173925, 1.423049, 1.602766, -1.164746]  # t=125\nPRESS_126_JOINTS = [-0.453057, 0.807305, -0.110139, -1.177431, 1.423470, 1.603728, -1.164990]  # t=126\nPRESS_127_JOINTS = [-0.451135, 0.804865, -0.110161, -1.180688, 1.424150, 1.605884, -1.165385]  # t=127\nRETREAT_132_JOINTS = [-0.445159, 0.797149, -0.114303, -1.191897, 1.427113, 1.611639, -1.167398]  # t=132\nAPPROACH_000_JOINTS = [-0.000303, -1.030960, -0.016641, -2.324678, 0.053727, 1.519172, 0.668566]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_006_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_008_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_018_JOINTS, input_type='joint', steps=3, 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_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_049_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_053_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_069_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_074_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_109_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_111_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_116_JOINTS, input_type='joint', steps=1, 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_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_123_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_132_JOINTS, input_type='joint', steps=5, 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": 12802, "code_num_lines": 150, "code_num_nonblank_lines": 140, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"}", "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\":\"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}},\"initial_state\":[0.5000000000000003,-12.11984721036745,-5.1386603727047016,-2.24281835028753e-07,2.4765191414433046e-08,3.581821113023331e-05,-1.0295065300418313,-0.016700422720381695,-2.3249981520302643,0.053695096590804105,1.522342209890265,0.6685740329694358,0.02053663932189456,-0.020529919665206516,0.0,0.0,0.0,0.0,0.0,-2.6745059224920966e-16,-2.611196852791979e-16,-2.611196852791979e-16,0.0,0.0,0.0,0.0,-2.614069028194701e-16,-2.6083714630285475e-16,-2.6083714630285475e-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,-0.00020444045548317005,-0.007822585294080808,1.2430416059183776e-09,-0.0006579637753044878,-1.3984714038234867e-16,-1.3957993500567379e-16,-1.3957993500567379e-16,-1.847294847916478e-15,-1.468357432293708e-06,2.382364636562725e-09,-8.749991700166951e-10,8.361748751386674e-05,2.6901753692841877e-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,-2.442062375176155e-09,4.9055551965588945e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.006247571637058045,-0.006247571637058045,-7.985989476427543e-06,0.0,0.0,0.0,0.0,0.0,-1.6067347696880248e-10,0.4490840518637001,-0.00036300608203073445,0.0,0.0,0.0,0.0,0.0,-4.281218491380241e-15,-4.281218491380241e-15,5.233928179946678,-2.8097724707804583,0.9405245478303522,0.6539415267570693,-0.0005327244269739385,-0.00048592010668830395,-0.7565447506056521,5.351663952414271,-2.3472242659607856,0.8084046886317289,0.4447446049089104,6.584814055616124e-05,8.360069870517404e-05,-0.8956574261844541,6.822539746503149e-07,4.795491325616156e-07,2.983747147759748e-06,7.982163726179556e-08,8.35731130530352e-06,0.0006199536919702437,0.0006704439112266385,-2.3834470340313984e-05,0.0007874204802412857,0.00013666365191064895,0.00010993491958259195,-0.0004342236057980549,0.000501826219359885,0.0,0.0,0.0,0.0,0.0,-1.182241012897567e-17,-1.0318882047884739e-17,-1.0318882047884739e-17,0.0,0.0,0.0,0.0,-1.038416803493103e-17,-1.0254929155796507e-17,-1.0254929155796507e-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,-2.0670718884879818e-06,-5.62503165851465e-07,2.5293660671545152e-09,3.2359747954473997e-13,-5.887809648110478e-18,-5.814713285888972e-18,-5.814713285888972e-18,-8.047800470602956e-17,-2.6600667401148267e-08,4.8476834331491876e-09,-1.580324621845766e-11,5.743832522130329e-09,5.382299854482922e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.8552131822190611e-06,-4.4105770964619e-11,9.981922392689524e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.626789013261732e-07,-4.626789013261732e-07,-1.446356745011392e-07,0.0,0.0,0.0,0.0,0.0,-3.2694297730583697e-10,1.6059622819809082e-06,-6.846313071642543e-08,0.0,0.0,0.0,0.0,0.0,-1.9120453941124587e-16,-1.9120453941124587e-16,2.9383006900477764e-05,-5.8896828843227735e-05,-4.744522757303681e-06,-0.0018244740355224554,0.0026221017378411284,1.9326161378340487e-06,1.1452883192149329e-06,-7.166042411085787e-06,2.64117411634339e-06,-7.042635130239682e-05,6.737556862544383e-05,-1.1784297023135447e-09],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 52, "pretrain_task_id": 55, "retained_waypoint_count": 52, "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": 232072, "video_relpath": "videos/raw_extracted/55_TurnOffSinkFaucet.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOffStove\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_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': 'TurnOffStove',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 284,\n    'stable_release_contact_loss_t': 284,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.369970, y=-4.074561, z=0.995814, qw=0.973460, qx=0.000005, qy=-0.000009, qz=0.228858)\nGOAL_RECEPTACLE_POSE = pose(x=0.362176, y=-4.075617, z=0.995755, qw=0.990752, qx=0.000030, qy=-0.000091, qz=0.135687)\n\nAPPROACH_002_JOINTS = [-0.027908, -1.039799, -0.016667, -2.246071, 0.012891, 1.480599, 0.726349]  # t=2\nAPPROACH_004_JOINTS = [-0.027635, -1.050688, -0.017768, -2.244887, 0.011711, 1.462426, 0.726244]  # t=4\nAPPROACH_005_JOINTS = [-0.027623, -1.060647, -0.019489, -2.244388, 0.010063, 1.448342, 0.725683]  # t=5\nAPPROACH_009_JOINTS = [-0.027705, -1.116309, -0.030388, -2.254240, 0.000533, 1.389590, 0.719794]  # t=9\nAPPROACH_010_JOINTS = [-0.027750, -1.131333, -0.033816, -2.260886, -0.002487, 1.379439, 0.717677]  # t=10\nAPPROACH_012_JOINTS = [-0.027376, -1.157777, -0.037497, -2.280080, -0.009697, 1.371525, 0.707999]  # t=12\nAPPROACH_015_JOINTS = [-0.025583, -1.187099, -0.040682, -2.317469, -0.028248, 1.381710, 0.669695]  # t=15\nAPPROACH_020_JOINTS = [-0.019003, -1.226431, -0.046796, -2.380131, -0.075370, 1.397953, 0.537662]  # t=20\nAPPROACH_025_JOINTS = [-0.010118, -1.267826, -0.076818, -2.446982, -0.128518, 1.413557, 0.337739]  # t=25\nAPPROACH_027_JOINTS = [-0.007210, -1.285059, -0.097108, -2.467705, -0.142577, 1.415396, 0.256073]  # t=27\nAPPROACH_030_JOINTS = [-0.007693, -1.323295, -0.130484, -2.496626, -0.153269, 1.399242, 0.176938]  # t=30\nAPPROACH_033_JOINTS = [-0.012746, -1.364172, -0.150767, -2.540318, -0.152532, 1.373592, 0.165219]  # t=33\nAPPROACH_035_JOINTS = [-0.016599, -1.385175, -0.161904, -2.577205, -0.152151, 1.364463, 0.168350]  # t=35\nAPPROACH_036_JOINTS = [-0.018850, -1.393036, -0.167337, -2.595858, -0.152387, 1.364922, 0.174934]  # t=36\nAPPROACH_040_JOINTS = [-0.029095, -1.414750, -0.180726, -2.664553, -0.159808, 1.371991, 0.217612]  # t=40\nAPPROACH_041_JOINTS = [-0.031932, -1.417823, -0.183269, -2.680726, -0.165105, 1.373051, 0.229666]  # t=41\nAPPROACH_045_JOINTS = [-0.044143, -1.415372, -0.203611, -2.735881, -0.195504, 1.390968, 0.279537]  # t=45\nAPPROACH_050_JOINTS = [-0.058356, -1.395569, -0.219806, -2.798862, -0.214523, 1.439276, 0.368310]  # t=50\nAPPROACH_052_JOINTS = [-0.064174, -1.387411, -0.224642, -2.829923, -0.219472, 1.470352, 0.408982]  # t=52\nAPPROACH_055_JOINTS = [-0.073447, -1.371779, -0.235437, -2.883262, -0.226717, 1.528300, 0.471008]  # t=55\nAPPROACH_059_JOINTS = [-0.087536, -1.348338, -0.255351, -2.952001, -0.233525, 1.613946, 0.550598]  # t=59\nAPPROACH_060_JOINTS = [-0.089841, -1.339901, -0.256034, -2.969337, -0.232067, 1.640818, 0.573619]  # t=60\nAPPROACH_065_JOINTS = [-0.093964, -1.284443, -0.238383, -3.043851, -0.213148, 1.789776, 0.690677]  # t=65\nAPPROACH_070_JOINTS = [-0.099419, -1.210171, -0.224579, -3.072060, -0.208152, 1.899279, 0.775356]  # t=70\nAPPROACH_075_JOINTS = [-0.102890, -1.135110, -0.215296, -3.070493, -0.199551, 1.967337, 0.826773]  # t=75\nAPPROACH_080_JOINTS = [-0.104188, -1.062998, -0.206956, -3.071085, -0.191903, 2.041904, 0.867712]  # t=80\nAPPROACH_085_JOINTS = [-0.102516, -0.986823, -0.193926, -3.055414, -0.179072, 2.105508, 0.915862]  # t=85\nAPPROACH_087_JOINTS = [-0.101943, -0.956360, -0.190968, -3.049969, -0.176005, 2.130202, 0.927418]  # t=87\nAPPROACH_090_JOINTS = [-0.099978, -0.900002, -0.187914, -3.050177, -0.172593, 2.192446, 0.944501]  # t=90\nAPPROACH_095_JOINTS = [-0.106372, -0.834433, -0.194427, -3.035876, -0.179382, 2.229633, 0.959980]  # t=95\nAPPROACH_100_JOINTS = [-0.112862, -0.808925, -0.201442, -3.025501, -0.181916, 2.234132, 0.962816]  # t=100\nAPPROACH_105_JOINTS = [-0.118859, -0.826066, -0.202765, -3.024946, -0.182599, 2.204347, 0.969097]  # t=105\nAPPROACH_110_JOINTS = [-0.126577, -0.859780, -0.204665, -3.033654, -0.186381, 2.168337, 0.984750]  # t=110\nAPPROACH_112_JOINTS = [-0.129668, -0.873557, -0.206197, -3.041398, -0.188804, 2.164593, 0.991593]  # t=112\nAPPROACH_115_JOINTS = [-0.133065, -0.875934, -0.209929, -3.061207, -0.194850, 2.189394, 1.002681]  # t=115\nAPPROACH_117_JOINTS = [-0.133931, -0.873284, -0.210520, -3.072399, -0.196326, 2.206770, 1.010272]  # t=117\nAPPROACH_120_JOINTS = [-0.132884, -0.858355, -0.210217, -3.071844, -0.195780, 2.221078, 1.014764]  # t=120\nAPPROACH_122_JOINTS = [-0.132811, -0.848152, -0.210463, -3.070998, -0.195512, 2.227833, 1.015630]  # t=122\nAPPROACH_125_JOINTS = [-0.132568, -0.841914, -0.209527, -3.066547, -0.193559, 2.226578, 1.016327]  # t=125\nAPPROACH_130_JOINTS = [-0.132636, -0.838801, -0.209098, -3.063917, -0.192454, 2.225623, 1.020053]  # t=130\nAPPROACH_135_JOINTS = [-0.130422, -0.840073, -0.203764, -3.064805, -0.186376, 2.224971, 1.031473]  # t=135\nAPPROACH_137_JOINTS = [-0.130277, -0.840225, -0.202060, -3.064912, -0.185506, 2.224904, 1.036976]  # t=137\nPRESS_139_JOINTS = [-0.130061, -0.840081, -0.201122, -3.065031, -0.184681, 2.225385, 1.039462]  # t=139\nPRESS_141_JOINTS = [-0.130053, -0.839759, -0.200992, -3.065035, -0.184587, 2.225775, 1.039567]  # t=141\nPRESS_143_JOINTS = [-0.130048, -0.839295, -0.200989, -3.065047, -0.184561, 2.226362, 1.039563]  # t=143\nPRESS_145_JOINTS = [-0.130048, -0.838541, -0.200990, -3.065068, -0.184546, 2.227305, 1.039558]  # t=145\nPRESS_147_JOINTS = [-0.130055, -0.837761, -0.200968, -3.065048, -0.184482, 2.228180, 1.040017]  # t=147\nPRESS_149_JOINTS = [-0.130446, -0.837193, -0.200483, -3.065016, -0.184067, 2.228709, 1.047797]  # t=149\nPRESS_151_JOINTS = [-0.131624, -0.836836, -0.198778, -3.065009, -0.182727, 2.228905, 1.070443]  # t=151\nPRESS_153_JOINTS = [-0.133600, -0.836624, -0.195692, -3.065123, -0.180378, 2.229082, 1.108384]  # t=153\nPRESS_155_JOINTS = [-0.136155, -0.836547, -0.191335, -3.065462, -0.177321, 2.229569, 1.157918]  # t=155\nPRESS_157_JOINTS = [-0.139044, -0.836552, -0.186044, -3.065972, -0.173903, 2.230373, 1.214063]  # t=157\nPRESS_159_JOINTS = [-0.142111, -0.836567, -0.180062, -3.066597, -0.170345, 2.231488, 1.273531]  # t=159\nPRESS_161_JOINTS = [-0.145356, -0.836535, -0.173696, -3.067271, -0.166659, 2.232831, 1.335078]  # t=161\nPRESS_163_JOINTS = [-0.148624, -0.836170, -0.166725, -3.068016, -0.162780, 2.234941, 1.398620]  # t=163\nPRESS_165_JOINTS = [-0.151517, -0.834681, -0.158967, -3.068482, -0.158532, 2.238343, 1.461908]  # t=165\nPRESS_167_JOINTS = [-0.154447, -0.832587, -0.150957, -3.068449, -0.154204, 2.241315, 1.525484]  # t=167\nPRESS_168_JOINTS = [-0.156359, -0.832383, -0.147531, -3.068651, -0.152552, 2.241901, 1.557023]  # t=168\nPRESS_169_JOINTS = [-0.158835, -0.833642, -0.144887, -3.069389, -0.151588, 2.241318, 1.588074]  # t=169\nPRESS_171_JOINTS = [-0.164893, -0.839440, -0.141173, -3.072212, -0.150833, 2.238034, 1.649152]  # t=171\nPRESS_172_JOINTS = [-0.167824, -0.841010, -0.140205, -3.072067, -0.149400, 2.233466, 1.678949]  # t=172\nPRESS_173_JOINTS = [-0.170848, -0.843058, -0.139623, -3.072017, -0.147872, 2.228104, 1.708571]  # t=173\nPRESS_175_JOINTS = [-0.177186, -0.848675, -0.139467, -3.072053, -0.144439, 2.214392, 1.767891]  # t=175\nPRESS_177_JOINTS = [-0.183121, -0.854515, -0.139030, -3.072056, -0.139563, 2.200044, 1.828845]  # t=177\nPRESS_179_JOINTS = [-0.187214, -0.857429, -0.135709, -3.071959, -0.132900, 2.192100, 1.892014]  # t=179\nPRESS_181_JOINTS = [-0.189749, -0.856836, -0.128599, -3.071840, -0.125813, 2.192017, 1.957933]  # t=181\nPRESS_183_JOINTS = [-0.192077, -0.855190, -0.120085, -3.071730, -0.119115, 2.194383, 2.025106]  # t=183\nPRESS_185_JOINTS = [-0.194609, -0.853334, -0.111513, -3.071521, -0.112699, 2.196970, 2.091750]  # t=185\nPRESS_187_JOINTS = [-0.197385, -0.851439, -0.102050, -3.071403, -0.107000, 2.200038, 2.160852]  # t=187\nPRESS_189_JOINTS = [-0.200281, -0.850007, -0.090922, -3.071884, -0.103111, 2.204498, 2.232108]  # t=189\nPRESS_191_JOINTS = [-0.203393, -0.847532, -0.077276, -3.071603, -0.101522, 2.207569, 2.309175]  # t=191\nPRESS_193_JOINTS = [-0.206681, -0.840433, -0.059718, -3.068956, -0.101937, 2.211524, 2.396915]  # t=193\nPRESS_195_JOINTS = [-0.210310, -0.832482, -0.044001, -3.064904, -0.101064, 2.212101, 2.483385]  # t=195\nPRESS_197_JOINTS = [-0.214541, -0.823325, -0.031480, -3.059857, -0.099538, 2.212197, 2.566593]  # t=197\nPRESS_199_JOINTS = [-0.219006, -0.811076, -0.021011, -3.052940, -0.097402, 2.212688, 2.648421]  # t=199\nPRESS_201_JOINTS = [-0.223633, -0.798632, -0.013104, -3.045453, -0.093721, 2.211921, 2.728572]  # t=201\nPRESS_203_JOINTS = [-0.227618, -0.795346, -0.006523, -3.042489, -0.087027, 2.206879, 2.806775]  # t=203\nPRESS_205_JOINTS = [-0.231125, -0.797590, -0.000709, -3.043157, -0.078422, 2.203333, 2.884055]  # t=205\nPRESS_206_JOINTS = [-0.234139, -0.799207, 0.000976, -3.044133, -0.072246, 2.203856, 2.901613]  # t=206\nPRESS_207_JOINTS = [-0.240770, -0.801849, 0.003075, -3.046205, -0.061669, 2.207315, 2.898382]  # t=207\nPRESS_209_JOINTS = [-0.258748, -0.809352, 0.012702, -3.051925, -0.033231, 2.215245, 2.897703]  # t=209\nPRESS_211_JOINTS = [-0.279329, -0.818590, 0.025852, -3.058968, -0.000425, 2.224260, 2.897705]  # t=211\nPRESS_213_JOINTS = [-0.300612, -0.827219, 0.040100, -3.065890, 0.033387, 2.234257, 2.897707]  # t=213\nPRESS_215_JOINTS = [-0.321826, -0.833663, 0.054736, -3.071622, 0.066061, 2.244588, 2.897712]  # t=215\nPRESS_217_JOINTS = [-0.343397, -0.831958, 0.070743, -3.071790, 0.094180, 2.251801, 2.897718]  # t=217\nPRESS_219_JOINTS = [-0.364203, -0.829393, 0.086862, -3.071227, 0.119702, 2.258029, 2.897722]  # t=219\nPRESS_221_JOINTS = [-0.382915, -0.827749, 0.101163, -3.071062, 0.142743, 2.263529, 2.897725]  # t=221\nPRESS_223_JOINTS = [-0.399655, -0.826840, 0.113176, -3.071394, 0.163465, 2.269056, 2.897728]  # t=223\nPRESS_225_JOINTS = [-0.414903, -0.825419, 0.122312, -3.071869, 0.182273, 2.276061, 2.897729]  # t=225\nPRESS_227_JOINTS = [-0.428879, -0.822092, 0.129142, -3.071828, 0.199053, 2.284926, 2.897728]  # t=227\nPRESS_228_JOINTS = [-0.435066, -0.820942, 0.133060, -3.071853, 0.207336, 2.288040, 2.897725]  # t=228\nPRESS_229_JOINTS = [-0.440943, -0.820159, 0.137416, -3.071863, 0.215267, 2.290222, 2.897724]  # t=229\nPRESS_231_JOINTS = [-0.452191, -0.819595, 0.146697, -3.071891, 0.229520, 2.292833, 2.897730]  # t=231\nPRESS_233_JOINTS = [-0.463001, -0.819763, 0.155782, -3.071921, 0.242597, 2.294066, 2.897733]  # t=233\nPRESS_235_JOINTS = [-0.472227, -0.822888, 0.168771, -3.072064, 0.257852, 2.288583, 2.897726]  # t=235\nPRESS_237_JOINTS = [-0.481484, -0.828616, 0.187117, -3.072124, 0.274752, 2.277920, 2.897724]  # t=237\nPRESS_239_JOINTS = [-0.491147, -0.834668, 0.205489, -3.072152, 0.293112, 2.266816, 2.897720]  # t=239\nPRESS_241_JOINTS = [-0.500994, -0.840864, 0.223908, -3.072133, 0.311396, 2.256022, 2.897725]  # t=241\nPRESS_243_JOINTS = [-0.512636, -0.845930, 0.241910, -3.072110, 0.329305, 2.248939, 2.897723]  # t=243\nPRESS_245_JOINTS = [-0.525696, -0.848992, 0.256630, -3.072083, 0.347407, 2.246176, 2.897721]  # t=245\nPRESS_247_JOINTS = [-0.538929, -0.849567, 0.266215, -3.072043, 0.364221, 2.247812, 2.897722]  # t=247\nPRESS_249_JOINTS = [-0.552080, -0.847370, 0.270245, -3.072021, 0.379861, 2.253709, 2.897723]  # t=249\nPRESS_251_JOINTS = [-0.564992, -0.844771, 0.272821, -3.072051, 0.396610, 2.258971, 2.897722]  # t=251\nPRESS_253_JOINTS = [-0.578336, -0.843611, 0.278814, -3.072118, 0.413074, 2.262751, 2.897720]  # t=253\nPRESS_254_JOINTS = [-0.584899, -0.844260, 0.284011, -3.072149, 0.421739, 2.262539, 2.897717]  # t=254\nPRESS_255_JOINTS = [-0.591134, -0.845778, 0.290314, -3.072167, 0.431014, 2.260355, 2.897711]  # t=255\nPRESS_256_JOINTS = [-0.596734, -0.848593, 0.298534, -3.072198, 0.439909, 2.256301, 2.897705]  # t=256\nPRESS_257_JOINTS = [-0.601945, -0.852347, 0.307952, -3.072229, 0.448796, 