# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/MakeIcedCoffee/seed_195/episode_000000/refinement/20260403/MakeIcedCoffee/iter_001/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 3, 1: 2, 2: 3, 3: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'MakeIcedCoffee', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/MakeIcedCoffee/20260324_205303_make-iced-coffee_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 171, 'stable_release_contact_loss_t': 332, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.053261, -1.057428, 0.009055, -2.280279, 0.047029, 1.525328, 0.70382], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.033252, -0.442377, 0.413067, -2.630786, 0.221977, 2.243973, 0.577462], 'input_type': 'joint', 'steps': 104, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.063678, -0.259471, 0.468541, -2.544261, -0.194785, 2.226896, -0.050777], 'input_type': 'joint', 'steps': 58, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.064249, -0.256534, 0.469969, -2.540597, -0.203218, 2.222297, -0.055072], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.06722, -0.242701, 0.473517, -2.527079, -0.228322, 2.211918, -0.060579], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [0.068032, -0.241897, 0.473104, -2.525477, -0.228699, 2.210196, -0.060171], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.024615, -1.181681, -0.031793, -2.629517, 0.124562, 1.75756, 0.848196], 'input_type': 'joint', 'steps': 77, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], 'input_type': 'joint', 'steps': 83, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.024931, -0.852038, 0.045664, -2.841036, 0.015985, 2.293705, 0.861597], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.0195, -1.762968, 0.005951, -2.55639, 0.025996, 1.523833, 0.85277], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[0.067659, -0.242199, 0.473386, -2.526155, -0.228554, 2.2109, -0.060233], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.1, hold_target=[0.067659, -0.242199, 0.473386, -2.526155, -0.228554, 2.2109, -0.060233], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', gripper=1.0)
release(hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.024834, -0.859904, 0.045667, -2.845345, 0.016126, 2.290768, 0.86159], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick up an ice cube and place it in the glass of coffee.

all bowl receptacle stackable group1 container_set2


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 1, 1: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'NavigateKitchen', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/NavigateKitchen/20260324_205304_navigate-kitchen_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 0, 'stable_release_contact_loss_t': 155, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [0.015075, -0.996273, -0.029384, -2.296258, 0.01899, 1.513406, 0.6852], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
moveWholeBodyPath(body_waypoints=[pose(x=0.456689, y=-0.002129, z=1.275943, qw=0.06444, qx=0.66683, qy=0.737268, qz=0.0873), pose(x=0.457511, y=-0.001436, z=1.277556, qw=0.061794, qx=0.66731, qy=0.737303, qz=0.085231)], base_waypoints=[[1.459233, -3.068363, -0.000846], [1.252728, -0.867127, -4.69968]], base_modes=[1.0, 1.0], torso_targets=[0.0, 0.000009], segment_steps=[4, 152], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 2, 1: 3, 2: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenBlenderLid', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenBlenderLid/20260324_205305_open-blender-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 184, 'stable_release_contact_loss_t': 184, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.027772, -1.002051, -0.023663, -2.292466, 0.056263, 1.495511, 0.703285], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.036559, -0.508632, -0.192916, -1.702642, -0.155189, 1.318592, 1.007853], 'input_type': 'joint', 'steps': 74, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.036578, -0.508602, -0.193252, -1.70252, -0.154522, 1.318589, 1.007816], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.029294, -0.579321, -0.087749, -1.517029, -0.05267, 1.197009, 1.122499], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.090756, -0.995459, 0.744162, -2.993028, 0.57412, 2.465266, 1.505287], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.085694, -0.95659, 0.756333, -2.998628, 0.583546, 2.505618, 1.502775], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.157149, -1.764405, 0.173115, -2.60481, 0.097236, 1.688123, 1.617657], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)

Open the blender by taking off the lid and placing it on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenCabinet/20260413_k22_OpenCabinet_source-compressed.py; retained_waypoints=20; fingerprint=344ac18f1c30; keep_indices={0: [0, 1, 2, 3, 4, 5, 6], 1: [0, 2, 3, 4, 6], 2: [0, 1, 2, 3, 4, 5, 6, 7]}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenCabinet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenCabinet/20260324_205306_open-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 153, 'stable_release_contact_loss_t': 153, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.050354, -1.040944, -0.016365, -2.271171, 0.041964, 1.499065, 0.688404], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.039864, -1.195132, 0.022485, -2.273344, 0.04279, 1.509222, 0.707758], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.027196, -1.293587, 0.086717, -2.225698, 0.126497, 1.653085, 0.801036], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.020907, -1.09334, 0.08565, -2.058312, 0.230902, 1.845715, 0.906835], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.026511, -0.988054, 0.148472, -1.981541, 0.166764, 2.033463, 0.890864], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.038547, -0.877174, 0.177162, -2.040268, 0.101344, 2.34158, 0.883029], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.047581, -0.744829, 0.193035, -2.055084, 0.066936, 2.60922, 0.888888], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.049464, -0.72438, 0.196722, -2.056274, 0.059775, 2.653111, 0.892119], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.073096, -0.691518, 0.216012, -2.12385, -0.00797, 2.922954, 1.016081], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.101635, -0.872823, 0.217852, -2.241547, -0.074036, 2.908183, 1.104178], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.109476, -1.047753, 0.20733, -2.333396, -0.094978, 2.864968, 1.143145], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.060342, -1.424833, 0.076855, -2.436515, -0.067972, 2.614684, 1.008878], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.059062, -1.451114, 0.066866, -2.437068, -0.069406, 2.59098, 0.998566], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.05878, -1.596957, -0.004481, -2.45442, -0.112932, 2.515275, 0.877843], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.035083, -1.621006, 0.107845, -2.406247, -0.073979, 2.476904, 0.756309], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.167397, -1.358519, 0.438571, -2.230464, -0.460666, 2.3187, 0.978284], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.231938, -1.165107, 0.462862, -2.279355, -0.971242, 2.086098, 1.320359], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.128379, -1.36668, 0.187013, -2.430009, -1.293482, 1.776841, 1.270472], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.117224, -1.291535, -0.194379, -2.381712, -1.617294, 1.88256, 1.389888], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.116596, -1.236701, -0.333833, -2.33269, -1.757382, 2.001913, 1.684631], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)