2.250719, 2.897705]  # t=257\nPRESS_259_JOINTS = [-0.612122, -0.860748, 0.328018, -3.072247, 0.466237, 2.238546, 2.897709]  # t=259\nPRESS_261_JOINTS = [-0.622576, -0.868055, 0.346300, -3.072242, 0.482808, 2.228829, 2.897703]  # t=261\nPRESS_263_JOINTS = [-0.633298, -0.872633, 0.359649, -3.072233, 0.498375, 2.223451, 2.897686]  # t=263\nPRESS_264_JOINTS = [-0.638699, -0.873634, 0.363899, -3.072211, 0.506119, 2.221999, 2.897676]  # t=264\nPRESS_265_JOINTS = [-0.644130, -0.873602, 0.366608, -3.072209, 0.513916, 2.222174, 2.897659]  # t=265\nPRESS_267_JOINTS = [-0.655181, -0.870441, 0.368508, -3.072207, 0.528844, 2.228212, 2.897631]  # t=267\nPRESS_269_JOINTS = [-0.666141, -0.865021, 0.367993, -3.072218, 0.541318, 2.239101, 2.897619]  # t=269\nPRESS_271_JOINTS = [-0.677369, -0.857863, 0.365590, -3.072226, 0.551796, 2.253687, 2.897613]  # t=271\nPRESS_273_JOINTS = [-0.688683, -0.850211, 0.362480, -3.072209, 0.560867, 2.269177, 2.897630]  # t=273\nPRESS_274_JOINTS = [-0.692954, -0.848772, 0.362172, -3.072219, 0.567141, 2.270321, 2.897639]  # t=274\nPRESS_275_JOINTS = [-0.697065, -0.848591, 0.363554, -3.072251, 0.572810, 2.270198, 2.897636]  # t=275\nPRESS_277_JOINTS = [-0.705347, -0.849815, 0.369245, -3.072276, 0.582577, 2.269183, 2.897632]  # t=277\nPRESS_279_JOINTS = [-0.713143, -0.851957, 0.376035, -3.072293, 0.591318, 2.267258, 2.897626]  # t=279\nPRESS_281_JOINTS = [-0.719778, -0.854189, 0.382117, -3.072299, 0.598639, 2.264979, 2.897621]  # t=281\nPRESS_283_JOINTS = [-0.725665, -0.856573, 0.387647, -3.072288, 0.605007, 2.262095, 2.897622]  # t=283\nPRESS_285_JOINTS = [-0.731830, -0.859282, 0.393620, -3.072274, 0.611383, 2.258835, 2.897620]  # t=285\nPRESS_287_JOINTS = [-0.738518, -0.862702, 0.400883, -3.072265, 0.617985, 2.255042, 2.897622]  # t=287\nPRESS_289_JOINTS = [-0.745594, -0.866769, 0.409294, -3.072261, 0.624818, 2.250795, 2.897626]  # t=289\nPRESS_291_JOINTS = [-0.752678, -0.871073, 0.418000, -3.072256, 0.631543, 2.246430, 2.897631]  # t=291\nPRESS_293_JOINTS = [-0.759489, -0.875572, 0.426776, -3.072253, 0.637817, 2.241998, 2.897652]  # t=293\nPRESS_295_JOINTS = [-0.765602, -0.879538, 0.434359, -3.072258, 0.644154, 2.237623, 2.897644]  # t=295\nPRESS_297_JOINTS = [-0.770386, -0.882153, 0.439298, -3.072268, 0.649571, 2.234335, 2.897646]  # t=297\nPRESS_299_JOINTS = [-0.773921, -0.883716, 0.441851, -3.072287, 0.653590, 2.231986, 2.897650]  # t=299\nAPPROACH_000_JOINTS = [-0.028088, -1.038286, -0.016562, -2.246353, 0.012992, 1.483404, 0.726344]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_009_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, 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_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_122_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_137_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_139_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_141_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_143_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_145_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_147_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_149_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_151_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_153_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_155_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_157_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_159_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_163_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_165_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_167_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_168_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_171_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_172_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_173_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_175_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_177_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_179_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_181_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_183_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_185_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_187_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_189_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_191_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_193_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_195_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_197_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_199_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_201_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_203_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_205_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_206_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_207_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_209_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_213_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_215_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_228_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_229_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_251_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_254_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_255_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_256_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_257_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_261_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_263_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_264_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_265_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_267_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_269_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_271_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_273_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_274_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_275_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_277_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_279_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_281_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_283_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_285_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_287_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_289_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_291_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_293_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_295_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_297_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_299_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 28270, "code_num_lines": 306, "code_num_nonblank_lines": 297, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 132, "pretrain_task_id": 56, "retained_waypoint_count": 132, "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": 501800, "video_relpath": "videos/raw_extracted/56_TurnOffStove.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnBlender\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_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': 'TurnOnBlender',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 55,\n    'stable_release_contact_loss_t': 55,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=2.231571, y=-1.879330, z=1.154389, qw=0.755673, qx=0.019372, qy=-0.048939, qz=0.652830)\nGOAL_RECEPTACLE_POSE = pose(x=2.232378, y=-1.879197, z=1.154787, qw=0.769049, qx=0.038234, qy=-0.025274, qz=0.637545)\n\nAPPROACH_003_JOINTS = [-0.005378, -1.061565, -0.011311, -2.267854, 0.062931, 1.489900, 0.668617]  # t=3\nAPPROACH_004_JOINTS = [-0.005427, -1.066685, -0.009907, -2.271790, 0.063962, 1.481886, 0.669407]  # t=4\nAPPROACH_006_JOINTS = [-0.005613, -1.085195, -0.006402, -2.294138, 0.066182, 1.468545, 0.671387]  # t=6\nAPPROACH_009_JOINTS = [-0.005797, -1.130642, 0.000392, -2.353743, 0.071727, 1.464822, 0.674037]  # t=9\nAPPROACH_012_JOINTS = [-0.004517, -1.187525, 0.024616, -2.432792, 0.084810, 1.476455, 0.684850]  # t=12\nAPPROACH_015_JOINTS = [-0.002014, -1.247269, 0.052854, -2.517869, 0.102109, 1.501544, 0.698741]  # t=15\nAPPROACH_016_JOINTS = [-0.001254, -1.265487, 0.058984, -2.544471, 0.106521, 1.512677, 0.701914]  # t=16\nAPPROACH_018_JOINTS = [-0.000115, -1.297791, 0.064828, -2.595451, 0.110237, 1.536430, 0.703693]  # t=18\nAPPROACH_020_JOINTS = [0.001393, -1.326516, 0.068025, -2.646759, 0.113063, 1.560264, 0.703263]  # t=20\nAPPROACH_021_JOINTS = [0.002342, -1.340278, 0.069561, -2.673130, 0.114578, 1.572321, 0.702922]  # t=21\nAPPROACH_024_JOINTS = [0.005798, -1.380000, 0.074357, -2.752209, 0.119581, 1.607112, 0.702050]  # t=24\nAPPROACH_027_JOINTS = [0.009959, -1.416724, 0.079599, -2.828349, 0.125237, 1.640844, 0.701291]  # t=27\nAPPROACH_028_JOINTS = [0.011525, -1.428860, 0.081397, -2.852276, 0.127211, 1.652314, 0.700656]  # t=28\nAPPROACH_030_JOINTS = [0.014888, -1.452556, 0.084838, -2.897394, 0.131205, 1.675157, 0.698485]  # t=30\nAPPROACH_033_JOINTS = [0.019877, -1.480407, 0.089383, -2.956769, 0.136828, 1.716987, 0.694252]  # t=33\nAPPROACH_036_JOINTS = [0.024534, -1.491482, 0.093499, -3.008732, 0.142528, 1.772600, 0.688014]  # t=36\nAPPROACH_039_JOINTS = [0.028837, -1.486933, 0.097050, -3.052530, 0.148059, 1.835169, 0.681156]  # t=39\nAPPROACH_041_JOINTS = [0.032042, -1.475871, 0.100071, -3.073126, 0.153180, 1.877019, 0.677249]  # t=41\nAPPROACH_042_JOINTS = [0.033591, -1.464096, 0.102480, -3.072288, 0.156024, 1.893506, 0.676527]  # t=42\nAPPROACH_045_JOINTS = [0.038370, -1.421366, 0.114189, -3.059297, 0.164665, 1.927777, 0.686216]  # t=45\nAPPROACH_046_JOINTS = [0.040086, -1.406285, 0.118684, -3.054734, 0.167907, 1.939862, 0.689561]  # t=46\nAPPROACH_048_JOINTS = [0.044371, -1.374769, 0.129125, -3.048160, 0.177203, 1.968805, 0.694160]  # t=48\nAPPROACH_051_JOINTS = [0.051601, -1.326595, 0.147649, -3.037799, 0.193298, 2.008814, 0.702268]  # t=51\nAPPROACH_054_JOINTS = [0.055035, -1.280849, 0.160175, -3.035009, 0.200047, 2.054324, 0.707227]  # t=54\nAPPROACH_055_JOINTS = [0.055115, -1.270689, 0.162343, -3.034922, 0.200028, 2.066910, 0.712906]  # t=55\nPRESS_056_JOINTS = [0.055093, -1.268033, 0.165321, -3.034465, 0.199760, 2.070953, 0.726565]  # t=56\nPRESS_057_JOINTS = [0.055374, -1.268057, 0.168870, -3.036507, 0.200098, 2.078986, 0.738695]  # t=57\nPRESS_059_JOINTS = [0.057153, -1.275793, 0.177886, -3.047407, 0.202092, 2.105450, 0.763119]  # t=59\nPRESS_061_JOINTS = [0.060587, -1.291025, 0.189086, -3.065030, 0.204938, 2.141974, 0.788123]  # t=61\nPRESS_062_JOINTS = [0.062802, -1.298743, 0.195409, -3.073214, 0.207093, 2.158341, 0.801342]  # t=62\nPRESS_063_JOINTS = [0.063101, -1.296759, 0.200863, -3.072374, 0.208200, 2.160545, 0.812684]  # t=63\nPRESS_065_JOINTS = [0.060862, -1.292363, 0.209638, -3.071100, 0.207956, 2.164778, 0.830128]  # t=65\nPRESS_067_JOINTS = [0.058120, -1.291260, 0.218178, -3.071274, 0.209500, 2.168830, 0.843641]  # t=67\nPRESS_069_JOINTS = [0.054745, -1.291475, 0.225757, -3.071908, 0.211840, 2.172660, 0.854072]  # t=69\nPRESS_071_JOINTS = [0.050916, -1.291464, 0.233412, -3.071845, 0.215094, 2.175048, 0.862718]  # t=71\nPRESS_072_JOINTS = [0.049088, -1.293388, 0.236456, -3.071920, 0.216712, 2.174174, 0.864519]  # t=72\nPRESS_073_JOINTS = [0.047536, -1.298554, 0.238715, -3.071959, 0.217578, 2.171017, 0.865031]  # t=73\nPRESS_074_JOINTS = [0.046690, -1.308619, 0.240682, -3.071870, 0.217709, 2.168323, 0.865254]  # t=74\nPRESS_075_JOINTS = [0.046750, -1.323205, 0.242321, -3.071955, 0.217469, 2.168492, 0.866221]  # t=75\nPRESS_077_JOINTS = [0.049139, -1.360880, 0.243222, -3.071955, 0.215021, 2.171323, 0.869974]  # t=77\nRETREAT_078_JOINTS = [0.051797, -1.384840, 0.242053, -3.071747, 0.212312, 2.172247, 0.870882]  # t=78\nRETREAT_079_JOINTS = [0.055368, -1.412599, 0.239682, -3.070604, 0.208310, 2.171745, 0.869818]  # t=79\nRETREAT_080_JOINTS = [0.059574, -1.442870, 0.236546, -3.069964, 0.203799, 2.169734, 0.868118]  # t=80\nRETREAT_081_JOINTS = [0.064300, -1.473984, 0.233412, -3.071127, 0.199695, 2.168126, 0.866175]  # t=81\nRETREAT_082_JOINTS = [0.069229, -1.503845, 0.230711, -3.072198, 0.196277, 2.166831, 0.864233]  # t=82\nRETREAT_083_JOINTS = [0.073733, -1.529919, 0.228446, -3.071989, 0.193122, 2.165226, 0.862717]  # t=83\nRETREAT_084_JOINTS = [0.077796, -1.552208, 0.226163, -3.071922, 0.190414, 2.163238, 0.860816]  # t=84\nRETREAT_085_JOINTS = [0.081523, -1.571998, 0.223483, -3.071875, 0.188034, 2.157008, 0.858531]  # t=85\nRETREAT_086_JOINTS = [0.085033, -1.589937, 0.220525, -3.071857, 0.186156, 2.144833, 0.856310]  # t=86\nRETREAT_087_JOINTS = [0.088447, -1.607252, 0.217274, -3.071463, 0.184682, 2.128392, 0.853635]  # t=87\nRETREAT_088_JOINTS = [0.091839, -1.625324, 0.213832, -3.070562, 0.183392, 2.108788, 0.850558]  # t=88\nRETREAT_089_JOINTS = [0.095097, -1.643917, 0.210513, -3.069500, 0.182277, 2.088262, 0.847575]  # t=89\nRETREAT_090_JOINTS = [0.098108, -1.662533, 0.207435, -3.068453, 0.181297, 2.067511, 0.844968]  # t=90\nRETREAT_091_JOINTS = [0.100861, -1.680521, 0.204668, -3.067757, 0.180713, 2.047551, 0.842496]  # t=91\nRETREAT_092_JOINTS = [0.103365, -1.698093, 0.202045, -3.066816, 0.180351, 2.026335, 0.840103]  # t=92\nRETREAT_093_JOINTS = [0.105585, -1.715470, 0.199513, -3.065108, 0.180032, 2.003681, 0.838002]  # t=93\nAPPROACH_000_JOINTS = [-0.005308, -1.059120, -0.012926, -2.267104, 0.061406, 1.498196, 0.667923]  # 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_006_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_046_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_062_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_072_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_086_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_087_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_088_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_093_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": 13589, "code_num_lines": 160, "code_num_nonblank_lines": 150, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":{\"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}},\"initial_state\":[0.5000000000000003,11.840106683467502,7.421366840640553,1.872063526182508e-07,2.337383024646519e-08,-0.005175534253400171,-1.0592145812762808,-0.012924678450856122,-2.2670684173197215,0.06140833518920846,1.498604146544108,0.6679273605042977,0.020558412281757078,-0.02050814650607587,-6.646286992846939e-05,6.407137390546334e-08,-1.0260384562630386e-09,-6.6709581886694e-09,4.994696220174622e-08,7.241181584277886e-08,1.574398164418436e-08,0.0,0.0,0.0,0.0,0.0,-6.029835615415561e-08,1.050000751184541e-08,-3.5755617221318155e-10,7.014721627792326e-09,0.0,0.0,-5.864277270923091e-14,0.0,-0.006745586158677092,5.371869900939297e-09,-0.00039215578447463986,-0.0067455854294092375,8.65852788411584e-09,-0.0003107449101259501,-2.29901631355342e-09,2.5388641146418675e-09,-2.6313121162044115e-10,-2.6313121162044115e-10,6.282882889646897e-10,-5.295116730988742e-10,2.163774651379493e-08,-2.5956635648826513e-10,-4.878736870802829e-10,-1.9965419439735767e-08,-1.1623624982163553e-09,5.221586696509778e-10,-1.4623990254995683e-08,-2.5534218914918695e-10,-2.5534218914918695e-10,-2.537535061507663e-10,0.0,0.0,0.0,0.0,0.0,0.0,-2.593007629985419e-10,0.0,0.0,0.0,0.0,-5.856998751760411e-09,7.306698967207148e-10,7.310615286541127e-10,2.4775641814945515e-09,4.833297196320229e-08,-1.5402027798283375e-10,3.392540624516696e-08,6.617372549350893e-08,8.185333972182258e-10,5.98361402277034e-09,0.0,9.027571758310596e-09,7.111620840312801e-10,2.0289808869053183e-08,0.0,-2.187684073604907e-08,1.4253676903100416e-06,0.0,4.4002477066673383e-10,-9.47314413055699e-09,6.689644502430682e-09,-2.3202526956525676e-09,1.7091338746817653e-08,-4.07359857988166e-05,-0.0018617934889393962,-0.0018617934889393955,0.0,0.0,1.1916274150578389e-08,-2.536370717252003e-10,-2.536370717252003e-10,-2.52292428372285e-10,-1.32917297065556e-10,0.004576110142104043,-8.137778086690166e-05,2.228394095373698,-1.8504235718459845,1.3571874744004508,0.70283844930295,-0.004668848901251119,0.0052554646528934655,0.7113147658545024,2.231570876321079,-1.879329704101831,1.1543892712399595,0.7556734050114817,0.019371779505201962,-0.04893853456881426,0.652830344692564,-6.299848805451709e-07,-1.9128643790228452e-07,-2.6563079349554003e-06,3.049153486721461e-07,-9.335639071562569e-06,4.413727050130461e-06,-0.0006128213600509538,0.0010749582798526924,-0.0007865016709919671,-0.0009898931192126458,-9.939256093912353e-05,-0.00045719697083639255,0.0004788525627401226,-7.302882870690315e-07,1.3037371562761817e-07,-1.8531818704734875e-11,-1.2048767687676843e-10,1.0163308261817756e-07,1.4734500895319506e-07,3.2036168629301094e-08,0.0,0.0,0.0,0.0,0.0,8.9400012548626e-09,-3.951561208247849e-09,-5.280124288114377e-12,-2.865711770853709e-09,0.0,0.0,-1.3218011753939414e-15,0.0,-4.992150675360661e-07,1.0930788611292427e-08,-1.1771632853295873e-07,-4.992150176812243e-07,1.7618546309407912e-08,-6.069715710690827e-15,1.747219537105433e-09,-1.6174757894880525e-09,-1.2516710308929571e-11,-1.2516710308929571e-11,3.952113000479069e-11,8.366942056329817e-12,-4.87660546143413e-09,-1.0933479145371375e-11,-3.0759336896841773e-11,1.0854790192247607e-08,1.5233963829395686e-09,9.92347372991127e-11,-1.8340916995006953e-07,-1.001890773982285e-11,-1.001890773982285e-11,-9.552988554474787e-12,0.0,0.0,0.0,0.0,0.0,0.0,-1.1243556034115472e-11,0.0,0.0,0.0,0.0,-1.0579824560916812e-10,9.764558947068154e-12,-5.2600382743787273e-11,3.13749084476068e-07,3.734287514978923e-07,-1.7597961802052068e-07,-6.1092827554840365e-09,3.3133693870803676e-07,-8.276998795440374e-08,9.201721738197905e-08,-5.312566963120055e-07,1.8369484039539266e-08,1.4470868694462842e-09,4.128610980033188e-08,0.0,-4.4515631415231424e-08,2.900379585661471e-06,0.0,1.6587432857203842e-11,-2.0617703666662912e-07,-2.604613397216656e-09,1.3824290076503729e-09,-4.896855720937846e-09,-6.331139261703945e-06,7.120636804631138e-07,7.12063680131163e-07,0.0,0.0,1.5447132861167622e-07,-9.519715486419134e-12,-9.519715486419134e-12,-9.137614861470985e-12,-1.2766725296982124e-16,0.010995347876713978,-1.6006669874408482e-06,-4.0747549674075836e-05,5.473509060290909e-06,7.830348225937816e-05,-0.0029654604010221405,-0.0010359004351033398,0.0006203652752643581,6.017620060987627e-05,9.352543383428884e-05,0.0002891894690027388,-0.0026561339890116163,-0.0006178676347380503,-0.002692758497449699],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 57, "pretrain_task_id": 57, "retained_waypoint_count": 57, "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": 138441, "video_relpath": "videos/raw_extracted/57_TurnOnBlender.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnElectricKettle\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_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': 'TurnOnElectricKettle',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 89,\n    'stable_release_contact_loss_t': 89,\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_002_JOINTS = [-0.019777, -1.039842, -0.038106, -2.288964, 0.053154, 1.494928, 0.715918]  # t=2\nAPPROACH_005_JOINTS = [-0.021486, -1.075029, -0.046278, -2.290116, 0.044039, 1.435200, 0.715234]  # t=5\nAPPROACH_007_JOINTS = [-0.024396, -1.105983, -0.066566, -2.296961, 0.024496, 1.406716, 0.704327]  # t=7\nAPPROACH_008_JOINTS = [-0.026114, -1.118966, -0.081356, -2.301712, 0.011373, 1.399652, 0.693924]  # t=8\nAPPROACH_009_JOINTS = [-0.027793, -1.129686, -0.097697, -2.308327, -0.002432, 1.396654, 0.680995]  # t=9\nAPPROACH_010_JOINTS = [-0.029483, -1.138028, -0.115920, -2.315902, -0.017648, 1.397738, 0.665284]  # t=10\nAPPROACH_013_JOINTS = [-0.034651, -1.155192, -0.188868, -2.329384, -0.071353, 1.401608, 0.588993]  # t=13\nAPPROACH_015_JOINTS = [-0.036779, -1.159753, -0.249320, -2.332085, -0.103307, 1.407469, 0.511173]  # t=15\nAPPROACH_019_JOINTS = [-0.039269, -1.163047, -0.380587, -2.321791, -0.149569, 1.445362, 0.326891]  # t=19\nAPPROACH_020_JOINTS = [-0.040149, -1.165898, -0.415519, -2.319638, -0.157880, 1.455707, 0.277023]  # t=20\nAPPROACH_025_JOINTS = [-0.035848, -1.167285, -0.608205, -2.314792, -0.145687, 1.527278, 0.000493]  # t=25\nAPPROACH_026_JOINTS = [-0.032824, -1.167515, -0.645103, -2.316383, -0.129038, 1.537344, -0.062306]  # t=26\nAPPROACH_030_JOINTS = [-0.014162, -1.157205, -0.776293, -2.322352, -0.049101, 1.532114, -0.293288]  # t=30\nAPPROACH_032_JOINTS = [0.004254, -1.134578, -0.837078, -2.318411, -0.009464, 1.507202, -0.392603]  # t=32\nAPPROACH_035_JOINTS = [0.046245, -1.078102, -0.920297, -2.306909, 0.056801, 1.442397, -0.503603]  # t=35\nAPPROACH_038_JOINTS = [0.096263, -1.018235, -1.001231, -2.282140, 0.098694, 1.370259, -0.625558]  # t=38\nAPPROACH_040_JOINTS = [0.130973, -0.983081, -1.053462, -2.269001, 0.118051, 1.345845, -0.710057]  # t=40\nAPPROACH_041_JOINTS = [0.146226, -0.969575, -1.076457, -2.261104, 0.125987, 1.340177, -0.747088]  # t=41\nAPPROACH_043_JOINTS = [0.170103, -0.951767, -1.104420, -2.258189, 0.138805, 1.338658, -0.796563]  # t=43\nAPPROACH_045_JOINTS = [0.187333, -0.941781, -1.112347, -2.278091, 0.150046, 1.354614, -0.815034]  # t=45\nAPPROACH_048_JOINTS = [0.202438, -0.934316, -1.107724, -2.338786, 0.163180, 1.417428, -0.810924]  # t=48\nAPPROACH_050_JOINTS = [0.203520, -0.933591, -1.111665, -2.383868, 0.160572, 1.467504, -0.811003]  # t=50\nAPPROACH_051_JOINTS = [0.203085, -0.933075, -1.115713, -2.405344, 0.158367, 1.494983, -0.812894]  # t=51\nAPPROACH_055_JOINTS = [0.199687, -0.927090, -1.143062, -2.473101, 0.145602, 1.592197, -0.829275]  # t=55\nAPPROACH_060_JOINTS = [0.204644, -0.909954, -1.172865, -2.531152, 0.145157, 1.698391, -0.847475]  # t=60\nAPPROACH_065_JOINTS = [0.219449, -0.887410, -1.200846, -2.572495, 0.151152, 1.784051, -0.868675]  # t=65\nAPPROACH_070_JOINTS = [0.256684, -0.856388, -1.220875, -2.602796, 0.171852, 1.878151, -0.892943]  # t=70\nAPPROACH_073_JOINTS = [0.296931, -0.828377, -1.233667, -2.612453, 0.195867, 1.940428, -0.907589]  # t=73\nAPPROACH_075_JOINTS = [0.325552, -0.808282, -1.249843, -2.603174, 0.209547, 1.969113, -0.919906]  # t=75\nAPPROACH_079_JOINTS = [0.393315, -0.765897, -1.302705, -2.579791, 0.230218, 2.016074, -0.951390]  # t=79\nAPPROACH_080_JOINTS = [0.411669, -0.758154, -1.315774, -2.570335, 0.235645, 2.020058, -0.957450]  # t=80\nAPPROACH_082_JOINTS = [0.448600, -0.745388, -1.343781, -2.557936, 0.240940, 2.029516, -0.965869]  # t=82\nPRESS_083_JOINTS = [0.467534, -0.741055, -1.358937, -2.553155, 0.242452, 2.036483, -0.970181]  # t=83\nPRESS_084_JOINTS = [0.487547, -0.738016, -1.373994, -2.547450, 0.243818, 2.046744, -0.973080]  # t=84\nPRESS_085_JOINTS = [0.509793, -0.735772, -1.389613, -2.538917, 0.244771, 2.060635, -0.974162]  # t=85\nPRESS_086_JOINTS = [0.533720, -0.734462, -1.407133, -2.529303, 0.244384, 2.072920, -0.973164]  # t=86\nPRESS_087_JOINTS = [0.557896, -0.734697, -1.425402, -2.517633, 0.241885, 2.078353, -0.968057]  # t=87\nPRESS_088_JOINTS = [0.582011, -0.736724, -1.443995, -2.505418, 0.236871, 2.080189, -0.959648]  # t=88\nPRESS_089_JOINTS = [0.605019, -0.741326, -1.462246, -2.493186, 0.229106, 2.078353, -0.949469]  # t=89\nPRESS_090_JOINTS = [0.622494, -0.749843, -1.482512, -2.481626, 0.215808, 2.068558, -0.944044]  # t=90\nPRESS_091_JOINTS = [0.632092, -0.764119, -1.506295, -2.471313, 0.198258, 2.054955, -0.951500]  # t=91\nPRESS_092_JOINTS = [0.634958, -0.785859, -1.529636, -2.464977, 0.181890, 2.045481, -0.975136]  # t=92\nPRESS_093_JOINTS = [0.631799, -0.814603, -1.547354, -2.463942, 0.170422, 2.042395, -1.009674]  # t=93\nPRESS_094_JOINTS = [0.622116, -0.847977, -1.559565, -2.469134, 0.161994, 2.046406, -1.050117]  # t=94\nRETREAT_095_JOINTS = [0.605640, -0.883080, -1.567723, -2.480895, 0.153098, 2.055434, -1.092213]  # t=95\nRETREAT_096_JOINTS = [0.582384, -0.915698, -1.589130, -2.499527, 0.132679, 2.069018, -1.139393]  # t=96\nRETREAT_097_JOINTS = [0.552530, -0.947835, -1.606564, -2.513766, 0.114303, 2.068411, -1.177345]  # t=97\nRETREAT_098_JOINTS = [0.518161, -0.976805, -1.610391, -2.520324, 0.098170, 2.053021, -1.192828]  # t=98\nRETREAT_099_JOINTS = [0.485249, -1.002755, -1.596537, -2.522939, 0.086900, 2.038637, -1.184989]  # t=99\nRETREAT_100_JOINTS = [0.454415, -1.025822, -1.569430, -2.525881, 0.078713, 2.023338, -1.161940]  # t=100\nRETREAT_101_JOINTS = [0.426067, -1.044923, -1.536051, -2.530196, 0.070605, 2.010404, -1.127669]  # t=101\nRETREAT_102_JOINTS = [0.400193, -1.060438, -1.498657, -2.534840, 0.062970, 2.000081, -1.086397]  # t=102\nRETREAT_103_JOINTS = [0.375577, -1.072568, -1.459086, -2.538584, 0.055850, 1.988482, -1.040122]  # t=103\nRETREAT_104_JOINTS = [0.352494, -1.082126, -1.418028, -2.541073, 0.050681, 1.975858, -0.992100]  # t=104\nAPPROACH_000_JOINTS = [-0.019734, -1.036441, -0.037933, -2.289733, 0.053327, 1.501895, 0.715914]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=3, 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_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_038_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_043_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=2, 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_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_073_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, 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_089_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_090_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_093_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_094_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_095_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_096_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_098_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_099_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_100_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_103_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_104_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": 13409, "code_num_lines": 156, "code_num_nonblank_lines": 146, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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": false, "motion_primitive_count": 55, "pretrain_task_id": 58, "retained_waypoint_count": 55, "sim_aggregate_success": true, "sim_saved_summary_success": false, "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": "Press down the lever to turn on the electric kettle.", "task_name": "TurnOnElectricKettle", "video_available": true, "video_bytes": 252101, "video_relpath": "videos/raw_extracted/58_TurnOnElectricKettle.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnMicrowave\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_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': 'TurnOnMicrowave',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 81,\n    'stable_release_contact_loss_t': 81,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=1.330252, y=-0.726002, z=1.194722, qw=0.973673, qx=-0.000035, qy=0.003808, qz=0.227917)\nGOAL_RECEPTACLE_POSE = pose(x=1.330108, y=-0.726906, z=1.175510, qw=0.954542, qx=-0.000098, qy=-0.000027, qz=0.298076)\n\nAPPROACH_001_JOINTS = [-0.006224, -1.023313, -0.069334, -2.283308, 0.036919, 1.558925, 0.675367]  # t=1\nAPPROACH_003_JOINTS = [-0.009519, -1.023917, -0.086871, -2.307856, 0.024945, 1.567439, 0.664972]  # t=3\nAPPROACH_004_JOINTS = [-0.012069, -1.032502, -0.101126, -2.323002, 0.016364, 1.583045, 0.652695]  # t=4\nAPPROACH_005_JOINTS = [-0.014916, -1.048491, -0.110689, -2.334956, 0.000916, 1.606525, 0.636731]  # t=5\nAPPROACH_007_JOINTS = [-0.020864, -1.105284, -0.097587, -2.359885, -0.049955, 1.657888, 0.609992]  # t=7\nAPPROACH_008_JOINTS = [-0.024272, -1.145014, -0.083041, -2.377748, -0.079334, 1.684664, 0.601480]  # t=8\nAPPROACH_009_JOINTS = [-0.027747, -1.189154, -0.067936, -2.400008, -0.108286, 1.711309, 0.594838]  # t=9\nAPPROACH_011_JOINTS = [-0.035738, -1.282324, -0.055083, -2.453492, -0.170327, 1.766539, 0.578160]  # t=11\nAPPROACH_012_JOINTS = [-0.040088, -1.329095, -0.059162, -2.482872, -0.204189, 1.795455, 0.564936]  # t=12\nAPPROACH_016_JOINTS = [-0.060105, -1.507417, -0.129691, -2.600647, -0.349675, 1.911373, 0.494235]  # t=16\nAPPROACH_017_JOINTS = [-0.066374, -1.547878, -0.159280, -2.626390, -0.385491, 1.937801, 0.478146]  # t=17\nAPPROACH_019_JOINTS = [-0.078553, -1.616986, -0.230035, -2.671809, -0.442562, 1.986342, 0.447767]  # t=19\nAPPROACH_020_JOINTS = [-0.084094, -1.637192, -0.268103, -2.693039, -0.469795, 2.013722, 0.432401]  # t=20\nAPPROACH_023_JOINTS = [-0.100226, -1.658183, -0.378874, -2.732048, -0.542113, 2.090216, 0.382181]  # t=23\nAPPROACH_024_JOINTS = [-0.105002, -1.658730, -0.413027, -2.737982, -0.557746, 2.113214, 0.361037]  # t=24\nAPPROACH_028_JOINTS = [-0.118733, -1.643799, -0.536381, -2.740768, -0.574489, 2.192672, 0.244689]  # t=28\nAPPROACH_030_JOINTS = [-0.121875, -1.632179, -0.588951, -2.734314, -0.555516, 2.225862, 0.169325]  # t=30\nAPPROACH_032_JOINTS = [-0.118737, -1.615515, -0.640594, -2.728489, -0.517793, 2.271284, 0.081946]  # t=32\nAPPROACH_036_JOINTS = [-0.101684, -1.599324, -0.752464, -2.717528, -0.381981, 2.362981, -0.149979]  # t=36\nAPPROACH_038_JOINTS = [-0.090911, -1.595255, -0.810093, -2.707999, -0.303229, 2.391747, -0.281515]  # t=38\nAPPROACH_040_JOINTS = [-0.081270, -1.588387, -0.867924, -2.695329, -0.230321, 2.404085, -0.408551]  # t=40\nAPPROACH_041_JOINTS = [-0.078105, -1.580728, -0.893138, -2.689160, -0.202641, 2.404563, -0.462665]  # t=41\nAPPROACH_044_JOINTS = [-0.063606, -1.541014, -0.950457, -2.676642, -0.138838, 2.405096, -0.602197]  # t=44\nAPPROACH_045_JOINTS = [-0.056925, -1.526302, -0.965634, -2.673477, -0.119224, 2.406032, -0.645717]  # t=45\nAPPROACH_048_JOINTS = [-0.029613, -1.481810, -0.996314, -2.667085, -0.056975, 2.411171, -0.764425]  # t=48\nAPPROACH_052_JOINTS = [0.013364, -1.426060, -1.007699, -2.643389, 0.024094, 2.405342, -0.887150]  # t=52\nAPPROACH_056_JOINTS = [0.051333, -1.371364, -1.015344, -2.616212, 0.080695, 2.400771, -0.974253]  # t=56\nAPPROACH_060_JOINTS = [0.074399, -1.327509, -1.023688, -2.600190, 0.112122, 2.409697, -1.035130]  # t=60\nAPPROACH_064_JOINTS = [0.107122, -1.280027, -1.030990, -2.601127, 0.136740, 2.459589, -1.087136]  # t=64\nAPPROACH_068_JOINTS = [0.144499, -1.238053, -1.042650, -2.605289, 0.159922, 2.515812, -1.135575]  # t=68\nAPPROACH_072_JOINTS = [0.195166, -1.193435, -1.052920, -2.606190, 0.181809, 2.585452, -1.179951]  # t=72\nPRESS_073_JOINTS = [0.202700, -1.189196, -1.053766, -2.602824, 0.185429, 2.594502, -1.190136]  # t=73\nPRESS_074_JOINTS = [0.203939, -1.189007, -1.054115, -2.602046, 0.184886, 2.595037, -1.198246]  # t=74\nPRESS_075_JOINTS = [0.203415, -1.189393, -1.053872, -2.602651, 0.182465, 2.595289, -1.204956]  # t=75\nPRESS_076_JOINTS = [0.202474, -1.189719, -1.053224, -2.603898, 0.179133, 2.596628, -1.210961]  # t=76\nPRESS_077_JOINTS = [0.201607, -1.189905, -1.052383, -2.605442, 0.175541, 2.599077, -1.216479]  # t=77\nPRESS_078_JOINTS = [0.200086, -1.190723, -1.051631, -2.607429, 0.171813, 2.600996, -1.221397]  # t=78\nPRESS_079_JOINTS = [0.197706, -1.192193, -1.050972, -2.609943, 0.167708, 2.602106, -1.225787]  # t=79\nPRESS_080_JOINTS = [0.196169, -1.192855, -1.050122, -2.612223, 0.163575, 2.604935, -1.229978]  # t=80\nPRESS_081_JOINTS = [0.193657, -1.194424, -1.049583, -2.614717, 0.159343, 2.606066, -1.233653]  # t=81\nPRESS_082_JOINTS = [0.182020, -1.202880, -1.051603, -2.617404, 0.152686, 2.596567, -1.234823]  # t=82\nPRESS_083_JOINTS = [0.157083, -1.222882, -1.054919, -2.620401, 0.142803, 2.571841, -1.235418]  # t=83\nPRESS_084_JOINTS = [0.126196, -1.247855, -1.059081, -2.623302, 0.131296, 2.542604, -1.236676]  # t=84\nPRESS_085_JOINTS = [0.095436, -1.273491, -1.064903, -2.625436, 0.121732, 2.515259, -1.239020]  # t=85\nRETREAT_087_JOINTS = [0.038057, -1.324908, -1.081710, -2.626953, 0.112028, 2.463045, -1.247384]  # t=87\nRETREAT_089_JOINTS = [-0.016570, -1.373537, -1.099864, -2.624540, 0.107519, 2.407635, -1.254307]  # t=89\nRETREAT_091_JOINTS = [-0.071115, -1.417986, -1.114756, -2.618791, 0.102427, 2.344391, -1.256138]  # t=91\nRETREAT_093_JOINTS = [-0.125148, -1.461943, -1.121393, -2.609077, 0.103151, 2.277645, -1.255141]  # t=93\nRETREAT_095_JOINTS = [-0.176080, -1.508637, -1.121577, -2.596459, 0.116281, 2.215793, -1.258693]  # t=95\nRETREAT_097_JOINTS = [-0.222223, -1.555064, -1.120038, -2.581542, 0.138369, 2.161888, -1.266982]  # t=97\nRETREAT_099_JOINTS = [-0.266241, -1.601441, -1.112695, -2.565810, 0.166848, 2.102033, -1.269801]  # t=99\nRETREAT_101_JOINTS = [-0.306036, -1.644905, -1.096413, -2.546791, 0.199314, 2.044025, -1.265096]  # t=101\nRETREAT_103_JOINTS = [-0.339638, -1.684543, -1.076812, -2.524214, 0.233497, 1.993706, -1.257272]  # t=103\nRETREAT_105_JOINTS = [-0.369200, -1.715538, -1.064171, -2.498555, 0.249685, 1.946503, -1.237055]  # t=105\nRETREAT_107_JOINTS = [-0.394912, -1.742430, -1.050353, -2.470658, 0.257422, 1.900217, -1.208667]  # t=107\nRETREAT_108_JOINTS = [-0.404859, -1.754748, -1.041852, -2.458439, 0.262620, 1.880193, -1.194893]  # t=108\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_001_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_009_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_011_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_023_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=1, 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_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, 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_038_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_041_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=3, 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_056_JOINTS, input_type='joint', steps=4, 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\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_083_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_084_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_085_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_087_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_089_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_091_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_093_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_099_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_101_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_103_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_105_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_107_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(RETREAT_108_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": 13519, "code_num_lines": 158, "code_num_nonblank_lines": 148, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"}", "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\":\"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}},\"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": false, "motion_primitive_count": 56, "pretrain_task_id": 59, "retained_waypoint_count": 56, "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": 194042, "video_relpath": "videos/raw_extracted/59_TurnOnMicrowave.