all fish meat food in_container oven_ready


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 4, 1: 3, 2: 2, 3: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenDishwasher', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDishwasher/20260324_205307_open-dishwasher_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 121, 'stable_release_contact_loss_t': 121, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.026551, -1.011721, -0.020807, -2.28342, 0.026653, 1.51584, 0.683065], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.124709, -1.42782, -0.459006, -2.451413, -0.108067, 1.509971, 0.769402], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.156714, -1.260053, -1.866913, -2.386007, 0.127696, 2.460593, 0.475503], 'input_type': 'joint', 'steps': 38, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.631407, -1.731059, -2.090025, -2.134887, -0.088783, 2.83656, 0.395287], 'input_type': 'joint', 'steps': 30, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.628517, -1.736177, -2.090721, -2.140649, -0.096366, 2.852729, 0.394344], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.677929, -1.631455, -2.121771, -2.187824, 0.034855, 3.080056, 0.669281], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.359276, -1.763146, -2.432257, -1.565221, 0.699233, 1.914557, -0.280079], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.331632, -1.763154, -2.445202, -1.576532, 0.754847, 1.936978, -0.359541], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.300735, -1.763137, -2.448942, -1.606458, 0.811754, 1.965129, -0.443862], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.08032, -1.763213, -2.400594, -1.880467, 1.431053, 2.268292, -1.175191], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.041866, -1.763096, -2.393352, -1.961349, 2.002592, 2.211798, -1.685826], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 3, 1: 3}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenDrawer/20260324_205308_open-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 169, 'stable_release_contact_loss_t': 169, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.022245, -1.048325, -0.037527, -2.278245, 0.031587, 1.518674, 0.698715], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.240481, -1.098678, 1.36776, -2.536105, 0.213241, 2.083064, 0.445526], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.38838, -1.524694, 2.076003, -2.528434, -0.105943, 2.932101, 1.202628], 'input_type': 'joint', 'steps': 68, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.38379, -1.535693, 2.076555, -2.531728, -0.111059, 2.945781, 1.220554], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.078689, -1.25209, 2.100288, -2.513137, -0.204009, 2.458867, 1.523168], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.219235, -1.365488, 2.098892, -1.914675, -0.002778, 1.903042, 1.562776], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': 1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)

all bowl stackable receptacle group1 container_set2


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 5, 1: 6}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenElectricKettleLid', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenElectricKettleLid/20260324_205309_open-electric-kettle-lid_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 43, 'stable_release_contact_loss_t': 43, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.007052, -1.025241, -0.033795, -2.316659, 0.04977, 1.51474, 0.721474], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.009215, -1.030215, -0.043091, -2.3191, 0.043818, 1.506176, 0.716775], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.012989, -1.041505, -0.064312, -2.328418, 0.030849, 1.495532, 0.702325], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.015337, -1.047496, -0.07961, -2.336138, 0.023466, 1.494393, 0.692196], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.024865, -1.058378, -0.140312, -2.36791, -0.005744, 1.513274, 0.66615], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.036705, -1.061335, -0.197324, -2.405031, -0.047545, 1.545862, 0.665279], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.053662, -0.898318, -0.276042, -2.475292, -0.115397, 1.759205, 0.81947], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.049447, -0.721939, -0.262924, -2.473482, -0.09002, 1.93944, 0.996373], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.047145, -0.63391, -0.241921, -2.41743, -0.071113, 1.976918, 1.074122], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.050536, -0.60027, -0.24171, -2.366931, -0.052548, 1.97767, 1.12936], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.186694, -1.269949, -0.347012, -2.588847, -0.188778, 1.629431, 1.166823], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)