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnSinkFaucet\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_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': 'TurnOnSinkFaucet',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 124,\n    'stable_release_contact_loss_t': 124,\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=1.903311, y=-0.450940, z=0.944829, qw=0.986689, qx=-0.004480, qy=0.007653, qz=0.162379)\n\nAPPROACH_002_JOINTS = [-0.010615, -1.042052, -0.036832, -2.285549, 0.053868, 1.551092, 0.706573]  # t=2\nAPPROACH_005_JOINTS = [-0.011609, -1.085802, -0.038313, -2.303132, 0.058433, 1.602427, 0.697918]  # t=5\nAPPROACH_007_JOINTS = [-0.011015, -1.130461, -0.045297, -2.336416, 0.076732, 1.671127, 0.677027]  # t=7\nAPPROACH_009_JOINTS = [-0.010536, -1.177327, -0.059084, -2.386805, 0.097252, 1.749940, 0.647908]  # t=9\nAPPROACH_010_JOINTS = [-0.010426, -1.198638, -0.066898, -2.419758, 0.104950, 1.794083, 0.628974]  # t=10\nAPPROACH_012_JOINTS = [-0.011384, -1.242780, -0.088281, -2.492252, 0.114863, 1.885185, 0.587763]  # t=12\nAPPROACH_015_JOINTS = [-0.014217, -1.302657, -0.122939, -2.605021, 0.122805, 2.022591, 0.522587]  # t=15\nAPPROACH_016_JOINTS = [-0.015261, -1.318214, -0.133657, -2.641615, 0.125202, 2.067509, 0.502047]  # t=16\nAPPROACH_019_JOINTS = [-0.020907, -1.381874, -0.167281, -2.752832, 0.132957, 2.182123, 0.440900]  # t=19\nAPPROACH_020_JOINTS = [-0.022814, -1.403737, -0.174627, -2.790520, 0.137411, 2.221639, 0.424244]  # t=20\nAPPROACH_022_JOINTS = [-0.024539, -1.432291, -0.179618, -2.860563, 0.149619, 2.311489, 0.400093]  # t=22\nAPPROACH_025_JOINTS = [-0.018146, -1.431266, -0.176372, -2.944311, 0.179395, 2.466927, 0.365535]  # t=25\nAPPROACH_028_JOINTS = [-0.000037, -1.375764, -0.173404, -2.997758, 0.219760, 2.621173, 0.332677]  # t=28\nAPPROACH_030_JOINTS = [0.016836, -1.325251, -0.190016, -3.012921, 0.252469, 2.702231, 0.298482]  # t=30\nAPPROACH_035_JOINTS = [0.095956, -1.154025, -0.243815, -2.994682, 0.354403, 2.873540, 0.187836]  # t=35\nAPPROACH_040_JOINTS = [0.198938, -1.005830, -0.298362, -2.942434, 0.445502, 2.993787, 0.098300]  # t=40\nAPPROACH_045_JOINTS = [0.329040, -0.849271, -0.373814, -2.865595, 0.514175, 3.103396, 0.026923]  # t=45\nAPPROACH_050_JOINTS = [0.510897, -0.788587, -0.517607, -2.846142, 0.547271, 3.241694, -0.060227]  # t=50\nAPPROACH_055_JOINTS = [0.737061, -0.720771, -0.742755, -2.793670, 0.388880, 3.377499, -0.000855]  # t=55\nAPPROACH_057_JOINTS = [0.821001, -0.705936, -0.849385, -2.795312, 0.263100, 3.445487, 0.070661]  # t=57\nAPPROACH_060_JOINTS = [0.934163, -0.677363, -1.031639, -2.815191, 0.030701, 3.561157, 0.201606]  # t=60\nAPPROACH_064_JOINTS = [1.094474, -0.608262, -1.290965, -2.792716, -0.265748, 3.699659, 0.377559]  # t=64\nAPPROACH_065_JOINTS = [1.140358, -0.593713, -1.351638, -2.775895, -0.317463, 3.723571, 0.415466]  # t=65\nAPPROACH_066_JOINTS = [1.188178, -0.584264, -1.408747, -2.757234, -0.355906, 3.742862, 0.444876]  # t=66\nAPPROACH_070_JOINTS = [1.380875, -0.619210, -1.580102, -2.665122, -0.365053, 3.752548, 0.414801]  # t=70\nAPPROACH_071_JOINTS = [1.422367, -0.646749, -1.607463, -2.648675, -0.337059, 3.752628, 0.370073]  # t=71\nAPPROACH_075_JOINTS = [1.553746, -0.792047, -1.657046, -2.593992, -0.165770, 3.752688, 0.116213]  # t=75\nAPPROACH_078_JOINTS = [1.627696, -0.898572, -1.657499, -2.543708, -0.030457, 3.752560, -0.073804]  # t=78\nAPPROACH_080_JOINTS = [1.674470, -0.955759, -1.654558, -2.502577, 0.046186, 3.752592, -0.178216]  # t=80\nAPPROACH_085_JOINTS = [1.770665, -1.045637, -1.649961, -2.405278, 0.174293, 3.751600, -0.349474]  # t=85\nAPPROACH_090_JOINTS = [1.863910, -1.087520, -1.660087, -2.317065, 0.242559, 3.752713, -0.433512]  # t=90\nAPPROACH_095_JOINTS = [1.922787, -1.102489, -1.664648, -2.257261, 0.291288, 3.752617, -0.480307]  # t=95\nAPPROACH_100_JOINTS = [1.954989, -1.112017, -1.666222, -2.216487, 0.323391, 3.751228, -0.508324]  # t=100\nAPPROACH_101_JOINTS = [1.960150, -1.114507, -1.667375, -2.208601, 0.327295, 3.749435, -0.512787]  # t=101\nAPPROACH_105_JOINTS = [1.967909, -1.126259, -1.670327, -2.196151, 0.335931, 3.751875, -0.525577]  # t=105\nAPPROACH_110_JOINTS = [1.941567, -1.146964, -1.665117, -2.194677, 0.331015, 3.750140, -0.517457]  # t=110\nAPPROACH_111_JOINTS = [1.930981, -1.152598, -1.663076, -2.194789, 0.326855, 3.743907, -0.511932]  # t=111\nPRESS_113_JOINTS = [1.914705, -1.165278, -1.658984, -2.198459, 0.313177, 3.712613, -0.499173]  # t=113\nPRESS_115_JOINTS = [1.891921, -1.175833, -1.655909, -2.203545, 0.295850, 3.665662, -0.480665]  # t=115\nPRESS_117_JOINTS = [1.859625, -1.188040, -1.654032, -2.208188, 0.268821, 3.591935, -0.456130]  # t=117\nPRESS_119_JOINTS = [1.819294, -1.205080, -1.653917, -2.208650, 0.230087, 3.488072, -0.428691]  # t=119\nPRESS_121_JOINTS = [1.775059, -1.226384, -1.656251, -2.200040, 0.184664, 3.353485, -0.402956]  # t=121\nPRESS_122_JOINTS = [1.753326, -1.240758, -1.658259, -2.190959, 0.160066, 3.276700, -0.391789]  # t=122\nPRESS_123_JOINTS = [1.732264, -1.258113, -1.660184, -2.178709, 0.134796, 3.195899, -0.383052]  # t=123\nPRESS_124_JOINTS = [1.711890, -1.278399, -1.662097, -2.163893, 0.109579, 3.113291, -0.377677]  # t=124\nPRESS_125_JOINTS = [1.693929, -1.300949, -1.663211, -2.146824, 0.085000, 3.031405, -0.375490]  # t=125\nPRESS_127_JOINTS = [1.672274, -1.344879, -1.660283, -2.108487, 0.038866, 2.866499, -0.371842]  # t=127\nPRESS_128_JOINTS = [1.665451, -1.368522, -1.659270, -2.085166, 0.018744, 2.785326, -0.373446]  # t=128\nRETREAT_129_JOINTS = [1.661297, -1.392756, -1.658459, -2.059933, 0.000219, 2.707764, -0.376574]  # t=129\nRETREAT_130_JOINTS = [1.659210, -1.416182, -1.657936, -2.033636, -0.017880, 2.635860, -0.380034]  # t=130\nRETREAT_131_JOINTS = [1.658441, -1.437443, -1.657629, -2.002488, -0.036357, 2.576667, -0.380954]  # t=131\nRETREAT_132_JOINTS = [1.660955, -1.455878, -1.656496, -1.972639, -0.055490, 2.536479, -0.376626]  # t=132\nRETREAT_133_JOINTS = [1.665132, -1.471929, -1.654248, -1.948860, -0.075063, 2.506438, -0.368841]  # t=133\nRETREAT_134_JOINTS = [1.669154, -1.486315, -1.650956, -1.929788, -0.094149, 2.482946, -0.359447]  # t=134\nRETREAT_135_JOINTS = [1.672591, -1.499408, -1.647080, -1.914414, -0.112367, 2.464140, -0.349519]  # t=135\nRETREAT_136_JOINTS = [1.675428, -1.511397, -1.642964, -1.901994, -0.129491, 2.448914, -0.339700]  # t=136\nRETREAT_137_JOINTS = [1.677738, -1.522369, -1.638842, -1.891955, -0.145377, 2.436514, -0.330356]  # t=137\nRETREAT_138_JOINTS = [1.679603, -1.532361, -1.634869, -1.883846, -0.159943, 2.426384, -0.321685]  # t=138\nRETREAT_139_JOINTS = [1.681096, -1.541396, -1.631142, -1.877309, -0.173151, 2.418099, -0.313787]  # t=139\nAPPROACH_000_JOINTS = [-0.010394, -1.037892, -0.036730, -2.285708, 0.053729, 1.548874, 0.707248]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_005_JOINTS, input_type='joint', steps=3, 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_009_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_010_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_019_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_022_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_025_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=3, 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_065_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_066_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_071_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_078_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_111_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_113_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_115_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_117_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_119_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_121_JOINTS, input_type='joint', steps=2, 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_123_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_124_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_125_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_127_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_128_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\ndef retreat_after_press():\n    \"\"\"Retreat away after the button press interaction.\"\"\"\n    moveJoint(RETREAT_129_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_130_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_131_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_132_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_133_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_134_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_135_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_136_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_137_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_138_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(RETREAT_139_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": 14421, "code_num_lines": 166, "code_num_nonblank_lines": 156, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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,-4.235032124579036e-11,6.444396829962236e-08,9.673290317171334e-08,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.449912756542249e-18,3.65162998672326e-78,-3.3171764574131574e-17,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.282815395291458e-15,-3.747488669554793e-18,0.0,4.505600956840685e-68,-3.0072232218139507e-13,0.0,0.0,0.0,-1.520819590957694e-15,0.0,0.0,0.0,0.0004570077721077382,-1.7976026423423212e-06,-1.9756611318005754e-06,1.904439281185103e-09,2.2325591175217878e-09,7.992032167640053e-10,0.0,0.0,-3.266202942948543e-87,1.421191564097505e-119,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.587945217988952e-17,0.0,0.0,-1.8646032716942007e-17,4.9548003577066956e-08,5.232020119631214e-08,1.3634930375293926e-06,-1.4183914215328273e-06,2.514445283543153e-06,-4.824985633072812e-08,2.757666850988816e-07,-3.607779726893262e-07,-3.3361183589884134e-05,0.0013331586331712258,-0.0011329338780930493,7.058868174943252e-07,0.018429532288404042,0.008389600056448118,-0.0022105435087165348,0.15914670264830125,0.7032473848498682,0.008348520234399187],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 60, "pretrain_task_id": 60, "retained_waypoint_count": 60, "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": 290621, "video_relpath": "videos/raw_extracted/60_TurnOnSinkFaucet.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnStove\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_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': 'TurnOnStove',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 225,\n    'stable_release_contact_loss_t': 225,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=0.212436, y=-1.698780, z=1.045979, qw=0.974578, qx=-0.000095, qy=-0.000050, qz=0.224047)\nGOAL_RECEPTACLE_POSE = pose(x=0.212478, y=-1.698753, z=1.046006, qw=0.974787, qx=-0.000005, qy=0.000015, qz=0.223138)\n\nAPPROACH_BODY_004 = pose(x=0.456683, y=-0.001890, z=1.290182, qx=-0.678675, qy=-0.717932, qz=-0.133967, qw=-0.077625)  # body-frame t=4\nAPPROACH_BODY_006 = pose(x=0.456929, y=-0.001895, z=1.290042, qx=-0.678716, qy=-0.717948, qz=-0.133790, qw=-0.077434)  # body-frame t=6\nAPPROACH_BODY_008 = pose(x=0.457966, y=-0.001912, z=1.289904, qx=-0.678875, qy=-0.718055, qz=-0.132919, qw=-0.076534)  # body-frame t=8\nAPPROACH_BODY_012 = pose(x=0.457454, y=-0.001906, z=1.291032, qx=-0.678833, qy=-0.718174, qz=-0.132646, qw=-0.076267)  # body-frame t=12\nAPPROACH_BODY_014 = pose(x=0.457179, y=-0.001900, z=1.290999, qx=-0.678786, qy=-0.718137, qz=-0.132925, qw=-0.076551)  # body-frame t=14\nAPPROACH_BODY_015 = pose(x=0.456229, y=-0.001863, z=1.291309, qx=-0.678627, qy=-0.718079, qz=-0.133621, qw=-0.077290)  # body-frame t=15\nAPPROACH_BODY_016 = pose(x=0.455662, y=-0.001710, z=1.291072, qx=-0.678437, qy=-0.718069, qz=-0.134242, qw=-0.077968)  # body-frame t=16\nAPPROACH_BODY_018 = pose(x=0.455653, y=-0.001033, z=1.290082, qx=-0.678227, qy=-0.718057, qz=-0.134761, qw=-0.078996)  # body-frame t=18\nAPPROACH_BODY_020 = pose(x=0.455869, y=0.000273, z=1.289522, qx=-0.678460, qy=-0.717821, qz=-0.134191, qw=-0.080109)  # body-frame t=20\nAPPROACH_BODY_022 = pose(x=0.456038, y=0.001409, z=1.289405, qx=-0.678870, qy=-0.717520, qz=-0.133263, qw=-0.080879)  # body-frame t=22\nAPPROACH_BODY_024 = pose(x=0.456216, y=0.001989, z=1.289456, qx=-0.679278, qy=-0.717194, qz=-0.132888, qw=-0.080967)  # body-frame t=24\nAPPROACH_BODY_027 = pose(x=0.456390, y=0.000459, z=1.289643, qx=-0.679484, qy=-0.716979, qz=-0.133912, qw=-0.079434)  # body-frame t=27\nAPPROACH_BODY_028 = pose(x=0.456453, y=-0.001623, z=1.289679, qx=-0.679349, qy=-0.717029, qz=-0.135140, qw=-0.078052)  # body-frame t=28\nAPPROACH_BODY_029 = pose(x=0.456537, y=-0.004080, z=1.289692, qx=-0.678939, qy=-0.717323, qz=-0.136543, qw=-0.076453)  # body-frame t=29\nAPPROACH_BODY_030 = pose(x=0.456627, y=-0.005191, z=1.289735, qx=-0.678211, qy=-0.717993, qz=-0.137164, qw=-0.075517)  # body-frame t=30\nAPPROACH_BODY_032 = pose(x=0.456759, y=-0.004628, z=1.289934, qx=-0.677492, qy=-0.718800, qz=-0.136424, qw=-0.075630)  # body-frame t=32\nAPPROACH_BODY_036 = pose(x=0.456797, y=-0.002553, z=1.290142, qx=-0.678202, qy=-0.718335, qz=-0.134546, qw=-0.077035)  # body-frame t=36\nAPPROACH_BODY_040 = pose(x=0.456772, y=-0.002006, z=1.290171, qx=-0.678484, qy=-0.718111, qz=-0.134043, qw=-0.077512)  # body-frame t=40\nAPPROACH_BODY_042 = pose(x=0.456767, y=-0.002052, z=1.290175, qx=-0.678562, qy=-0.718037, qz=-0.134025, qw=-0.077545)  # body-frame t=42\nAPPROACH_BODY_043 = pose(x=0.456876, y=0.001165, z=1.288797, qx=-0.677553, qy=-0.719250, qz=-0.133612, qw=-0.075819)  # body-frame t=43\nAPPROACH_BODY_044 = pose(x=0.457167, y=0.008471, z=1.286443, qx=-0.676139, qy=-0.720912, qz=-0.133165, qw=-0.073410)  # body-frame t=44\nAPPROACH_BODY_045 = pose(x=0.457471, y=0.019056, z=1.283436, qx=-0.674898, qy=-0.722405, qz=-0.132639, qw=-0.071063)  # body-frame t=45\nAPPROACH_BODY_048 = pose(x=0.458075, y=0.056802, z=1.269692, qx=-0.673969, qy=-0.724244, qz=-0.129667, qw=-0.066511)  # body-frame t=48\nAPPROACH_BODY_052 = pose(x=0.457918, y=0.107685, z=1.242017, qx=-0.673618, qy=-0.725758, qz=-0.120194, qw=-0.071189)  # body-frame t=52\nAPPROACH_BODY_055 = pose(x=0.455694, y=0.145537, z=1.214000, qx=-0.672973, qy=-0.727267, qz=-0.102301, qw=-0.087882)  # body-frame t=55\nAPPROACH_BODY_056 = pose(x=0.452638, y=0.158284, z=1.204318, qx=-0.672009, qy=-0.728362, qz=-0.095434, qw=-0.093729)  # body-frame t=56\nAPPROACH_BODY_059 = pose(x=0.440644, y=0.196262, z=1.175495, qx=-0.668186, qy=-0.730647, qz=-0.078046, qw=-0.116586)  # body-frame t=59\nAPPROACH_BODY_060 = pose(x=0.435413, y=0.208977, z=1.166755, qx=-0.666427, qy=-0.731080, qz=-0.073967, qw=-0.126197)  # body-frame t=60\nAPPROACH_BODY_061 = pose(x=0.429144, y=0.221837, z=1.159433, qx=-0.664291, qy=-0.731063, qz=-0.071588, qw=-0.138347)  # body-frame t=61\nAPPROACH_BODY_062 = pose(x=0.421055, y=0.235062, z=1.154914, qx=-0.661687, qy=-0.730114, qz=-0.072150, qw=-0.154589)  # body-frame t=62\nAPPROACH_BODY_064 = pose(x=0.401722, y=0.261713, z=1.149434, qx=-0.656160, qy=-0.724941, qz=-0.081747, qw=-0.192958)  # body-frame t=64\nAPPROACH_BODY_066 = pose(x=0.381318, y=0.287643, z=1.146591, qx=-0.649655, qy=-0.715437, qz=-0.101774, qw=-0.236093)  # body-frame t=66\nAPPROACH_BODY_068 = pose(x=0.363946, y=0.308930, z=1.137406, qx=-0.643390, qy=-0.708235, qz=-0.116965, qw=-0.266030)  # body-frame t=68\nAPPROACH_BODY_070 = pose(x=0.358645, y=0.313695, z=1.131863, qx=-0.643556, qy=-0.703962, qz=-0.122176, qw=-0.274493)  # body-frame t=70\nAPPROACH_BODY_072 = pose(x=0.357684, y=0.313484, z=1.130694, qx=-0.645204, qy=-0.702059, qz=-0.126822, qw=-0.273389)  # body-frame t=72\nAPPROACH_BODY_074 = pose(x=0.356235, y=0.314166, z=1.129215, qx=-0.644237, qy=-0.701498, qz=-0.130340, qw=-0.275447)  # body-frame t=74\nAPPROACH_BODY_076 = pose(x=0.354972, y=0.321721, z=1.125478, qx=-0.641828, qy=-0.695392, qz=-0.146170, qw=-0.288307)  # body-frame t=76\nAPPROACH_BODY_077 = pose(x=0.353587, y=0.327157, z=1.122632, qx=-0.640852, qy=-0.689605, qz=-0.158438, qw=-0.297744)  # body-frame t=77\nAPPROACH_BODY_080 = pose(x=0.344836, y=0.347336, z=1.110027, qx=-0.633875, qy=-0.667060, qz=-0.204182, qw=-0.333981)  # body-frame t=80\nAPPROACH_BODY_082 = pose(x=0.335219, y=0.361138, z=1.101408, qx=-0.625481, qy=-0.644724, qz=-0.242480, qw=-0.366481)  # body-frame t=82\nAPPROACH_BODY_084 = pose(x=0.326099, y=0.371117, z=1.092422, qx=-0.616052, qy=-0.615374, qz=-0.285663, qw=-0.400239)  # body-frame t=84\nAPPROACH_BODY_085 = pose(x=0.321971, y=0.374922, z=1.088189, qx=-0.609505, qy=-0.597936, qz=-0.310176, qw=-0.418052)  # body-frame t=85\nAPPROACH_BODY_088 = pose(x=0.310020, y=0.384325, z=1.069945, qx=-0.580099, qy=-0.541928, qz=-0.387185, qw=-0.468921)  # body-frame t=88\nAPPROACH_BODY_090 = pose(x=0.307426, y=0.390444, z=1.050701, qx=-0.560247, qy=-0.516064, qz=-0.427645, qw=-0.486745)  # body-frame t=90\nAPPROACH_BODY_092 = pose(x=0.309404, y=0.394893, z=1.031223, qx=-0.543879, qy=-0.501132, qz=-0.453511, qw=-0.497383)  # body-frame t=92\nAPPROACH_BODY_096 = pose(x=0.312290, y=0.400058, z=1.002252, qx=-0.524519, qy=-0.485534, qz=-0.479070, qw=-0.509538)  # body-frame t=96\nAPPROACH_BODY_100 = pose(x=0.312160, y=0.402566, z=0.991254, qx=-0.523439, qy=-0.479238, qz=-0.483491, qw=-0.512425)  # body-frame t=100\nAPPROACH_BODY_104 = pose(x=0.311663, y=0.403411, z=0.986190, qx=-0.523919, qy=-0.479275, qz=-0.482354, qw=-0.512971)  # body-frame t=104\nAPPROACH_BODY_106 = pose(x=0.311799, y=0.403347, z=0.979765, qx=-0.523774, qy=-0.480360, qz=-0.481939, qw=-0.512494)  # body-frame t=106\nAPPROACH_BODY_108 = pose(x=0.313987, y=0.403028, z=0.971083, qx=-0.523533, qy=-0.481714, qz=-0.481711, qw=-0.511682)  # body-frame t=108\nAPPROACH_BODY_112 = pose(x=0.322921, y=0.403013, z=0.951437, qx=-0.522740, qy=-0.484329, qz=-0.482229, qw=-0.509532)  # body-frame t=112\nAPPROACH_BODY_116 = pose(x=0.334201, y=0.407987, z=0.931247, qx=-0.521099, qy=-0.488569, qz=-0.483998, qw=-0.505472)  # body-frame t=116\nAPPROACH_BODY_120 = pose(x=0.347274, y=0.418871, z=0.911406, qx=-0.519270, qy=-0.492583, qz=-0.485798, qw=-0.501718)  # body-frame t=120\nAPPROACH_BODY_124 = pose(x=0.356643, y=0.429781, z=0.896491, qx=-0.519214, qy=-0.492115, qz=-0.485620, qw=-0.502407)  # body-frame t=124\nAPPROACH_BODY_128 = pose(x=0.366104, y=0.438832, z=0.881803, qx=-0.519329, qy=-0.491568, qz=-0.485217, qw=-0.503212)  # body-frame t=128\nAPPROACH_BODY_132 = pose(x=0.375602, y=0.445309, z=0.870816, qx=-0.520032, qy=-0.489738, qz=-0.484666, qw=-0.504799)  # body-frame t=132\nAPPROACH_BODY_136 = pose(x=0.387852, y=0.447095, z=0.860734, qx=-0.521562, qy=-0.486912, qz=-0.484530, qw=-0.506083)  # body-frame t=136\nAPPROACH_BODY_140 = pose(x=0.403157, y=0.447375, z=0.851032, qx=-0.523444, qy=-0.484678, qz=-0.486026, qw=-0.504849)  # body-frame t=140\nAPPROACH_BODY_144 = pose(x=0.419055, y=0.447573, z=0.839582, qx=-0.523495, qy=-0.485049, qz=-0.486764, qw=-0.503726)  # body-frame t=144\nAPPROACH_BODY_145 = pose(x=0.423128, y=0.448221, z=0.835871, qx=-0.523238, qy=-0.485717, qz=-0.487018, qw=-0.503105)  # body-frame t=145\nAPPROACH_BODY_148 = pose(x=0.433532, y=0.452027, z=0.823082, qx=-0.522499, qy=-0.487970, qz=-0.487852, qw=-0.500880)  # body-frame t=148\nAPPROACH_BODY_152 = pose(x=0.444966, y=0.459688, z=0.805216, qx=-0.521790, qy=-0.489816, qz=-0.488939, qw=-0.498752)  # body-frame t=152\nAPPROACH_BODY_156 = pose(x=0.454771, y=0.466166, z=0.791108, qx=-0.522729, qy=-0.489057, qz=-0.488620, qw=-0.498827)  # body-frame t=156\nAPPROACH_BODY_158 = pose(x=0.457337, y=0.470413, z=0.789684, qx=-0.525722, qy=-0.490791, qz=-0.486887, qw=-0.495663)  # body-frame t=158\nPRESS_160_JOINTS = [-0.383287, -1.762868, 2.001922, -2.251688, 0.128110, 2.661778, 2.742780]  # t=160\nPRESS_161_JOINTS = [-0.388463, -1.762859, 1.998757, -2.244602, 0.130855, 2.661857, 2.740366]  # t=161\nPRESS_162_JOINTS = [-0.392314, -1.762858, 1.996427, -2.239008, 0.134446, 2.661418, 2.739215]  # t=162\nPRESS_164_JOINTS = [-0.395158, -1.762850, 1.994588, -2.233386, 0.143725, 2.658795, 2.739572]  # t=164\nPRESS_166_JOINTS = [-0.394588, -1.762856, 1.994466, -2.232700, 0.154021, 2.658525, 2.740217]  # t=166\nPRESS_168_JOINTS = [-0.392954, -1.762841, 1.994728, -2.234029, 0.164763, 2.658077, 2.738797]  # t=168\nPRESS_169_JOINTS = [-0.391837, -1.762838, 1.995350, -2.235076, 0.170593, 2.656957, 2.737322]  # t=169\nPRESS_170_JOINTS = [-0.390458, -1.762827, 1.995914, -2.235875, 0.176733, 2.654199, 2.734627]  # t=170\nPRESS_172_JOINTS = [-0.387166, -1.762830, 1.995677, -2.236477, 0.189403, 2.645253, 2.726230]  # t=172\nPRESS_174_JOINTS = [-0.383674, -1.762834, 1.996512, -2.238483, 0.198636, 2.639349, 2.714867]  # t=174\nPRESS_176_JOINTS = [-0.379784, -1.762829, 1.997606, -2.242362, 0.205841, 2.637073, 2.703058]  # t=176\nPRESS_178_JOINTS = [-0.375964, -1.762826, 1.998761, -2.246750, 0.212436, 2.636456, 2.691725]  # t=178\nPRESS_179_JOINTS = [-0.374181, -1.762825, 1.999288, -2.248880, 0.215541, 2.636405, 2.686259]  # t=179\nPRESS_180_JOINTS = [-0.372439, -1.762822, 1.999219, -2.250826, 0.218414, 2.636320, 2.680878]  # t=180\nPRESS_182_JOINTS = [-0.369169, -1.762811, 1.997907, -2.254204, 0.224328, 2.635338, 2.669470]  # t=182\nPRESS_184_JOINTS = [-0.365184, -1.762737, 1.994982, -2.257123, 0.231004, 2.629054, 2.655646]  # t=184\nPRESS_185_JOINTS = [-0.362953, -1.762594, 1.992889, -2.258325, 0.234512, 2.624370, 2.647948]  # t=185\nPRESS_186_JOINTS = [-0.360484, -1.762220, 1.990212, -2.259781, 0.237842, 2.619183, 2.639857]  # t=186\nPRESS_187_JOINTS = [-0.357745, -1.761516, 1.986816, -2.261686, 0.240819, 2.613799, 2.631348]  # t=187\nPRESS_188_JOINTS = [-0.354823, -1.760480, 1.982216, -2.264239, 0.243497, 2.608995, 2.622749]  # t=188\nPRESS_189_JOINTS = [-0.350822, -1.758242, 1.974394, -2.268553, 0.245644, 2.604012, 2.613543]  # t=189\nPRESS_190_JOINTS = [-0.347013, -1.755158, 1.965812, -2.273512, 0.247874, 2.600035, 2.603183]  # t=190\nPRESS_191_JOINTS = [-0.344666, -1.752450, 1.958977, -2.277644, 0.250434, 2.598479, 2.593275]  # t=191\nPRESS_192_JOINTS = [-0.343567, -1.750528, 1.954607, -2.280580, 0.253007, 2.598613, 2.585332]  # t=192\nPRESS_194_JOINTS = [-0.343228, -1.748584, 1.952140, -2.283210, 0.257487, 2.600255, 2.576538]  # t=194\nPRESS_196_JOINTS = [-0.341476, -1.746938, 1.953328, -2.286474, 0.259626, 2.599221, 2.574068]  # t=196\nPRESS_198_JOINTS = [-0.340847, -1.740774, 1.954312, -2.291729, 0.266073, 2.600595, 2.565818]  # t=198\nPRESS_200_JOINTS = [-0.345300, -1.731443, 1.952700, -2.293959, 0.278869, 2.608108, 2.548686]  # t=200\nPRESS_202_JOINTS = [-0.349783, -1.722803, 1.951063, -2.295269, 0.291113, 2.614147, 2.532811]  # t=202\nPRESS_204_JOINTS = [-0.353537, -1.716236, 1.949712, -2.295777, 0.301010, 2.618373, 2.519869]  # t=204\nPRESS_205_JOINTS = [-0.354480, -1.714637, 1.949403, -2.295908, 0.303778, 2.619296, 2.516342]  # t=205\nPRESS_206_JOINTS = [-0.354839, -1.713581, 1.949313, -2.296286, 0.305735, 2.619797, 2.513991]  # t=206\nPRESS_208_JOINTS = [-0.354710, -1.710862, 1.949558, -2.298510, 0.310026, 2.621240, 2.509256]  # t=208\nPRESS_210_JOINTS = [-0.353767, -1.709501, 1.950178, -2.300988, 0.312419, 2.622641, 2.506998]  # t=210\nPRESS_212_JOINTS = [-0.352252, -1.709167, 1.951096, -2.303287, 0.312671, 2.622977, 2.505290]  # t=212\nPRESS_214_JOINTS = [-0.352005, -1.709626, 1.951801, -2.303511, 0.309361, 2.623712, 2.494768]  # t=214\nPRESS_216_JOINTS = [-0.349533, -1.709450, 1.954249, -2.306996, 0.299309, 2.625949, 2.469871]  # t=216\nPRESS_218_JOINTS = [-0.345892, -1.706656, 1.957567, -2.313884, 0.286194, 2.630189, 2.430428]  # t=218\nPRESS_220_JOINTS = [-0.346257, -1.693765, 1.958862, -2.322012, 0.281230, 2.636016, 2.366063]  # t=220\nPRESS_222_JOINTS = [-0.353327, -1.672066, 1.956703, -2.325673, 0.284127, 2.638348, 2.277938]  # t=222\nPRESS_224_JOINTS = [-0.366271, -1.644139, 1.951641, -2.322893, 0.292745, 2.632024, 2.173064]  # t=224\nPRESS_225_JOINTS = [-0.374587, -1.628903, 1.948341, -2.318780, 0.298608, 2.624869, 2.116518]  # t=225\nPRESS_226_JOINTS = [-0.384007, -1.613473, 1.944629, -2.312491, 0.305097, 2.614092, 2.058311]  # t=226\nPRESS_227_JOINTS = [-0.394574, -1.598001, 1.940622, -2.303959, 0.312174, 2.599837, 1.998360]  # t=227\nPRESS_228_JOINTS = [-0.406742, -1.583181, 1.936533, -2.292188, 0.319285, 2.582008, 1.936848]  # t=228\nPRESS_230_JOINTS = [-0.434165, -1.558395, 1.928508, -2.258792, 0.331156, 2.531639, 1.814906]  # t=230\nPRESS_232_JOINTS = [-0.462226, -1.544839, 1.921428, -2.215281, 0.335920, 2.463127, 1.704803]  # t=232\nPRESS_234_JOINTS = [-0.487825, -1.544774, 1.916886, -2.168201, 0.332044, 2.390517, 1.611040]  # t=234\nPRESS_236_JOINTS = [-0.505770, -1.556530, 1.913984, -2.126690, 0.319388, 2.323680, 1.541636]  # t=236\nPRESS_238_JOINTS = [-0.517208, -1.575457, 1.913777, -2.092898, 0.305100, 2.273817, 1.491333]  # t=238\nPRESS_240_JOINTS = [-0.524408, -1.595945, 1.914664, -2.066544, 0.296295, 2.238834, 1.452037]  # t=240\nAPPROACH_000_JOINTS = [-0.016587, -1.032450, -0.033487, -2.302095, 0.069495, 1.565082, 0.702389]  # 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    moveWholeBodyPath(body_waypoints=[APPROACH_BODY_004, APPROACH_BODY_006, APPROACH_BODY_008, APPROACH_BODY_012, APPROACH_BODY_014, APPROACH_BODY_015, APPROACH_BODY_016, APPROACH_BODY_018, APPROACH_BODY_020, APPROACH_BODY_022, APPROACH_BODY_024, APPROACH_BODY_027, APPROACH_BODY_028, APPROACH_BODY_029, APPROACH_BODY_030, APPROACH_BODY_032, APPROACH_BODY_036, APPROACH_BODY_040, APPROACH_BODY_042, APPROACH_BODY_043, APPROACH_BODY_044, APPROACH_BODY_045, APPROACH_BODY_048, APPROACH_BODY_052, APPROACH_BODY_055, APPROACH_BODY_056, APPROACH_BODY_059, APPROACH_BODY_060, APPROACH_BODY_061, APPROACH_BODY_062, APPROACH_BODY_064, APPROACH_BODY_066, APPROACH_BODY_068, APPROACH_BODY_070, APPROACH_BODY_072, APPROACH_BODY_074, APPROACH_BODY_076, APPROACH_BODY_077, APPROACH_BODY_080, APPROACH_BODY_082, APPROACH_BODY_084, APPROACH_BODY_085, APPROACH_BODY_088, APPROACH_BODY_090, APPROACH_BODY_092, APPROACH_BODY_096, APPROACH_BODY_100, APPROACH_BODY_104, APPROACH_BODY_106, APPROACH_BODY_108, APPROACH_BODY_112, APPROACH_BODY_116, APPROACH_BODY_120, APPROACH_BODY_124, APPROACH_BODY_128, APPROACH_BODY_132, APPROACH_BODY_136, APPROACH_BODY_140, APPROACH_BODY_144, APPROACH_BODY_145, APPROACH_BODY_148, APPROACH_BODY_152, APPROACH_BODY_156, APPROACH_BODY_158], base_waypoints=[[1.0838842695314497, -1.4135611365537692, -3.141592760828131], [1.0860430010955984, -1.4135502459172615, -3.1415911193703647], [1.1013247138504572, -1.4132257821481629, -3.1415771873714604], [1.140786337249323, -1.411838784384919, -3.141567085401685], [1.1595451263390952, -1.4110222878332144, -3.1415666548333987], [1.1626322699043912, -1.4106333043849162, -3.1417587579841184], [1.162698200573213, -1.410360945402292, -3.1427347623638076], [1.1625617888946775, -1.4075632351368215, -3.1448015739483077], [1.1621957352458787, -1.3922026047099432, -3.145335335909144], [1.1619592585195049, -1.3585116851096255, -3.144849253518386], [1.1619001867054606, -1.309780342975943, -3.144440714322822], [1.1618949508609984, -1.2297670623047454, -3.144655720974213], [1.1618513672122763, -1.2148321751058238, -3.1452293098581223], [1.1618252711546793, -1.2107009690911976, -3.145842826096414], [1.1618216771031888, -1.2105907437232486, -3.1459165578507435], [1.1618213864755211, -1.2105816565036855, -3.1459257330278256], [1.1618210355732201, -1.2105810112515971, -3.1459100193705853], [1.1618210413294991, -1.2105823116122008, -3.145903258880584], [1.1617830323917309, -1.2112666307242463, -3.145927525123555], [1.1617914302193477, -1.2109199824172303, -3.1459756513671553], [1.1617900930012472, -1.210842472411403, -3.145982379182223], [1.1617898090650915, -1.2108434284643557, -3.1459743577468027], [1.1617896466341646, -1.210853858914744, -3.145929018819685], [1.1617901395699946, -1.210851681163665, -3.145931310885829], [1.1617862035631212, -1.2108546911810947, -3.145942271149553], [1.1617870918140358, -1.2108549310898338, -3.1459357891367214], [1.16178787063042, -1.2108550581137012, -3.1459356648466743], [1.1617867441872602, -1.2108552137426383, -3.1459398079896634], [1.1617841026908697, -1.2108548088478137, -3.1459540906223524], [1.161779874573425, -1.2108556437373965, -3.1459750585949195], [1.161787863852819, -1.2108575084368838, -3.145931460934494], [1.1617907712410416, -1.2108573085589545, -3.145925071627995], [1.1618014305155553, -1.2108682672304596, -3.1458139980096145], [1.161795070147136, -1.2108639233819005, -3.1458769407079115], [1.1617910918481662, -1.2108559440323934, -3.145917030792638], [1.1617901478596777, -1.2108488750833457, -3.1459342761183864], [1.1617866492989724, -1.2108518646369395, -3.1459569058192063], [1.1617876642234046, -1.2108545521260634, -3.1459496954625186], [1.1617868473310198, -1.2108548762228473, -3.145966210310273], [1.161789785298185, -1.2108592710015673, -3.145932815404523], [1.161791411024057, -1.2108598560845831, -3.1459203873920885], [1.1617904355133732, -1.2108592270473897, -3.145935871520401], [1.1617936010481382, -1.210853777880093, -3.1459044137301855], [1.1617941250629698, -1.2108517534163847, -3.1458762788220405], [1.1617907887761527, -1.210854810425163, -3.145912577181026], [1.1617901683579572, -1.2108537882552028, -3.145915973144532], [1.1617901948622416, -1.2108569178570803, -3.1459236737948437], [1.1617901715904633, -1.2108563330870172, -3.1459197955132923], [1.1617902071569493, -1.21085502704688, -3.1459170062937885], [1.1617912273563105, -1.210854608718723, -3.1459027684674403], [1.1617902416731074, -1.2108545689813994, -3.145917381384402], [1.1617908701368216, -1.2108527653607795, -3.1459094973621973], [1.161789518414828, -1.2108559161964827, -3.145933008109794], [1.1617902517679133, -1.210857885956448, -3.145920606772542], [1.1617895808196115, -1.210857148231259, -3.1459324524129344], [1.1617903021136782, -1.2108580662625765, -3.145919124917402], [1.1617904203338152, -1.2108565123818011, -3.1459193194346353], [1.1617904286101617, -1.2108560642491624, -3.1459194689077954], [1.1617909222715073, -1.2108536679001922, -3.1459162209348133], [1.1617904492546072, -1.2108549871207615, -3.14592047641823], [1.1617895053092173, -1.2108561480979054, -3.1459301939474678], [1.1617902217769467, -1.2108553625792793, -3.1459236898719207], [1.1617872361207946, -1.2108560729165612, -3.1459284395306946], [1.1618142570554306, -1.210843839324468, -3.145773376622165]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[6.693231757825495e-08, -2.3166662129924537e-07, -4.6624591877530027e-07, 2.444329923636973e-06, 2.9369019055672328e-06, 4.808867745588956e-06, 5.151836295751346e-06, 3.913518293540486e-06, 2.5628522420539613e-06, 1.9973942908528465e-06, 2.132445695710552e-06, 2.78693141968409e-06, 2.8786647545240126e-06, 2.8008617004150823e-06, 2.6469295671500415e-06, 2.751070245153e-06, 3.304356063821438e-06, 3.3250184834829394e-06, 3.327519480869258e-06, 7.112717270683344e-06, 8.80319281573559e-06, 1.0653267205231131e-05, 1.5437633536327537e-05, 1.9278262305121035e-05, 2.0420016507180132e-05, 2.0822199964186826e-05, 1.9496258405738648e-05, 1.834556879491861e-05, 1.7543711925786198e-05, 1.6070492957039e-05, 1.5165182660805922e-05, 1.2565011724349779e-05, -1.2685443386074132e-07, -6.518082213250151e-06, -3.3263314998918065e-06, 2.6896928330335302e-06, 1.5056649772966113e-05, 2.0125180902434184e-05, 3.244011438146267e-05, 3.804864833988697e-05, 4.214585967767543e-05, 4.559736635290749e-05, 4.978525627538609e-05, 3.648714450899743e-05, 2.148948742774423e-05, 4.2797967051286985e-06, -3.1671378217093867e-06, 4.987826767649156e-06, 9.193653245262999e-06, 1.307116404953851e-05, 1.7640795012335773e-05, 2.1875388534655488e-05, 2.3744723996683133e-05, 2.206833931238197e-05, 2.0961757509281035e-05, 1.9974174071396443e-05, 1.833017786269768e-05, 1.9594347490781273e-05, 