Press the button to open the lid of the electric kettle.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3_k21_3229d9d7b4ac_OpenFridge_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/OpenFridge/20260413_t3_k21_3229d9d7b4ac_OpenFridge_source-compressed.py; retained_waypoints=20; fingerprint=86cf1d864312; keep_indices={0: [0, 1, 2, 3, 4, 5], 1: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14]}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenFridge', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridge/20260324_205310_open-fridge_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 172, 'stable_release_contact_loss_t': 172, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [0.005834, -1.047178, -0.032023, -2.283393, 0.056499, 1.51766, 0.696908], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.000972, -1.20539, 0.10262, -2.455116, 0.129824, 2.052812, 0.735574], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.007702, -1.045082, 0.153419, -2.459001, 0.119953, 2.221678, 0.755943], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.031174, -0.847885, 0.172708, -2.367514, 0.05035, 2.281218, 0.79348], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.039747, -0.328352, 0.198818, -2.029211, -0.287585, 2.327174, 1.095367], 'input_type': 'joint', 'steps': 36, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.091843, -0.359953, 0.146938, -2.290606, -0.570487, 3.007044, 1.482187], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.104724, -0.350098, 0.145384, -2.298885, -0.599409, 3.070623, 1.513726], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.195877, -0.286282, 0.16374, -2.322454, -0.680613, 3.395673, 1.576073], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.251749, -0.195321, 0.188518, -2.356228, -0.576969, 3.744509, 1.423762], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.246089, -0.191914, 0.203059, -2.379863, -0.465157, 3.750078, 1.305485], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.217508, -0.547627, 0.362253, -2.52085, 0.414004, 3.195749, 0.716196], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.221948, -0.842291, 0.309043, -2.643161, 0.321228, 2.880871, 0.911857], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.057314, -1.202098, 0.050055, -2.849555, 0.247931, 2.744747, 0.809574], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.186839, -1.764526, -0.394325, -2.906311, 0.001555, 2.250495, 0.586704], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.264313, -1.753433, -0.648327, -2.687271, -0.101655, 1.95742, 0.399849], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.198565, -1.517248, -0.981937, -2.221463, -0.12074, 1.789549, 0.116678], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.1674, -1.474123, -1.029225, -2.153396, -0.101295, 1.78379, 0.083031], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.087013, -1.393054, -1.131408, -2.025088, -0.050293, 1.792433, 0.030436], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.150735, -1.275424, -1.34395, -1.832, 0.034976, 2.015312, 0.046979], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.602956, -1.348169, -1.544111, -1.35188, -0.122218, 2.532092, 0.257972], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)
wait(duration=0.2, hold_target=[0.602956, -1.348169, -1.544111, -1.35188, -0.122218, 2.532092, 0.257972], input_type='joint', gripper=1.0)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenFridgeDrawer/seed_195/episode_000000/refinement/20260403/OpenFridgeDrawer/iter_005/candidate.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 1, 1: 2, 2: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenFridgeDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenFridgeDrawer/20260324_205311_open-fridge-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 122, 'stable_release_contact_loss_t': 122, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [0.014242, -1.064884, -0.017011, -2.295262, 0.015505, 1.500089, 0.683763], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.019202, -0.502677, 0.105146, -2.554038, 0.080712, 2.314932, 0.918163], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.145965, -1.762827, -0.294213, -2.321704, 0.023172, 1.071265, 0.704866], 'input_type': 'joint', 'steps': 59, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
moveWholeBodyPath(body_waypoints=[pose(x=0.435494, y=0.000769, z=1.291793, qw=0.088905, qx=0.661481, qy=0.737802, qz=0.100927), pose(x=0.628619, y=0.040793, z=1.070848, qw=0.072814, qx=0.740204, qy=0.659579, qz=0.108406)], base_waypoints=[[1.305894, -3.417518, -3.141583], [1.398745, -3.503364, -3.141645]], base_modes=[1.0, 1.0], torso_targets=[0.000001, 0.000049], segment_steps=[3, 93], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=0.702636, base_xy_priority=0.702636, base_yaw_priority=0.001641, base_position_gain=4.905272, base_yaw_gain=3.223879, base_position_ff_gain=16.863267, base_yaw_ff_gain=4.245352, base_ee_anchor_mix=0.543287)
run_joint_sequence(MOTION_SEQUENCE_01)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260414/OpenMicrowave/20260414_openmicro_cubic49_a_e539a3c9bb16_OpenMicrowave_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260414/OpenMicrowave/20260414_openmicro_cubic49_a_e539a3c9bb16_OpenMicrowave_source-compressed.py; retained_waypoints=13; fingerprint=ef1fb44b2aa3; keep_indices={0: [0, 12, 19], 1: [0, 8], 2: [0, 4, 6, 9]}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenMicrowave/20260324_205312_open-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 234, 'stable_release_contact_loss_t': 234, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.027125, -1.035315, -0.00261, -2.280738, 0.056623, 1.531858, 0.691949], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.056388, -1.225889, -0.390564, -2.222747, 0.28072, 2.43463, 0.207061], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.219646, -0.711095, -0.453635, -2.009918, 0.671314, 2.692745, -0.111338], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.21647, -0.710783, -0.449266, -2.013686, 0.674646, 2.703729, -0.111137], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.054201, -1.268041, -0.224032, -2.357355, 0.182563, 2.606945, 0.398971], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)
moveC(via=pose(x=3.328103, y=-0.670982, z=1.522345, qw=-0.015979, qx=-0.00659, qy=-0.723592, qz=-0.690011), target=pose(x=3.281581, y=-0.780196, z=1.568166, qw=-0.072071, qx=-0.031195, qy=-0.766515, qz=-0.637407), steps=11, settle_steps=0, gripper=-1.0, joint_target=[-0.109555, -1.364722, -0.110931, -2.089461, -0.046533, 2.121501, 0.635103])
moveC(via=pose(x=3.392554, y=-0.962444, z=1.525298, qw=0.381743, qx=-0.294701, qy=-0.780873, qz=-0.397066), target=pose(x=3.392995, y=-0.934254, z=1.509991, qw=0.442465, qx=-0.327745, qy=-0.752278, qz=-0.36178), steps=42, settle_steps=0, gripper=-1.0, joint_target=[-0.023935, -1.314832, -0.550274, -1.642121, 0.335201, 1.288401, 1.415331])
moveC(via=pose(x=3.36885, y=-0.658314, z=1.468322, qw=0.644243, qx=-0.358496, qy=-0.662761, qz=-0.131067), target=pose(x=3.305558, y=-0.652492, z=1.469316, qw=0.659584, qx=-0.29199, qy=-0.692533, qz=0.009432), steps=36, settle_steps=0, gripper=-1.0, joint_target=[0.114408, -0.924539, -0.619648, -2.022626, 0.962618, 1.44862, 1.515322])
moveC(via=pose(x=2.870664, y=-0.778412, z=1.50014, qw=0.608732, qx=-0.097099, qy=-0.76704, qz=0.177952), target=pose(x=2.869734, y=-0.773639, z=1.515793, qw=0.598429, qx=-0.119972, qy=-0.776164, qz=0.158302), steps=52, settle_steps=0, gripper=-1.0, joint_target=[0.092499, -0.990749, 0.245427, -2.059135, 1.48525, 1.661436, 1.71715])

all egg dairy food in_container food_set1


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=4; actual_retained_waypoints=4; keep_counts={0: 2, 1: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenOven/20260324_205313_open-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 162, 'stable_release_contact_loss_t': 162, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.017667, -1.017234, -0.03204, -2.265026, 0.088428, 1.549616, 0.674877], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.663137, -1.506192, 1.840837, -2.272424, -0.20833, 2.930812, 1.081338], 'input_type': 'joint', 'steps': 104, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.723567, -1.547773, 1.843366, -2.195185, -0.150303, 2.910681, 1.045209], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.053876, -1.758725, 2.42033, -1.670175, 0.178318, 2.147417, 1.633229], 'input_type': 'joint', 'steps': 67, 'settle_steps': 0, 'gripper': 1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)

all pan receptacle cookware pots_and_pans


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 5}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenStandMixerHead', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/OpenStandMixerHead/20260324_205314_open-stand-mixer-head_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 84, 'stable_release_contact_loss_t': 84, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.00277, -1.060588, -0.023759, -2.278174, 0.068107, 1.506477, 0.710727], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.003867, -1.485159, 0.404044, -2.748812, 0.156135, 1.672405, 1.596515], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.124345, -1.00067, 0.475606, -2.598044, -0.208504, 1.897401, 2.037166], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.166793, -0.738333, 0.03, -2.023522, -0.385387, 1.529376, 1.89709], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.109548, -0.67663, -0.588267, -1.671651, -0.284261, 1.307192, 1.083041], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/OpenToasterOvenDoor/seed_195/episode_000000/refinement/20260403/OpenToasterOvenDoor/iter_005/candidate.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 2, 1: 1, 2: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'OpenToasterOvenDoor', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/OpenToasterOvenDoor/20260324_205315_open-toaster-oven-door_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 118, 'stable_release_contact_loss_t': 118, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.046595, -1.032737, -0.056082, -2.314732, 0.046409, 1.518914, 0.685818], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.024153, -0.867467, -0.682295, -2.751199, 1.452597, 2.150206, 0.445853], 'input_type': 'joint', 'steps': 61, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.027249, -0.868907, -0.675443, -2.751934, 1.452234, 2.159063, 0.449698], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.030585, -0.871154, -0.667752, -2.752959, 1.451088, 2.169913, 0.454882], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.362687, -1.112559, -0.680039, -2.904775, -0.374275, 1.553743, 1.911622], 'input_type': 'joint', 'steps': 74, 'settle_steps': 1, 'gripper': 1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
wait(duration=0.12, hold_target=[-0.027249, -0.868907, -0.675443, -2.751934, 1.452234, 2.159063, 0.449698], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.2, hold_target=[-0.362687, -1.112559, -0.680039, -2.904775, -0.374275, 1.553743, 1.911622], input_type='joint', gripper=1.0)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=16; actual_retained_waypoints=16; keep_counts={0: 3, 1: 3, 2: 4, 3: 3, 4: 3}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PackDessert', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PackDessert/20260324_205316_pack-dessert_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 167, 'stable_release_contact_loss_t': 293, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [0.003431, -1.053115, 0.005184, -2.311799, 0.030015, 1.500472, 0.685453], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.14584, -0.6809, -0.852359, -2.463906, -0.367659, 1.86715, -1.385754], 'input_type': 'joint', 'steps': 96, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.046511, -0.094099, -0.71284, -2.415904, 0.080811, 2.229117, -1.973897], 'input_type': 'joint', 'steps': 62, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.051726, -0.093201, -0.707594, -2.415292, 0.081822, 2.22806, -1.975016], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.061534, -0.09173, -0.69809, -2.414828, 0.082667, 2.226857, -1.976487], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.07077, -0.09122, -0.690979, -2.414509, 0.082263, 2.225077, -1.976739], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.084681, -0.09052, -0.676047, -2.412132, 0.084084, 2.224193, -1.97687], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.012112, -0.657639, -0.480759, -2.418621, -0.204155, 1.903077, -1.758197], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.10561, -0.754676, -0.508825, -2.729732, -0.418656, 2.098499, -2.110008], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.133274, -0.583166, -0.555285, -2.67435, -0.385326, 2.262997, -2.231914], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.134792, -0.575354, -0.554089, -2.668948, -0.380596, 2.263921, -2.233122], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.131188, -0.555939, -0.543586, -2.64962, -0.360462, 2.252497, -2.242961], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [0.111958, -0.600136, -0.526108, -2.646019, -0.358213, 2.207078, -2.246963], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.021575, -1.256517, -0.36896, -2.722, -0.36905, 1.747102, -2.219967], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.17508, -1.447546, 0.100409, -2.659606, 0.017707, 1.550437, -2.105621], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[-0.08159, -0.090731, -0.679328, -2.412372, 0.083816, 2.224452, -1.976869], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.08159, -0.090731, -0.679328, -2.412372, 0.083816, 2.224452, -1.976869], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', gripper=-1.0)
release(hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.120078, -0.565623, -0.534004, -2.64989, -0.354925, 2.245343, -2.247309], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)

Add the marshmallow to the tupperware that contains the hot dog.

dessert

all marshmallow sweets food in_container


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCabinetToCounter/seed_195/episode_000000/refinement/20260403/PickPlaceCabinetToCounter/iter_005/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 2, 3: 2, 4: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCabinetToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCabinetToCounter/20260324_205317_pick-place-cabinet-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 106, 'stable_release_contact_loss_t': 170, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.01052, -1.025454, -0.058702, -2.297071, 0.053644, 1.544523, 0.70624], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.133274, 0.142967, -0.531275, -1.188434, 0.0638, 2.068814, 0.667806], 'input_type': 'joint', 'steps': 96, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.142568, 0.157793, -0.527481, -1.169316, 0.074427, 2.061475, 0.664108], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.207182, 0.262498, -0.484313, -1.028889, 0.125758, 2.01173, 0.659515], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.226379, 0.293053, -0.471352, -0.984556, 0.133634, 1.99603, 0.659793], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.301968, 0.39596, -0.431856, -0.812986, 0.165431, 1.907847, 0.651138], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.312879, 0.39731, -0.427397, -0.794715, 0.16865, 1.869162, 0.642764], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], 'input_type': 'joint', 'steps': 61, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_03 = [
    {'target': [0.021222, -0.318874, -0.580942, -2.57658, 0.082095, 1.908551, -0.418362], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.013282, -1.316872, -0.161613, -2.474925, 0.132523, 1.599873, -0.008301], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[-0.216643, 0.277735, -0.47765, -1.007043, 0.129776, 2.003954, 0.659767], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.1, hold_target=[-0.216643, 0.277735, -0.47765, -1.007043, 0.129776, 2.003954, 0.659767], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.301968, 0.39596, -0.431856, -0.812986, 0.165431, 1.907847, 0.651138], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_02)
wait(duration=0.1, hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', gripper=1.0)
release(hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.1, hold_target=[0.026369, -0.318309, -0.575986, -2.562083, 0.071147, 1.878208, -0.391732], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_03)