2.2305243727110093e-05, 2.3262854833228985e-05, 2.4546060520618463e-05, 2.4803577322624554e-05, 1.0620138409573587e-05, 9.291227402420832e-06], segment_steps=[4, 2, 2, 4, 2, 1, 1, 2, 2, 2, 2, 3, 1, 1, 1, 2, 4, 4, 2, 1, 1, 1, 3, 4, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 3, 2, 2, 1, 3, 2, 2, 4, 4, 4, 2, 2, 4, 4, 4, 4, 4, 4, 4, 4, 4, 1, 3, 4, 4, 3], settle_steps=0, gripper=-1.000, gripper_cmds=[], body_motion_priority=1.000000, base_xy_priority=1.000000, base_yaw_priority=0.012624, base_position_gain=5.500000, base_yaw_gain=3.417674, base_position_ff_gain=24.000000, base_yaw_ff_gain=6.227239, base_ee_anchor_mix=0.350000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_160_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_161_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_162_JOINTS, input_type='joint', steps=1, 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_166_JOINTS, input_type='joint', steps=2, 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_169_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_170_JOINTS, input_type='joint', steps=1, 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_179_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_180_JOINTS, input_type='joint', steps=1, 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_185_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_186_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_187_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_188_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_189_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_190_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_191_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_192_JOINTS, input_type='joint', steps=1, 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_196_JOINTS, input_type='joint', steps=2, 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_205_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_206_JOINTS, input_type='joint', steps=1, 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_214_JOINTS, input_type='joint', steps=2, 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_225_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_226_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_227_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_228_JOINTS, input_type='joint', steps=1, 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\nmove_to_control_panel()\npress_control()\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": 28740, "code_num_lines": 211, "code_num_nonblank_lines": 202, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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_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}},\"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\"}", "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\":\"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_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": false, "motion_primitive_count": 53, "pretrain_task_id": 61, "retained_waypoint_count": 116, "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": 531024, "video_relpath": "videos/raw_extracted/61_TurnOnStove.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnToaster\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_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': 'TurnOnToaster',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 67,\n    'stable_release_contact_loss_t': 67,\n    'uses_moveC': False,\n    'controller_mode': 'whole_body_ik',\n}\n\nOBJ_POSE_T0 = pose(x=6.930101, y=-0.209445, z=1.117933, qw=1.000000, qx=-0.000000, qy=0.000000, qz=0.000000)\nGOAL_RECEPTACLE_POSE = pose(x=6.930101, y=-0.209445, z=1.051701, qw=1.000000, qx=-0.000000, qy=-0.000000, qz=-0.000000)\n\nAPPROACH_003_JOINTS = [-0.016565, -1.024730, -0.023129, -2.297984, 0.041003, 1.505004, 0.691322]  # t=3\nAPPROACH_006_JOINTS = [-0.018975, -1.027304, -0.043491, -2.314203, 0.023382, 1.512081, 0.676968]  # t=6\nAPPROACH_009_JOINTS = [-0.023251, -1.032600, -0.089368, -2.339756, -0.005683, 1.528036, 0.634759]  # t=9\nAPPROACH_012_JOINTS = [-0.028249, -1.041908, -0.142169, -2.371178, -0.034189, 1.554899, 0.585988]  # t=12\nAPPROACH_014_JOINTS = [-0.031284, -1.048215, -0.167827, -2.391989, -0.049918, 1.571164, 0.564998]  # t=14\nAPPROACH_015_JOINTS = [-0.032810, -1.050083, -0.180173, -2.402744, -0.057400, 1.580714, 0.556161]  # t=15\nAPPROACH_016_JOINTS = [-0.034353, -1.050145, -0.193185, -2.414374, -0.065619, 1.593589, 0.547264]  # t=16\nAPPROACH_018_JOINTS = [-0.037086, -1.042760, -0.221062, -2.442983, -0.084167, 1.633312, 0.528397]  # t=18\nAPPROACH_019_JOINTS = [-0.037776, -1.036351, -0.232888, -2.457889, -0.090882, 1.657222, 0.520114]  # t=19\nAPPROACH_021_JOINTS = [-0.037771, -1.023574, -0.246558, -2.483313, -0.095991, 1.699337, 0.510198]  # t=21\nAPPROACH_024_JOINTS = [-0.036051, -1.003558, -0.252911, -2.507119, -0.090059, 1.749956, 0.507900]  # t=24\nAPPROACH_026_JOINTS = [-0.034784, -0.984948, -0.262155, -2.515176, -0.080864, 1.780201, 0.505196]  # t=26\nAPPROACH_027_JOINTS = [-0.034519, -0.974277, -0.270974, -2.517955, -0.076257, 1.793970, 0.500800]  # t=27\nAPPROACH_030_JOINTS = [-0.035505, -0.947173, -0.303777, -2.523512, -0.067684, 1.820468, 0.479477]  # t=30\nAPPROACH_032_JOINTS = [-0.035648, -0.927755, -0.324647, -2.526698, -0.063840, 1.841991, 0.463370]  # t=32\nAPPROACH_033_JOINTS = [-0.035215, -0.916068, -0.333566, -2.528706, -0.062210, 1.855955, 0.456013]  # t=33\nAPPROACH_035_JOINTS = [-0.033101, -0.888748, -0.348645, -2.533557, -0.057486, 1.888846, 0.442733]  # t=35\nAPPROACH_036_JOINTS = [-0.031196, -0.873753, -0.353755, -2.536072, -0.053058, 1.906579, 0.437363]  # t=36\nAPPROACH_039_JOINTS = [-0.022537, -0.821951, -0.360948, -2.541057, -0.033466, 1.966679, 0.426845]  # t=39\nAPPROACH_042_JOINTS = [-0.012433, -0.763430, -0.364937, -2.536921, -0.008327, 2.014303, 0.419108]  # t=42\nAPPROACH_045_JOINTS = [-0.003817, -0.705047, -0.369900, -2.522129, 0.017102, 2.032558, 0.411340]  # t=45\nAPPROACH_048_JOINTS = [0.001404, -0.656228, -0.375665, -2.505647, 0.038387, 2.035244, 0.401320]  # t=48\nAPPROACH_049_JOINTS = [0.003120, -0.640287, -0.377773, -2.501013, 0.047416, 2.038595, 0.396786]  # t=49\nPRESS_051_JOINTS = [0.001780, -0.635648, -0.379134, -2.494832, 0.061621, 2.027812, 0.398740]  # t=51\nPRESS_053_JOINTS = [-0.000151, -0.634698, -0.379843, -2.494226, 0.072571, 2.026540, 0.397606]  # t=53\nPRESS_055_JOINTS = [-0.001719, -0.631261, -0.383200, -2.496928, 0.083280, 2.028508, 0.391035]  # t=55\nPRESS_057_JOINTS = [-0.003070, -0.627671, -0.387627, -2.500358, 0.093940, 2.029958, 0.382834]  # t=57\nPRESS_059_JOINTS = [-0.005543, -0.627691, -0.394725, -2.508559, 0.101479, 2.027748, 0.373178]  # t=59\nPRESS_061_JOINTS = [-0.009618, -0.632401, -0.403444, -2.524739, 0.102494, 2.028055, 0.362799]  # t=61\nPRESS_063_JOINTS = [-0.010780, -0.628352, -0.407261, -2.543813, 0.104846, 2.051905, 0.352671]  # t=63\nPRESS_065_JOINTS = [-0.010989, -0.618141, -0.412377, -2.568394, 0.107274, 2.084511, 0.341927]  # t=65\nPRESS_067_JOINTS = [-0.010869, -0.606098, -0.418551, -2.593806, 0.111997, 2.119837, 0.329936]  # t=67\nPRESS_068_JOINTS = [-0.010840, -0.599043, -0.422067, -2.605848, 0.114175, 2.139378, 0.323530]  # t=68\nPRESS_069_JOINTS = [-0.011021, -0.595841, -0.423759, -2.610997, 0.115593, 2.154799, 0.317338]  # t=69\nPRESS_071_JOINTS = [-0.012804, -0.598339, -0.421465, -2.621429, 0.110761, 2.183638, 0.312665]  # t=71\nPRESS_073_JOINTS = [-0.014890, -0.600330, -0.418200, -2.631557, 0.103293, 2.211774, 0.313210]  # t=73\nPRESS_075_JOINTS = [-0.016900, -0.601928, -0.415677, -2.641133, 0.097302, 2.237573, 0.314621]  # t=75\nPRESS_077_JOINTS = [-0.018237, -0.603308, -0.413387, -2.648742, 0.095497, 2.258866, 0.316938]  # t=77\nPRESS_079_JOINTS = [-0.019845, -0.603354, -0.415269, -2.651334, 0.095289, 2.267662, 0.316928]  # t=79\nPRESS_081_JOINTS = [-0.020376, -0.602560, -0.419739, -2.647873, 0.100269, 2.266066, 0.311529]  # t=81\nPRESS_082_JOINTS = [-0.020094, -0.603180, -0.421768, -2.644608, 0.106026, 2.261053, 0.308079]  # t=82\nAPPROACH_000_JOINTS = [-0.016331, -1.025097, -0.021432, -2.290728, 0.043016, 1.505365, 0.691966]  # 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_006_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_009_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_014_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_016_JOINTS, input_type='joint', steps=1, 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_019_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_026_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_033_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_036_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_039_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_042_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=3, 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_049_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_051_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_053_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_055_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_057_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_059_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_061_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_063_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_068_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_071_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_073_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_075_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_077_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 10563, "code_num_lines": 126, "code_num_nonblank_lines": 117, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\"},\"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\":[6.771467030885416,-0.7752437110485834,0.0],\"lang\":\"Push down the lever of the toaster to turn it on.\",\"layout_id\":24,\"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/SandwichBread003/model_upright.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"sandwich_bread\",\"object_scale\":0.85,\"placement\":{\"fixture\":\"toaster_main_group\",\"rotation\":[0,0]},\"reset_region\":{\"height\":0.1739732951680812,\"name\":\"slotR\",\"offset\":[0.025544418961463033,0.026240782511697553,0.02748238067299667],\"size\":[0.035262906821237394,0.16981109468082478]},\"rotate_upright\":true,\"type\":\"object\"}],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.022898809984326363,\"qx\":0.03584371134638786,\"qy\":-0.9916743636131287,\"qz\":-0.12154284119606018,\"x\":6.773914812808456,\"y\":-0.5272660769436832,\"z\":1.2854131809480807},\"goal_pose\":{\"qw\":0.9999999999999993,\"qx\":-1.409445284372144e-08,\"qy\":-9.571086038205841e-20,\"qz\":-2.6181418404588135e-20,\"x\":6.930101324120317,\"y\":-0.2094454849627203,\"z\":1.0517014496116228},\"object_pose\":{\"qw\":0.9999999999999999,\"qx\":-1.4128353033648244e-08,\"qy\":2.5741167286657095e-20,\"qz\":6.89702937704327e-21,\"x\":6.930101324120317,\"y\":-0.20944548349844216,\"z\":1.1179325265456985}},\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnToaster\"}", "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\":\"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\"},\"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\":[6.771467030885416,-0.7752437110485834,0.0],\"lang\":\"Push down the lever of the toaster to turn it on.\",\"layout_id\":24,\"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/SandwichBread003/model_upright.xml\",\"split\":\"train\"},\"name\":\"obj\",\"obj_groups\":\"sandwich_bread\",\"object_scale\":0.85,\"placement\":{\"fixture\":\"toaster_main_group\",\"rotation\":[0,0]},\"reset_region\":{\"height\":0.1739732951680812,\"name\":\"slotR\",\"offset\":[0.025544418961463033,0.026240782511697553,0.02748238067299667],\"size\":[0.035262906821237394,0.16981109468082478]},\"rotate_upright\":true,\"type\":\"object\"}],\"style_id\":39},\"episode_id\":\"episode_000000\",\"episode_index\":0,\"initial_signals\":{\"ee_pose\":{\"qw\":0.022898809984326363,\"qx\":0.03584371134638786,\"qy\":-0.9916743636131287,\"qz\":-0.12154284119606018,\"x\":6.773914812808456,\"y\":-0.5272660769436832,\"z\":1.2854131809480807},\"goal_pose\":{\"qw\":0.9999999999999993,\"qx\":-1.409445284372144e-08,\"qy\":-9.571086038205841e-20,\"qz\":-2.6181418404588135e-20,\"x\":6.930101324120317,\"y\":-0.2094454849627203,\"z\":1.0517014496116228},\"object_pose\":{\"qw\":0.9999999999999999,\"qx\":-1.4128353033648244e-08,\"qy\":2.5741167286657095e-20,\"qz\":6.89702937704327e-21,\"x\":6.930101324120317,\"y\":-0.20944548349844216,\"z\":1.1179325265456985}},\"initial_state\":[0.5000000000000003,3.2285330332835964,-10.77524375134903,2.1986362597663987e-07,1.9549039978228422e-08,-0.016331547181644805,-1.0251489694338414,-0.021424511591784486,-2.2900968250134994,0.04302354555794242,1.5054817726636698,0.6919659499898413,0.020561937851688597,-0.020504622913335997,-7.438446309444353e-05,-6.630703036043588e-09,1.0909306675538811e-12,-3.5115455672708647e-09,4.8412506362486796e-08,-1.3571155078792733e-09,-2.0328565192046304e-09,1.704682304863676e-08,7.191447499308471e-08,0.0,-2.443869164234458e-16,-2.439425772964577e-16,-2.439425772964577e-16,0.0,-1.3039817231123963e-05,-0.005507899200707519,0.0,0.0,-2.456988213711335e-16,-2.456988213711335e-16,-2.4521573500836207e-16,-2.4521573500836207e-16,-2.4521573500836207e-16,-2.4521573500836207e-16,-2.4238186160689696e-16,-2.4199678976259815e-16,-2.4199678976259815e-16,-2.592769437411327e-16,-2.592769437411327e-16,-2.592769437411327e-16,-2.592769437411327e-16,-2.4238186160689696e-16,-2.4199678976259815e-16,-2.4199678976259815e-16,0.0,0.0,0.0,0.0,-5.9180392582490936e-05,-5.9180392582490936e-05,-5.9180392582490936e-05,-5.9180392582490936e-05,-5.9180392582490936e-05,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0002711064204354924,-0.007052449707415721,-4.04923667254885e-09,-0.00020125235458884452,0.0,-1.990863413585856e-10,-1.9908643375463316e-10,0.0,0.0,-5.3494816558693855e-15,0.0,6.535260780057724e-15,0.0,0.0,0.0,0.0,0.0,6.535260780057724e-15,0.0,0.0,0.0,0.0,0.0,-8.348831696029555e-16,4.966711088725469e-16,7.506871369661195e-09,9.22706251567328e-07,0.0,-3.657454242529596e-15,-3.6510724386817865e-15,-3.6510724386817865e-15,0.0,0.0,5.754201848966932e-20,4.748371316086136e-16,-2.7710185774615293e-15,-2.7661834938631135e-15,-2.7661834938631135e-15,0.0,0.0,6.930101324120317,-0.20944548349844216,1.1179325265456985,0.9999999999999999,-1.4128353033648244e-08,2.5741167286657095e-20,6.89702937704327e-21,-7.682029708553507e-07,4.68237328743905e-07,-3.205707850356047e-06,7.121141090386037e-08,-9.279100139492609e-06,0.0006181137806134628,-0.0006873987584399603,-2.354505896606055e-05,-0.0007304385892166325,9.587343731827604e-05,-0.0001150471961024339,-0.0004580063971151805,0.00047804438096991773,-7.185145782117658e-07,-1.1975992127219304e-10,2.219847630573217e-12,-6.342350410955966e-11,9.851073912857758e-08,-2.451143500100476e-11,-3.671627813632731e-11,3.4687217508171757e-08,1.4633301636089003e-07,0.0,-8.754612039216054e-18,-8.662157252190677e-18,-8.662157252190677e-18,0.0,-2.3028400157621346e-07,-4.040402178548157e-07,0.0,0.0,-9.031450245521609e-18,-9.031450245521609e-18,-8.928835317137588e-18,-8.928835317137588e-18,-8.928835317137588e-18,-8.928835317137588e-18,-8.342629112779421e-18,-8.265034123524827e-18,-8.265034123524827e-18,-1.2247117969703984e-17,-1.2247117969703984e-17,-1.2247117969703984e-17,-1.2247117969703984e-17,-8.342629112779421e-18,-8.265034123524827e-18,-8.265034123524827e-18,0.0,0.0,0.0,0.0,-1.205902230124194e-06,-1.205902230124194e-06,-1.205902230124194e-06,-1.205902230124194e-06,-1.205902230124194e-06,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.3261213389537242e-06,-5.194578972559364e-07,-7.313496902342308e-11,-8.584923200730748e-06,-7.094540903539194e-07,-3.5957823078424666e-12,-3.5957839671381185e-12,0.0,0.0,-2.1147114501584435e-16,0.0,2.2297579358684607e-64,0.0,0.0,0.0,0.0,0.0,2.2297579358684607e-64,0.0,0.0,0.0,0.0,0.0,-1.1667408410890227e-85,1.5003039309193547e-84,1.5275199162578293e-08,1.877549384798565e-06,0.0,-1.2935801342853993e-16,-1.2804365875882143e-16,-1.2804365875882143e-16,0.0,0.0,-6.574560253171894e-18,3.1981855713667475e-37,-9.800627282929079e-17,-9.701047056748442e-17,-9.701047056748442e-17,0.0,0.0,-1.2718307203298879e-19,1.5260741363321767e-11,8.628499278054998e-06,-2.929864546630529e-10,-1.739522620182449e-17,-9.602305379996524e-20],\"model_xml_path\":\"/workspace/action2code/outputs/artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene_model.xml\",\"task_name\":\"TurnOnToaster\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 42, "pretrain_task_id": 62, "retained_waypoint_count": 42, "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": "Push down the lever of the toaster to turn it on.", "task_name": "TurnOnToaster", "video_available": true, "video_bytes": 208731, "video_relpath": "videos/raw_extracted/62_TurnOnToaster.