Pick the ice cube from the cabinet and place it on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToBlender/20260413_t3_k113_0c07ac667a85_PickPlaceCounterToBlender_source-compressed.py
# Compression note: ppctb_action49_g; source_kind=accepted; segments=[{'start': 0, 'end': 39, 'mode': 'cubic', 'keep': 6, 'selected_keep_indices': [0, 4, 6, 11, 19, 39], 'source_motion_count': 40, 'rebuilt_motion_count': 3}, {'start': 40, 'end': 42, 'mode': 'joint', 'keep': 3, 'selected_keep_indices': [0, 1, 2], 'source_motion_count': 3, 'rebuilt_motion_count': 3}, {'start': 43, 'end': 51, 'mode': 'joint', 'keep': 5, 'selected_keep_indices': [0, 3, 4, 6, 8], 'source_motion_count': 9, 'rebuilt_motion_count': 5}, {'start': 52, 'end': 91, 'mode': 'action_sequence', 'keep': 23, 'selected_keep_indices': [0, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 14, 15, 18, 19, 26, 27, 28, 31, 34, 35, 36, 39], 'source_motion_count': 40, 'rebuilt_motion_count': 1}, {'start': 92, 'end': 96, 'mode': 'joint', 'keep': 5, 'selected_keep_indices': [0, 1, 2, 3, 4], 'source_motion_count': 5, 'rebuilt_motion_count': 5}, {'start': 97, 'end': 112, 'mode': 'linear', 'keep': 7, 'selected_keep_indices': [0, 3, 6, 8, 10, 13, 15], 'source_motion_count': 16, 'rebuilt_motion_count': 7}]

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToBlender', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToBlender/20260324_205318_pick-place-counter-to-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 106, 'stable_release_contact_loss_t': 239, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.288776, 0.254152, -0.497641, -1.963783, 0.105126, 2.012502, 0.174993], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.290076, 0.260419, -0.494748, -1.966875, 0.108555, 2.018459, 0.174531], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.290521, 0.262489, -0.492625, -1.968726, 0.110126, 2.020945, 0.174733], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.291014, 0.263508, -0.488267, -1.970979, 0.111321, 2.022768, 0.176688], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.29156, 0.261346, -0.484575, -1.967448, 0.098502, 2.010543, 0.186907], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.291963, 0.246766, -0.487646, -1.96263, 0.089578, 1.991973, 0.188828], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.290145, 0.215597, -0.490853, -1.948852, 0.07444, 1.957241, 0.194977], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.286471, 0.177616, -0.493682, -1.928464, 0.057799, 1.908867, 0.203975], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [0.016984, -0.764599, 0.247446, -2.020062, 0.201782, 1.657017, 0.496498], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.016266, -0.751176, 0.247141, -2.025713, 0.210743, 1.629404, 0.497471], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.015475, -0.742137, 0.246065, -2.016738, 0.213376, 1.615197, 0.497745], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.014926, -0.737648, 0.246055, -2.010546, 0.21299, 1.610049, 0.497755], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_03 = [
    {'primitive': 'moveLinear', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.167375, y=-2.879209, z=1.344834, qw=0.013818, qx=0.253766, qy=-0.954127, qz=-0.158282), 'joint_target': [0.015051, -0.754608, 0.248159, -2.000964, 0.207306, 1.584159, 0.521612]},
    {'primitive': 'moveLinear', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.165438, y=-2.916706, z=1.394538, qw=-0.018602, qx=0.234716, qy=-0.949963, qz=-0.205261), 'joint_target': [0.015563, -0.823848, 0.266044, -1.917965, 0.158803, 1.532784, 0.580994]},
    {'primitive': 'moveLinear', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.164732, y=-2.979469, z=1.466349, qw=-0.046049, qx=0.228424, qy=-0.927611, qz=-0.291958), 'joint_target': [0.017016, -0.922824, 0.271308, -1.795339, 0.122848, 1.493055, 0.60032]},
    {'primitive': 'moveLinear', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.166328, y=-3.002641, z=1.480256, qw=-0.05025, qx=0.223683, qy=-0.920451, qz=-0.316562), 'joint_target': [0.018541, -0.967814, 0.268516, -1.781873, 0.119662, 1.48657, 0.60734]},
    {'primitive': 'moveLinear', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.186461, y=-3.057541, z=1.500213, qw=-0.057628, qx=0.205545, qy=-0.894186, qz=-0.393525), 'joint_target': [0.029713, -1.13241, 0.232119, -1.837376, 0.107575, 1.538672, 0.605043]},
    {'primitive': 'moveLinear', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.203677, y=-3.111012, z=1.501623, qw=-0.070301, qx=0.194999, qy=-0.856543, qz=-0.472617), 'joint_target': [0.044109, -1.328874, 0.208523, -1.948672, 0.094236, 1.627653, 0.589389]},
    {'primitive': 'moveLinear', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0, 'target': pose(x=3.212099, y=-3.148859, z=1.491995, qw=-0.077549, qx=0.18911, qy=-0.830573, qz=-0.518046), 'joint_target': [0.054397, -1.471632, 0.201748, -2.030222, 0.091119, 1.671089, 0.583635]},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

moveC(target=pose(x=3.439684, y=-2.957761, z=1.25585, qw=0.027264, qx=-0.086777, qy=-0.990384, qz=-0.104244), steps=12, settle_steps=0, gripper=-1.0, via=pose(x=3.325842, y=-2.927709, z=1.285104, qw=0.035871, qx=0.04404, qy=-0.992134, qz=-0.11155), joint_target=[-0.050922, -1.045022, -0.233137, -2.340244, -0.126135, 1.51285, 0.750284])
moveC(target=pose(x=3.691362, y=-2.875629, z=1.134644, qw=-0.018481, qx=-0.113489, qy=-0.993164, qz=0.020109), steps=27, settle_steps=0, gripper=-1.0, via=pose(x=3.53324, y=-2.953137, z=1.224008, qw=0.015494, qx=-0.110944, qy=-0.987855, qz=-0.107674), joint_target=[0.022765, -0.355429, -0.749111, -2.076491, -0.299406, 1.787387, 0.38907])
moveC(target=pose(x=3.716089, y=-2.78256, z=0.95359, qw=0.043287, qx=-0.112073, qy=-0.989923, qz=0.074948), steps=62, settle_steps=0, gripper=-1.0, via=pose(x=3.721763, y=-2.763375, z=1.040758, qw=0.018379, qx=-0.111011, qy=-0.992695, qz=0.043535), joint_target=[-0.288079, 0.250185, -0.498671, -1.962887, 0.103153, 2.009162, 0.175582])
run_single_waypoint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[-0.290769, 0.263359, -0.490261, -1.970053, 0.111119, 2.022247, 0.175562], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.290769, 0.263359, -0.490261, -1.970053, 0.111119, 2.022247, 0.175562], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
moveActionSequence(actions=[[-0.284522, 0.156551, -0.497513, -1.918351, 0.053794, 1.885393, 0.204749, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.280624, 0.11442, -0.505175, -1.898126, 0.045785, 1.838444, 0.206296, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.26893, 0.03583, -0.511215, -1.882127, 0.054852, 1.781142, 0.205399, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.21978, -0.175098, -0.483595, -1.894747, 0.029732, 1.709202, 0.235327, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.188078, -0.297704, -0.45448, -1.92357, 0.013634, 1.72876, 0.265517, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.154869, -0.421262, -0.416798, -1.961748, 0.01736, 1.768379, 0.285342, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.121122, -0.533249, -0.376862, -1.999403, 0.045461, 1.800508, 0.285129, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.087919, -0.621685, -0.339038, -2.017846, 0.089861, 1.832016, 0.270579, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.05616, -0.688777, -0.29653, -2.021288, 0.142372, 1.865964, 0.257786, 1.0, 0.0, 0.0, 0.0, 0.0], [-0.025594, -0.725299, -0.251663, -2.018762, 0.197842, 1.905258, 0.243955, 1.0, 0.0, 0.0, 0.0, 0.0], [0.024098, -0.73554, -0.15622, -1.960829, 0.292652, 1.920343, 0.251538, 1.0, 0.0, 0.0, 0.0, 0.0], [0.040959, -0.725199, -0.11625, -1.939655, 0.329371, 1.896967, 0.257157, 1.0, 0.0, 0.0, 0.0, 0.0], [0.051395, -0.710122, -0.062173, -1.925462, 0.340927, 1.87315, 0.280557, 1.0, 0.0, 0.0, 0.0, 0.0], [0.055668, -0.684157, 0.003424, -1.90464, 0.333929, 1.846515, 0.340068, 1.0, 0.0, 0.0, 0.0, 0.0], [0.053188, -0.626836, 0.07204, -1.866978, 0.316848, 1.837439, 0.418864, 1.0, 0.0, 0.0, 0.0, 0.0], [0.042069, -0.588831, 0.103844, -1.8385, 0.256557, 1.815302, 0.424532, 1.0, 0.0, 0.0, 0.0, 0.0], [0.016439, -0.569071, 0.184096, -1.849008, 0.143997, 1.799962, 0.434529, 1.0, 0.0, 0.0, 0.0, 0.0], [0.015193, -0.598647, 0.180334, -1.854568, 0.14131, 1.765143, 0.441153, 1.0, 0.0, 0.0, 0.0, 0.0], [0.016119, -0.652166, 0.176938, -1.873006, 0.141455, 1.751153, 0.439126, 1.0, 0.0, 0.0, 0.0, 0.0], [0.017436, -0.724315, 0.178475, -1.935745, 0.148669, 1.773939, 0.437769, 1.0, 0.0, 0.0, 0.0, 0.0], [0.020776, -0.781517, 0.201125, -1.967053, 0.159967, 1.757589, 0.455015, 1.0, 0.0, 0.0, 0.0, 0.0], [0.021078, -0.799595, 0.244456, -1.994822, 0.167458, 1.756181, 0.490226, 1.0, 0.0, 0.0, 0.0, 0.0], [0.017866, -0.776441, 0.24754, -2.014771, 0.1932, 1.68429, 0.49581, 1.0, 0.0, 0.0, 0.0, 0.0]])
run_single_waypoint_sequence(MOTION_SEQUENCE_02)
wait(duration=0.05, hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', gripper=-1.0)
release(hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.014919, -0.740573, 0.245931, -2.008561, 0.212244, 1.601325, 0.502281], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_03)

Pick the orange from the counter and place it in the blender.

obj

all orange fruit food in_container food_set1


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 3, 3: 2, 4: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToCabinet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToCabinet/20260324_205319_pick-place-counter-to-cabinet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 91, 'stable_release_contact_loss_t': 195, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.031285, -1.079367, -0.012311, -2.286808, 0.023426, 1.552287, 0.694803], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.103691, -1.226845, -0.779371, -2.532019, -0.535865, 1.970457, 0.32208], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.047506, -0.551729, -0.93591, -2.509125, -0.362232, 2.466272, 0.215301], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.048833, -0.543536, -0.933867, -2.500739, -0.34903, 2.456977, 0.199484], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.05865, -0.500202, -0.902705, -2.461853, -0.292279, 2.3839, 0.118788], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [0.076166, -0.467396, -0.906191, -2.391128, -0.15442, 2.267242, -0.029474], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.115267, -1.451665, -0.480698, -2.440628, 0.370109, 2.264129, -0.061831], 'input_type': 'joint', 'steps': 42, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.081166, -0.518287, -0.270648, -1.547242, 0.239307, 1.805117, 0.080511], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.080023, -0.50563, -0.271073, -1.530659, 0.239459, 1.791243, 0.082533], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [0.063975, -0.42356, -0.267689, -1.395361, 0.258525, 1.687009, 0.088194], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.024901, -1.322707, -0.086016, -1.822166, 0.104744, 1.358957, 0.56422], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[0.073073, -0.474081, -0.901983, -2.406476, -0.183114, 2.289464, 0.002119], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[0.073073, -0.474081, -0.901983, -2.406476, -0.183114, 2.289464, 0.002119], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', gripper=-1.0)
release(hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.067947, -0.419799, -0.267045, -1.405711, 0.256208, 1.702372, 0.088959], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the cereal from the counter and place it in the cabinet.