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnOnToasterOven\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_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': 'TurnOnToasterOven',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 255,\n    'stable_release_contact_loss_t': 255,\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_002_JOINTS = [-0.014275, -1.037088, -0.051844, -2.290239, 0.034445, 1.527374, 0.690802]  # t=2\nAPPROACH_004_JOINTS = [-0.015865, -1.038252, -0.066546, -2.290465, 0.024704, 1.533886, 0.673867]  # t=4\nAPPROACH_005_JOINTS = [-0.016956, -1.042308, -0.077730, -2.292885, 0.018540, 1.545247, 0.660075]  # t=5\nAPPROACH_010_JOINTS = [-0.026548, -1.154420, -0.140355, -2.373455, -0.031011, 1.673531, 0.543180]  # t=10\nAPPROACH_013_JOINTS = [-0.038653, -1.296740, -0.165128, -2.485525, -0.076984, 1.784688, 0.469339]  # t=13\nAPPROACH_015_JOINTS = [-0.049424, -1.409092, -0.184919, -2.575799, -0.106318, 1.854359, 0.422264]  # t=15\nAPPROACH_017_JOINTS = [-0.061592, -1.519742, -0.208646, -2.658687, -0.129199, 1.911309, 0.384691]  # t=17\nAPPROACH_020_JOINTS = [-0.084664, -1.653837, -0.276450, -2.756124, -0.170654, 1.987330, 0.341792]  # t=20\nAPPROACH_024_JOINTS = [-0.125114, -1.765625, -0.406645, -2.832545, -0.246353, 2.073028, 0.281878]  # t=24\nAPPROACH_025_JOINTS = [-0.135443, -1.763536, -0.440164, -2.832278, -0.256834, 2.086807, 0.265299]  # t=25\nAPPROACH_028_JOINTS = [-0.162744, -1.760210, -0.530146, -2.820507, -0.270346, 2.106962, 0.216851]  # t=28\nAPPROACH_030_JOINTS = [-0.177473, -1.752575, -0.577547, -2.812278, -0.271731, 2.115731, 0.190522]  # t=30\nAPPROACH_031_JOINTS = [-0.183672, -1.746714, -0.595847, -2.808338, -0.269980, 2.119323, 0.180030]  # t=31\nAPPROACH_035_JOINTS = [-0.200588, -1.709398, -0.648590, -2.792200, -0.246872, 2.138766, 0.154674]  # t=35\nAPPROACH_040_JOINTS = [-0.205694, -1.634081, -0.678083, -2.745821, -0.193663, 2.133689, 0.156194]  # t=40\nAPPROACH_045_JOINTS = [-0.195319, -1.543175, -0.680672, -2.670778, -0.131836, 2.096507, 0.171479]  # t=45\nAPPROACH_050_JOINTS = [-0.180530, -1.465252, -0.688645, -2.591660, -0.077515, 2.049061, 0.181778]  # t=50\nAPPROACH_051_JOINTS = [-0.177024, -1.450429, -0.691306, -2.577647, -0.068661, 2.041547, 0.184107]  # t=51\nAPPROACH_054_JOINTS = [-0.164313, -1.404658, -0.696478, -2.545129, -0.050074, 2.036351, 0.186816]  # t=54\nAPPROACH_055_JOINTS = [-0.160444, -1.391133, -0.695187, -2.539421, -0.046640, 2.041473, 0.187442]  # t=55\nAPPROACH_056_JOINTS = [-0.157204, -1.379398, -0.693157, -2.536127, -0.045508, 2.047558, 0.185285]  # t=56\nAPPROACH_059_JOINTS = [-0.155243, -1.359766, -0.691412, -2.537085, -0.060446, 2.060744, 0.157272]  # t=59\nAPPROACH_060_JOINTS = [-0.157715, -1.356847, -0.691862, -2.541758, -0.075065, 2.062203, 0.144479]  # t=60\nAPPROACH_063_JOINTS = [-0.171603, -1.360028, -0.695986, -2.565846, -0.125017, 2.066646, 0.109157]  # t=63\nAPPROACH_065_JOINTS = [-0.186737, -1.375882, -0.702741, -2.592082, -0.157322, 2.067880, 0.085077]  # t=65\nAPPROACH_067_JOINTS = [-0.207012, -1.398749, -0.719557, -2.625391, -0.191454, 2.066488, 0.066363]  # t=67\nAPPROACH_070_JOINTS = [-0.233125, -1.424124, -0.761238, -2.691499, -0.230067, 2.092696, 0.045455]  # t=70\nAPPROACH_072_JOINTS = [-0.256140, -1.462081, -0.793059, -2.746025, -0.230728, 2.122928, 0.018994]  # t=72\nAPPROACH_075_JOINTS = [-0.301134, -1.525427, -0.875527, -2.829797, -0.229174, 2.202062, -0.050639]  # t=75\nAPPROACH_076_JOINTS = [-0.317763, -1.541272, -0.900978, -2.856900, -0.233299, 2.224702, -0.073279]  # t=76\nAPPROACH_079_JOINTS = [-0.358059, -1.568443, -0.952047, -2.919070, -0.229746, 2.285097, -0.130453]  # t=79\nAPPROACH_080_JOINTS = [-0.367233, -1.569763, -0.958014, -2.934596, -0.225459, 2.301514, -0.142914]  # t=80\nAPPROACH_082_JOINTS = [-0.376456, -1.560774, -0.959644, -2.963446, -0.212004, 2.345351, -0.160559]  # t=82\nAPPROACH_085_JOINTS = [-0.373406, -1.537752, -0.960212, -2.996745, -0.161957, 2.423956, -0.183426]  # t=85\nAPPROACH_090_JOINTS = [-0.348792, -1.513958, -1.060527, -2.998502, 0.006594, 2.517763, -0.346333]  # t=90\nAPPROACH_093_JOINTS = [-0.318822, -1.491908, -1.103679, -2.985133, 0.112298, 2.540860, -0.435834]  # t=93\nAPPROACH_095_JOINTS = [-0.284524, -1.468817, -1.110857, -2.983125, 0.175735, 2.557389, -0.483353]  # t=95\nAPPROACH_097_JOINTS = [-0.235460, -1.437959, -1.111525, -2.976452, 0.235309, 2.575744, -0.531752]  # t=97\nAPPROACH_100_JOINTS = [-0.173818, -1.394773, -1.104952, -2.950336, 0.305802, 2.591693, -0.582554]  # t=100\nAPPROACH_105_JOINTS = [-0.118103, -1.339765, -1.107014, -2.900056, 0.372526, 2.586653, -0.643309]  # t=105\nAPPROACH_110_JOINTS = [-0.091378, -1.308921, -1.106197, -2.874565, 0.412623, 2.581175, -0.677380]  # t=110\nAPPROACH_112_JOINTS = [-0.082442, -1.299806, -1.103534, -2.869362, 0.425566, 2.584318, -0.686086]  # t=112\nAPPROACH_115_JOINTS = [-0.054272, -1.282688, -1.095597, -2.862206, 0.452140, 2.607372, -0.699546]  # t=115\nAPPROACH_120_JOINTS = [-0.002051, -1.257356, -1.089025, -2.848849, 0.493987, 2.649352, -0.723431]  # t=120\nAPPROACH_125_JOINTS = [0.063077, -1.232805, -1.086232, -2.831515, 0.535643, 2.698977, -0.746782]  # t=125\nAPPROACH_126_JOINTS = [0.073988, -1.229418, -1.087406, -2.828086, 0.541982, 2.707185, -0.751268]  # t=126\nAPPROACH_130_JOINTS = [0.114024, -1.216518, -1.096583, -2.810511, 0.558767, 2.733375, -0.765978]  # t=130\nAPPROACH_133_JOINTS = [0.141044, -1.208649, -1.105368, -2.796323, 0.564849, 2.747089, -0.773099]  # t=133\nAPPROACH_135_JOINTS = [0.155996, -1.205086, -1.112617, -2.786930, 0.565832, 2.753334, -0.776415]  # t=135\nAPPROACH_140_JOINTS = [0.186795, -1.197531, -1.134362, -2.764509, 0.560787, 2.761594, -0.781871]  # t=140\nAPPROACH_145_JOINTS = [0.211551, -1.195826, -1.156182, -2.752519, 0.552757, 2.766852, -0.788045]  # t=145\nAPPROACH_150_JOINTS = [0.251534, -1.191310, -1.171004, -2.740350, 0.551221, 2.789793, -0.790776]  # t=150\nAPPROACH_155_JOINTS = [0.292154, -1.191410, -1.191477, -2.732700, 0.548523, 2.818604, -0.797091]  # t=155\nAPPROACH_160_JOINTS = [0.318796, -1.200047, -1.247557, -2.733719, 0.531727, 2.840173, -0.826329]  # t=160\nAPPROACH_165_JOINTS = [0.348061, -1.216543, -1.302863, -2.729119, 0.504481, 2.856030, -0.851322]  # t=165\nAPPROACH_170_JOINTS = [0.376822, -1.231479, -1.329819, -2.714672, 0.466947, 2.866667, -0.839880]  # t=170\nAPPROACH_175_JOINTS = [0.411519, -1.242859, -1.344340, -2.702992, 0.429712, 2.886060, -0.813952]  # t=175\nAPPROACH_180_JOINTS = [0.473032, -1.251148, -1.360742, -2.680690, 0.397027, 2.921980, -0.787335]  # t=180\nAPPROACH_185_JOINTS = [0.537764, -1.261634, -1.380454, -2.658417, 0.358699, 2.962866, -0.758358]  # t=185\nAPPROACH_190_JOINTS = [0.586317, -1.277051, -1.412838, -2.638535, 0.308361, 2.993254, -0.732601]  # t=190\nAPPROACH_195_JOINTS = [0.633179, -1.293921, -1.447456, -2.615994, 0.251404, 3.014608, -0.705910]  # t=195\nAPPROACH_200_JOINTS = [0.680104, -1.312201, -1.483380, -2.596218, 0.194325, 3.037105, -0.680805]  # t=200\nAPPROACH_205_JOINTS = [0.720713, -1.332082, -1.519619, -2.581650, 0.138614, 3.060360, -0.659229]  # t=205\nAPPROACH_209_JOINTS = [0.749348, -1.347559, -1.543826, -2.570012, 0.095851, 3.078469, -0.641877]  # t=209\nPRESS_211_JOINTS = [0.757626, -1.353259, -1.551427, -2.561964, 0.075066, 3.089289, -0.631008]  # t=211\nPRESS_213_JOINTS = [0.764294, -1.357733, -1.558137, -2.554502, 0.055178, 3.097487, -0.619290]  # t=213\nPRESS_214_JOINTS = [0.767454, -1.359725, -1.561284, -2.550908, 0.045636, 3.101290, -0.613447]  # t=214\nPRESS_215_JOINTS = [0.770499, -1.361610, -1.564379, -2.547199, 0.036392, 3.105021, -0.607721]  # t=215\nPRESS_217_JOINTS = [0.778062, -1.365193, -1.571045, -2.536583, 0.018919, 3.111789, -0.596769]  # t=217\nPRESS_219_JOINTS = [0.783731, -1.368850, -1.577033, -2.526500, 0.002495, 3.115190, -0.586846]  # t=219\nPRESS_221_JOINTS = [0.785204, -1.371933, -1.580209, -2.525581, -0.012222, 3.118722, -0.575471]  # t=221\nPRESS_223_JOINTS = [0.784631, -1.374010, -1.582053, -2.528898, -0.025695, 3.122458, -0.564594]  # t=223\nPRESS_225_JOINTS = [0.784318, -1.375511, -1.583819, -2.531243, -0.037608, 3.125839, -0.554800]  # t=225\nPRESS_227_JOINTS = [0.784180, -1.377053, -1.585489, -2.532778, -0.047979, 3.128415, -0.546455]  # t=227\nPRESS_229_JOINTS = [0.783842, -1.379210, -1.586973, -2.534648, -0.056905, 3.131098, -0.539729]  # t=229\nPRESS_231_JOINTS = [0.782878, -1.380894, -1.587969, -2.537990, -0.064414, 3.134489, -0.533286]  # t=231\nPRESS_233_JOINTS = [0.780443, -1.385888, -1.588403, -2.544627, -0.068577, 3.139304, -0.524647]  # t=233\nPRESS_235_JOINTS = [0.775378, -1.394994, -1.587435, -2.556639, -0.067542, 3.145066, -0.507837]  # t=235\nPRESS_237_JOINTS = [0.769840, -1.406124, -1.585458, -2.568200, -0.062168, 3.147855, -0.483060]  # t=237\nPRESS_239_JOINTS = [0.765967, -1.414781, -1.583523, -2.573932, -0.055451, 3.145897, -0.456428]  # t=239\nPRESS_241_JOINTS = [0.764151, -1.417896, -1.581779, -2.574301, -0.048096, 3.142137, -0.428673]  # t=241\nPRESS_243_JOINTS = [0.762000, -1.416457, -1.578987, -2.573665, -0.040021, 3.134760, -0.399486]  # t=243\nPRESS_245_JOINTS = [0.759410, -1.412521, -1.575285, -2.573596, -0.030722, 3.127264, -0.368996]  # t=245\nPRESS_247_JOINTS = [0.756928, -1.405086, -1.570864, -2.571896, -0.020049, 3.116594, -0.336341]  # t=247\nPRESS_249_JOINTS = [0.754501, -1.393746, -1.565773, -2.567942, -0.008121, 3.101229, -0.301410]  # t=249\nPRESS_250_JOINTS = [0.753188, -1.387273, -1.562991, -2.565545, -0.001620, 3.092316, -0.283345]  # t=250\nPRESS_251_JOINTS = [0.751663, -1.380503, -1.559978, -2.563012, 0.005233, 3.082305, -0.265011]  # t=251\nPRESS_253_JOINTS = [0.748170, -1.366894, -1.553462, -2.558058, 0.020168, 3.061234, -0.227925]  # t=253\nPRESS_255_JOINTS = [0.744683, -1.355804, -1.547026, -2.552822, 0.037438, 3.039613, -0.191633]  # t=255\nPRESS_257_JOINTS = [0.741084, -1.349029, -1.540724, -2.547471, 0.057789, 3.017091, -0.156873]  # t=257\nPRESS_259_JOINTS = [0.737380, -1.351097, -1.534988, -2.543198, 0.083448, 2.996825, -0.125502]  # t=259\nPRESS_261_JOINTS = [0.733655, -1.358679, -1.530040, -2.539712, 0.112717, 2.979843, -0.098029]  # t=261\nPRESS_262_JOINTS = [0.731016, -1.364416, -1.527110, -2.539236, 0.128563, 2.972561, -0.085734]  # t=262\nPRESS_263_JOINTS = [0.728966, -1.370289, -1.525119, -2.537607, 0.144543, 2.964938, -0.074483]  # t=263\nPRESS_264_JOINTS = [0.727243, -1.376553, -1.523723, -2.535397, 0.160739, 2.957311, -0.064413]  # t=264\nPRESS_265_JOINTS = [0.725965, -1.382761, -1.522790, -2.533237, 0.177004, 2.951369, -0.055141]  # t=265\nPRESS_267_JOINTS = [0.724625, -1.393247, -1.521642, -2.528750, 0.209022, 2.942474, -0.036460]  # t=267\nPRESS_269_JOINTS = [0.724919, -1.399250, -1.521994, -2.522824, 0.238403, 2.934651, -0.017084]  # t=269\nPRESS_270_JOINTS = [0.725315, -1.400681, -1.522395, -2.519662, 0.251931, 2.930772, -0.007091]  # t=270\nAPPROACH_000_JOINTS = [-0.013751, -1.037136, -0.048939, -2.290316, 0.037213, 1.527349, 0.693090]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_004_JOINTS, input_type='joint', steps=2, 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_010_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_013_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_015_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_017_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_020_JOINTS, input_type='joint', steps=3, 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_025_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_031_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_035_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_040_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_045_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_051_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_054_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_055_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_059_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_060_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_063_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_065_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_067_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_070_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_075_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_076_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_079_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_082_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_085_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_090_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_093_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_095_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_097_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_100_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_105_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_110_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_112_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_115_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_120_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_125_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_126_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_130_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_133_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_135_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_140_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_145_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_150_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_155_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_160_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_165_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_170_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_175_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_180_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_185_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_190_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_195_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_200_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_205_JOINTS, input_type='joint', steps=5, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_209_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_211_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_213_JOINTS, input_type='joint', steps=2, 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_215_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_217_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_219_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_221_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_223_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_225_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_227_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_229_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_231_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_233_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_235_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_237_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_239_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_241_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_243_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_245_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_247_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_249_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_250_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_251_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_253_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_255_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_257_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_259_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_261_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_262_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_263_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_264_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_265_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_267_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_269_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=1.000)\n    moveJoint(PRESS_270_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=1.000)\n\nmove_to_control_panel()\npress_control()\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": 22326, "code_num_lines": 242, "code_num_nonblank_lines": 233, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"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}},\"initial_state\":[0.5000000000000003,10.46830369729422,9.203448265645488,2.154720561502158e-07,2.04260115138257e-08,-0.013587220635338978,-1.037136588979465,-0.04870969805691916,-2.2903275848481117,0.03743908193928671,1.5273565462106893,0.6931520889711502,0.020565732923977165,-0.020500826253505338,0.0,0.0,0.0,0.0,-3.924828959194042e-16,-3.955801959857686e-16,-3.955801959857686e-16,0.0,0.0,0.0,0.0,0.0,0.0,-0.007052449708738713,-4.049236707507101e-09,-0.00025624695832824105,7.506871369658189e-09,9.227062515673331e-07,0.0,-5.830989889518593e-16,-4.866779045559918e-15,-4.905184083564075e-15,-4.905184083564075e-15,0.0,-2.7159125328798315e-14,2.118749141052219e-15,-1.3039817342377085e-05,-0.005507899201704398,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.1271937476368887e-16,-2.9169457338785178e-05,-1.5132054503792482e-09,-5.824390703653325e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-4.993065106524524e-15,0.0,-2.4160026992081106e-16,0.0,0.0,-3.05097257126618e-16,0.0,-2.4160026992081106e-16,0.0,0.0,-0.00027110642179869316,0.0,-1.9908634307732807e-10,-1.9908643547328834e-10,0.0,0.0,-4.368650169165982e-15,-4.368650169165982e-15,0.0,-5.026522198706049e-16,0.0,4.488297689432505e-17,-1.878001167675008e-15,4.714304206167733e-17,-9.145089567089848e-16,0.0,4.488297689431218e-17,-1.878001167675008e-15,-6.486875085753898e-07,-1.8568743211915916e-07,-2.874951947491341e-06,3.015626399934597e-07,-8.132306193657104e-06,2.1647182685220543e-06,-0.0006352675360144105,0.0010813432199088162,-0.0007773347139740364,-0.0009937985941796117,-0.00010559352636818834,-0.000446852892564103,0.0004891968150240461,0.0,0.0,0.0,0.0,-1.4950722495180014e-17,-1.5751516052565798e-17,-1.5751516052565798e-17,0.0,0.0,0.0,0.0,0.0,0.0,-5.194386241574035e-07,-7.313460281384454e-11,-1.1557779642475317e-06,1.5275199162588755e-08,1.877549384798564e-06,0.0,2.234044387479958e-62,-1.853867067524097e-16,-1.9531607765625234e-16,-1.9531607765625234e-16,0.0,1.6571117735235392e-27,1.2358940896347264e-62,-2.3028283743559192e-07,-4.040252286188256e-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,-1.631527021982401e-17,-4.844484339242464e-07,-2.733050406368479e-11,-1.0519624807028193e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.7476985531082465e-62,0.0,-1.0613501246581742e-17,0.0,0.0,-3.0056241122078334e-64,0.0,-1.0613501246581742e-17,0.0,0.0,-1.3261053680469503e-06,-7.09441660518597e-07,-3.5957642920559344e-12,-3.5957659553466748e-12,0.0,0.0,-2.1270316111009143e-16,-2.1270316111009143e-16,0.0,-2.5299693416181193e-63,0.0,9.578206137310404e-17,-7.027052674282738e-17,9.922293365999376e-17,-7.107377209395582e-133,0.0,9.578206137308391e-17,-7.027052674282738e-17],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 100, "pretrain_task_id": 63, "retained_waypoint_count": 100, "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": 475612, "video_relpath": "videos/raw_extracted/63_TurnOnToasterOven.mp4"}
{"code": "# Open-loop trajectory-fit action2code policy generated from the RoboCasa GT EE trajectory\n# Task: TurnSinkSpout\n# Episode: episode_000000\n\nfrom primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait\n\nSCENE_ARTIFACT = '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_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': 'TurnSinkSpout',\n    'episode_id': 'episode_000000',\n    'scene_artifact_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene.json',\n    'fitting_summary_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_fitting-summary.json',\n    'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json',\n    'stable_grasp_contact_t': 87,\n    'stable_release_contact_loss_t': 87,\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=3.518606, y=-2.154615, z=0.945387, qw=0.446282, qx=-0.014680, qy=0.047569, qz=-0.893507)\n\nAPPROACH_002_JOINTS = [0.021817, -1.023278, -0.007162, -2.278152, 0.037389, 1.558019, 0.700498]  # t=2\nAPPROACH_003_JOINTS = [0.021010, -1.025053, -0.000117, -2.273938, 0.043399, 1.562177, 0.703289]  # t=3\nAPPROACH_004_JOINTS = [0.020243, -1.029154, 0.009532, -2.266018, 0.050681, 1.570403, 0.707843]  # t=4\nAPPROACH_007_JOINTS = [0.019865, -1.044065, 0.055238, -2.234205, 0.091524, 1.617211, 0.734227]  # t=7\nAPPROACH_008_JOINTS = [0.020163, -1.048889, 0.075840, -2.223166, 0.109354, 1.638786, 0.748233]  # t=8\nAPPROACH_010_JOINTS = [0.020482, -1.057370, 0.120878, -2.205329, 0.142574, 1.686864, 0.781491]  # t=10\nAPPROACH_012_JOINTS = [0.019895, -1.066187, 0.160698, -2.194778, 0.163820, 1.728395, 0.812001]  # t=12\nAPPROACH_013_JOINTS = [0.019560, -1.068830, 0.179220, -2.193687, 0.172221, 1.745579, 0.824715]  # t=13\nAPPROACH_016_JOINTS = [0.018571, -1.070055, 0.238319, -2.195329, 0.195033, 1.784893, 0.867614]  # t=16\nAPPROACH_020_JOINTS = [0.015524, -1.056266, 0.309818, -2.195766, 0.217557, 1.841611, 0.922989]  # t=20\nAPPROACH_021_JOINTS = [0.014546, -1.050753, 0.325044, -2.198442, 0.224147, 1.860815, 0.936620]  # t=21\nAPPROACH_024_JOINTS = [0.012451, -1.036887, 0.363788, -2.220629, 0.246776, 1.932409, 0.972770]  # t=24\nAPPROACH_027_JOINTS = [0.010233, -1.019717, 0.382143, -2.253500, 0.265413, 2.020101, 0.980403]  # t=27\nAPPROACH_028_JOINTS = [0.011402, -1.016861, 0.382523, -2.261760, 0.272247, 2.038832, 0.969491]  # t=28\nAPPROACH_030_JOINTS = [0.012715, -1.005034, 0.378153, -2.272919, 0.285823, 2.074734, 0.942766]  # t=30\nAPPROACH_032_JOINTS = [0.009061, -0.970750, 0.379160, -2.268737, 0.301048, 2.128746, 0.935696]  # t=32\nAPPROACH_036_JOINTS = [-0.003585, -0.883776, 0.403082, -2.219786, 0.302420, 2.196500, 0.949551]  # t=36\nAPPROACH_040_JOINTS = [-0.024258, -0.770526, 0.436306, -2.164777, 0.276797, 2.237090, 0.982403]  # t=40\nAPPROACH_042_JOINTS = [-0.031899, -0.741702, 0.444468, -2.154462, 0.253382, 2.228471, 1.011669]  # t=42\nAPPROACH_044_JOINTS = [-0.036921, -0.737280, 0.445108, -2.164764, 0.226061, 2.216351, 1.049625]  # t=44\nAPPROACH_048_JOINTS = [-0.046668, -0.720416, 0.460116, -2.212314, 0.177380, 2.249408, 1.133621]  # t=48\nAPPROACH_050_JOINTS = [-0.055266, -0.692056, 0.475419, -2.228621, 0.149074, 2.297838, 1.177566]  # t=50\nAPPROACH_052_JOINTS = [-0.063889, -0.653144, 0.495414, -2.228342, 0.122509, 2.347302, 1.215511]  # t=52\nAPPROACH_056_JOINTS = [-0.083918, -0.554466, 0.533892, -2.191420, 0.061056, 2.424093, 1.280319]  # t=56\nAPPROACH_060_JOINTS = [-0.104293, -0.451134, 0.565326, -2.148811, -0.018911, 2.470109, 1.350021]  # t=60\nAPPROACH_064_JOINTS = [-0.123545, -0.332157, 0.595258, -2.102318, -0.128763, 2.534935, 1.440308]  # t=64\nAPPROACH_068_JOINTS = [-0.130382, -0.210097, 0.620838, -1.996633, -0.258434, 2.538833, 1.538824]  # t=68\nAPPROACH_069_JOINTS = [-0.127880, -0.183119, 0.626699, -1.969794, -0.289268, 2.529912, 1.562428]  # t=69\nAPPROACH_072_JOINTS = [-0.106199, -0.138295, 0.644253, -1.913412, -0.348384, 2.470224, 1.637117]  # t=72\nPRESS_074_JOINTS = [-0.086923, -0.115242, 0.645240, -1.886423, -0.363558, 2.444320, 1.666554]  # t=74\nPRESS_076_JOINTS = [-0.065741, -0.104454, 0.638509, -1.878477, -0.359623, 2.437022, 1.679686]  # t=76\nPRESS_078_JOINTS = [-0.045071, -0.092121, 0.627365, -1.871341, -0.347432, 2.453251, 1.684132]  # t=78\nPRESS_079_JOINTS = [-0.034939, -0.083444, 0.623115, -1.866984, -0.344493, 2.467433, 1.691605]  # t=79\nPRESS_080_JOINTS = [-0.025133, -0.073668, 0.619286, -1.863977, -0.345341, 2.484969, 1.703343]  # t=80\nPRESS_081_JOINTS = [-0.015680, -0.064727, 0.615437, -1.862956, -0.350149, 2.508559, 1.719014]  # t=81\nPRESS_082_JOINTS = [-0.006614, -0.057521, 0.611034, -1.867061, -0.357396, 2.538390, 1.737048]  # t=82\nPRESS_084_JOINTS = [0.010102, -0.045763, 0.599974, -1.885616, -0.376530, 2.618599, 1.774431]  # t=84\nPRESS_086_JOINTS = [0.024610, -0.035336, 0.585609, -1.904890, -0.394659, 2.710345, 1.818562]  # t=86\nPRESS_087_JOINTS = [0.031275, -0.027554, 0.578430, -1.913289, -0.405220, 2.755105, 1.840897]  # t=87\nPRESS_088_JOINTS = [0.037730, -0.017050, 0.571736, -1.918319, -0.417251, 2.798504, 1.864591]  # t=88\nPRESS_090_JOINTS = [0.050678, 0.011544, 0.559648, -1.915875, -0.446681, 2.875777, 1.918560]  # t=90\nPRESS_091_JOINTS = [0.057390, 0.028036, 0.553176, -1.911293, -0.466579, 2.910120, 1.946430]  # t=91\nPRESS_092_JOINTS = [0.064534, 0.045307, 0.545916, -1.905097, -0.490527, 2.941826, 1.974538]  # t=92\nPRESS_094_JOINTS = [0.081349, 0.081848, 0.529004, -1.885578, -0.547130, 2.997437, 2.033016]  # t=94\nPRESS_096_JOINTS = [0.103007, 0.120855, 0.506952, -1.857579, -0.612256, 3.043134, 2.094216]  # t=96\nPRESS_097_JOINTS = [0.116191, 0.140570, 0.493675, -1.840353, -0.646275, 3.060951, 2.126072]  # t=97\nPRESS_098_JOINTS = [0.130815, 0.157112, 0.478731, -1.824069, -0.679725, 3.074367, 2.159088]  # t=98\nPRESS_100_JOINTS = [0.163841, 0.183927, 0.445731, -1.791966, -0.741240, 3.087348, 2.225500]  # t=100\nPRESS_101_JOINTS = [0.181314, 0.193423, 0.428377, -1.778165, -0.768702, 3.088173, 2.256908]  # t=101\nPRESS_102_JOINTS = [0.198816, 0.200417, 0.411054, -1.765900, -0.793678, 3.086582, 2.286972]  # t=102\nAPPROACH_000_JOINTS = [0.022622, -1.023282, -0.011191, -2.278173, 0.033250, 1.557661, 0.699607]  # 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_002_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_003_JOINTS, input_type='joint', steps=1, 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_007_JOINTS, input_type='joint', steps=3, 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_010_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_012_JOINTS, input_type='joint', steps=2, 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_020_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_021_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_024_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_027_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_028_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_030_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_032_JOINTS, input_type='joint', steps=2, 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_042_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_044_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_048_JOINTS, input_type='joint', steps=4, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_050_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_052_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_056_JOINTS, input_type='joint', steps=4, 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_069_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(APPROACH_072_JOINTS, input_type='joint', steps=3, settle_steps=0, gripper=-1.000)\n\ndef press_control():\n    \"\"\"Execute the short interaction path that actuates the control.\"\"\"\n    moveJoint(PRESS_074_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_076_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_078_JOINTS, input_type='joint', steps=2, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_079_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_080_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_081_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_082_JOINTS, input_type='joint', steps=1, 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_086_JOINTS, input_type='joint', steps=2, 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_091_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_092_JOINTS, input_type='joint', steps=1, 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_097_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_098_JOINTS, input_type='joint', steps=1, 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_101_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n    moveJoint(PRESS_102_JOINTS, input_type='joint', steps=1, settle_steps=0, gripper=-1.000)\n\nmove_to_control_panel()\npress_control()\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": 12337, "code_num_lines": 144, "code_num_nonblank_lines": 135, "compressed_candidate_available": null, "dataset_type": "raw_extracted", "episode_index": 0, "final_code_state": null, "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\":\"TurnSinkSpout\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnSinkSpout\",\"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_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_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_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\"}", "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\":\"TurnSinkSpout\",\"layout_and_style_ids\":null,\"layout_ids\":-2,\"obj_instance_split\":\"pretrain\",\"robots\":\"PandaOmron\",\"style_ids\":-2,\"translucent_robot\":false},\"env_name\":\"TurnSinkSpout\",\"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_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_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_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}},\"initial_state\":[0.5000000000000003,-11.714630224458316,-6.964966497971504,-2.031409774418001e-07,3.017517430285903e-08,0.023856169189483446,-1.0232914926389043,-0.012282552650768695,-2.278171575489867,0.031989583018151004,1.5576598408460811,0.6999710671574161,0.0205265096454293,-0.020540049715347234,-0.0001359528801968948,-9.17108342857414e-09,7.402695295010792e-09,1.5975837640410537e-08,5.889877532113032e-08,-3.4614842751419314e-09,-2.841173280099228e-09,0.0,-4.0523285465176414e-17,-4.0170499175975734e-17,-4.0170499175975734e-17,-4.0523285465176414e-17,-4.0170499175975734e-17,-4.0170499175975734e-17,-4.0523285465176414e-17,-4.0170499175975734e-17,-4.0170499175975734e-17,-4.0523285465176414e-17,-4.0170499175975734e-17,-4.0170499175975734e-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,-5.550688030110921e-10,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-3.4113801370244043e-12,3.8838629294631845e-09,-4.624371081408638e-11,1.3333746750327614e-05,0.0,0.0,-8.028294928198291e-05,-7.956541963788362e-05,-0.0003892969305032284,1.7205635305055167e-07,9.026417815802115e-07,-0.0003649063254948467,0.0,0.0,-4.026329141413808e-05,-0.001558635554819531,-0.0018617814965554145,0.0,0.0,0.0,0.0,-5.93975962089808e-16,-5.598833827734453e-16,0.0,-0.007444881871471131,-1.9262976252464286e-10,-0.0008177975606801734,0.0,-1.032512619884605e-15,-1.032512619884605e-15,-1.032512619884605e-15,-1.032512619884605e-15,3.5186116489329406,-2.1546669920429196,0.9453882559658895,0.44404035355125226,-0.014442946574712663,0.0476032780026298,-0.89462477812529,3.3834160101620934,-1.5622728602761964,0.7981421523881985,0.6376742579644441,-2.3375094481734843e-05,-7.861630876663067e-05,-0.7703061300564702,6.510898366954816e-07,4.2959928677926527e-07,2.8288200147507574e-06,5.672698878808933e-08,8.66723668763899e-06,0.00051148221237847,0.0006247937934215331,-2.98837635839948e-05,0.000768377440598311,0.0001325855165772885,0.00010957515491880877,-0.00044807229864111844,0.00048797772996173045,-6.526616841808196e-07,-1.6563927435993934e-10,1.506315264549983e-08,3.250795439126635e-08,1.1984840763101085e-07,-6.251799461041586e-11,-5.131453899755352e-11,0.0,-5.733006607023473e-18,-5.163891898369531e-18,-5.163891898369531e-18,-5.733006607023473e-18,-5.163891898369531e-18,-5.163891898369531e-18,-5.733006607023473e-18,-5.163891898369531e-18,-5.163891898369531e-18,-5.733006607023473e-18,-5.163891898369531e-18,-5.163891898369531e-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,-1.0026248010932742e-11,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-1.5499416891229743e-06,-6.161306372136011e-14,7.902962187818933e-09,-8.352093761885458e-13,2.4813090205055466e-05,0.0,0.0,-1.5889286715410824e-06,-1.576532275462673e-06,-1.6172119714502257e-07,3.501052147834562e-07,1.8367214490509985e-06,-3.520319094122022e-08,0.0,0.0,-9.482765233227552e-06,8.002578820644188e-06,6.311054063935895e-07,0.0,0.0,0.0,0.0,-3.98988874651195e-17,-2.4542880095370605e-17,0.0,-5.429560643396731e-07,-3.479093279829682e-12,-1.2166823171519456e-12,0.0,-4.0756239195490055e-17,-4.0756239195490055e-17,-4.0756239195490055e-17,-4.0756239195490055e-17,0.0005767478805917885,0.0006336401235494025,-0.0001704610934575471,-0.003510350116906414,-0.02503000033696769,-0.0008347207284532885,6.0641080613737054e-06,-3.46635984445964e-06,1.6782362917295e-05,-0.00033224046808932867,0.00011206253475755532,1.3637991762488021e-08],\"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\"}", "is_source_compressed_policy_file": false, "motion_primitive_count": 51, "pretrain_task_id": 64, "retained_waypoint_count": 51, "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 the sink spout to the left.", "task_name": "TurnSinkSpout", "video_available": true, "video_bytes": 318828, "video_relpath": "videos/raw_extracted/64_TurnSinkSpout.mp4"}