all cheese dairy food in_container food_set1


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToDrawer/20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py
# Compression note: exact20 from 20260413_exact21_s21_b0_l1_PickPlaceCounterToDrawer.py delete (0, 1)

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToDrawer/20260324_205320_pick-place-counter-to-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 145, 'stable_release_contact_loss_t': 285, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.013887, -1.007802, -0.01923, -2.272712, 0.080397, 1.477041, 0.683963], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.074379, -0.069422, -0.86721, -1.858968, 0.060301, 1.871151, 0.245325], 'input_type': 'joint', 'steps': 64, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.18757, 0.190052, -0.639093, -1.871173, -0.102529, 2.027592, 0.069676], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.694249, 0.798577, -0.44409, -1.18958, 0.255342, 1.817804, -0.276156], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.74262, 0.755081, -0.427479, -1.254768, 0.374594, 1.872109, -0.366213], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.738769, 0.744559, -0.433343, -1.27327, 0.374213, 1.877484, -0.370353], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -0.3},
    {'primitive': 'moveJoint', 'target': [-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -0.3},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.742503, 0.719262, -0.458648, -1.312609, 0.370257, 1.866182, -0.398804], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.75528, 0.659477, -0.510627, -1.40797, 0.361971, 1.861953, -0.509364], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [-0.760469, 0.627769, -0.535103, -1.451623, 0.354929, 1.862444, -0.570711], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.770158, 0.499064, -0.632715, -1.619703, 0.305944, 1.888738, -0.830276], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.427764, -0.14022, -0.98491, -2.332829, -0.302633, 2.413541, -1.24521], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.130514, -0.409299, -1.25122, -2.39075, -0.520498, 2.24748, -1.359933], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.407858, -0.60437, -1.557807, -2.404099, -1.193781, 1.705323, -0.555493], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.430596, -0.903736, -1.540714, -2.382444, -1.427446, 1.327942, -0.4753], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.35435, -0.905632, -1.350194, -2.35318, -1.270741, 1.253054, -0.544271], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_03 = [
    {'primitive': 'moveJoint', 'target': [0.29925, -0.987709, -1.60713, -2.449153, -1.246033, 1.664139, -0.616809], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.078271, -1.033574, -1.071286, -2.328253, -0.714834, 1.302269, -0.537218], 'input_type': 'joint', 'steps': 22, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.196575, -1.320822, -0.668873, -2.503874, -0.349251, 1.26722, 0.00218], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)
wait(duration=0.05, hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', gripper=-0.3)
grasp(hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', close_steps=8, settle_steps=2, gripper=1.0, require_contact_count=4)
wait(duration=0.1, hold_target=[-0.740755, 0.727676, -0.450514, -1.299544, 0.370898, 1.868905, -0.387298], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.1, hold_target=[-0.75528, 0.659477, -0.510627, -1.40797, 0.361971, 1.861953, -0.509364], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)
wait(duration=0.1, hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', gripper=1.0)
release(hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.298659, -0.972543, -1.609961, -2.451366, -1.239207, 1.67805, -0.619552], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_03)

Pick the ladle from the counter and place it in the drawer.

distr

all steak meat food in_container oven_ready


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 4, 1: 4, 2: 1, 3: 3}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToMicrowave/20260324_205321_pick-place-counter-to-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 102, 'stable_release_contact_loss_t': 254, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.006388, -1.04177, -0.042877, -2.252211, -0.000331, 1.55126, 0.671262], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.060958, -0.519061, -0.767587, -2.278472, -0.488544, 1.914734, 0.0891], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.228517, 0.280155, -0.674221, -1.89794, 0.245264, 2.17462, -0.813667], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], 'input_type': 'joint', 'steps': 43, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.426356, 0.372321, -0.478982, -1.826281, 0.249039, 2.097336, -0.817038], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.312085, -0.501418, -0.758162, -1.953896, 0.055424, 1.444848, -0.63112], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.080844, -0.479001, 0.248827, -1.651877, -0.06324, 2.086325, 1.329452], 'input_type': 'joint', 'steps': 52, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.081162, 0.120566, 0.171709, -1.091534, -0.242682, 2.058401, 1.373345], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [0.085335, 0.09775, 0.16998, -1.101929, -0.242083, 2.039489, 1.374392], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.029175, -0.619308, 0.169957, -1.806401, -0.149608, 2.137574, 1.40108], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.036861, -1.265304, 0.067061, -2.24278, 0.166354, 1.855407, 1.023918], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
wait(duration=0.05, hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', gripper=-0.3)
grasp(hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', close_steps=2, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.426176, 0.37065, -0.478962, -1.828817, 0.248644, 2.097824, -0.817088], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', gripper=-1.0)
release(hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.082292, 0.12003, 0.170116, -1.092558, -0.242009, 2.060713, 1.373342], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the hot dog from the counter and place it in the microwave.

all plate receptacle container container_set2


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceCounterToOven/20260413_t3_k21_3168e8deaa08_PickPlaceCounterToOven_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/PickPlaceCounterToOven/20260413_t3_k21_3168e8deaa08_PickPlaceCounterToOven_source-compressed.py; retained_waypoints=20; fingerprint=2f84e693b7b5; keep_indices={0: [0, 1, 2], 1: [0, 1], 2: [0, 1], 3: [0, 1, 2, 3, 4, 5, 6, 7, 8], 4: [0, 2, 3, 4]}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToOven/20260324_205322_pick-place-counter-to-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 54, 'stable_release_contact_loss_t': 285, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.02896, -1.018839, -0.039413, -2.26457, 0.046621, 1.544871, 0.718999], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.054121, -1.042475, -0.043609, -2.875116, -0.047506, 1.940762, 0.998743], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.056128, -0.654558, -0.05962, -2.961498, -0.041132, 2.350255, 0.985146], 'input_type': 'joint', 'steps': 22, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.055562, -0.650161, -0.06196, -2.961324, -0.035758, 2.353316, 0.980219], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.054399, -0.644827, -0.066558, -2.956554, -0.023431, 2.357245, 0.969248], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.054395, -0.644929, -0.066333, -2.955507, -0.023337, 2.355868, 0.969251], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.051522, -0.783768, -0.103355, -2.867688, 0.008094, 2.138472, 0.815072], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [-0.910506, -1.756676, 1.884456, -2.171285, 1.648852, 2.081609, 1.155373], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.466619, -1.488768, 1.691017, -2.503674, 1.27714, 2.103434, 1.365351], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.034789, -1.308171, 1.383444, -2.703293, 0.97215, 2.097234, 1.609416], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.359155, -1.364493, 1.001465, -2.754404, 0.678239, 1.957559, 1.851279], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
]

def run_single_waypoint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        primitive = payload.pop('primitive')
        target = payload.pop('target')
        if primitive == 'moveJoint':
            moveJoint(target, **payload)
        elif primitive == 'moveLinear':
            moveLinear(target, **payload)
        else:
            raise ValueError(f'Unsupported sequence primitive: {primitive}')

run_single_waypoint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[-0.054395, -0.644891, -0.066387, -2.955831, -0.02334, 2.356384, 0.969249], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.054395, -0.644891, -0.066387, -2.955831, -0.02334, 2.356384, 0.969249], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
moveWholeBodyPath(body_waypoints=[pose(x=0.500837, y=-0.036091, z=1.024894, qw=0.024978, qx=-0.745707, qy=-0.662521, qz=-0.066061), pose(x=0.275082, y=-0.017182, z=1.193439, qw=-0.121818, qx=-0.626153, qy=-0.762084, qz=-0.110998), pose(x=0.224325, y=-0.017224, z=1.213468, qw=-0.096162, qx=-0.634345, qy=-0.760187, qz=-0.102351), pose(x=0.224063, y=-0.016872, z=1.213242, qw=-0.096819, qx=-0.636807, qy=-0.758258, qz=-0.100732), pose(x=0.224156, y=-0.019115, z=1.213102, qw=-0.095574, qx=-0.635088, qy=-0.759666, qz=-0.102163), pose(x=0.22579, y=-0.014722, z=1.212384, qw=-0.097569, qx=-0.63505, qy=-0.759764, qz=-0.099754), pose(x=0.340952, y=0.262293, z=1.00297, qw=-0.139857, qx=-0.743334, qy=-0.643882, qz=-0.115367), pose(x=0.503214, y=0.341138, z=0.800459, qw=-0.155379, qx=-0.797951, qy=-0.563107, qz=-0.148467), pose(x=0.61566, y=0.327993, z=0.707128, qw=-0.200389, qx=-0.780671, qy=-0.586909, qz=-0.077035)], base_waypoints=[[1.918796, -0.985239, 1.57117], [1.918801, -0.985243, 1.570626], [1.915243, -1.089763, 1.586851], [2.029511, -1.17114, 1.709582], [1.212524, -1.402097, 1.913642], [0.914946, -1.233829, 1.905042], [0.915147, -1.233867, 1.904972], [0.915199, -1.233878, 1.905348], [0.915303, -1.233884, 1.904806]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.000129, 0.000067, 0.000076, 0.000072, 0.000065, 0.000053, 0.000042, 0.000036, 0.000439], segment_steps=[2, 24, 26, 24, 28, 27, 24, 24, 20], settle_steps=0, gripper=1.0, gripper_cmds=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)
wait(duration=0.05, hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', gripper=-1.0)
release(hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.947425, -1.752938, 1.895183, -2.158179, 1.654856, 2.095784, 1.132398], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)

Place the potato on the rack of the oven.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 2, 1: 2, 2: 2, 3: 1, 4: 2}

from primitives import moveJoint, moveLinear, moveC, moveA, moveWholeBodyPath, moveActionSequence, grasp, release, wait

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToSink', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToSink/20260324_205323_pick-place-counter-to-sink_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 110, 'stable_release_contact_loss_t': 250, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.036613, -1.06119, -0.066937, -2.263774, -0.004139, 1.527686, 0.724749], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], 'input_type': 'joint', 'steps': 109, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.067688, -0.254044, 0.910051, -2.353328, 0.535493, 2.377395, 1.27219], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.060542, -0.227096, 0.90012, -2.339742, 0.504118, 2.383802, 1.29123], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.0558, -0.217273, 0.892845, -2.332094, 0.489376, 2.382794, 1.300303], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.083612, 0.436141, -0.112539, -2.182293, 0.681852, 2.433524, 0.256323], 'input_type': 'joint', 'steps': 128, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.117678, 0.372833, -0.119285, -2.177932, 0.646894, 2.348515, 0.26392], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.153523, -0.736343, -0.418899, -2.56971, 0.293749, 1.99808, 0.291859], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': -1.0},
]

def run_joint_sequence(sequence):
    for item in sequence:
        payload = dict(item)
        target = payload.pop('target')
        moveJoint(target, **payload)

run_joint_sequence(MOTION_SEQUENCE_00)
grasp(hold_target=[-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], input_type='joint', close_steps=6, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.071406, -0.282521, 0.918093, -2.368446, 0.570399, 2.367894, 1.250571], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', gripper=-1.0)
release(hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.089845, 0.43715, -0.112055, -2.17756, 0.677188, 2.426864, 0.254961], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the bowl from the counter and place it in the sink.