# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-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/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnToasterOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToasterOven/20260324_205349_turn-on-toaster-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 255, 'stable_release_contact_loss_t': 255, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.013751, -1.037136, -0.048939, -2.290316, 0.037213, 1.527349, 0.69309], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.764294, -1.357733, -1.558137, -2.554502, 0.055178, 3.097487, -0.61929], 'input_type': 'joint', 'steps': 212, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.767454, -1.359725, -1.561284, -2.550908, 0.045636, 3.10129, -0.613447], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.725315, -1.400681, -1.522395, -2.519662, 0.251931, 2.930772, -0.007091], 'input_type': 'joint', 'steps': 56, 'settle_steps': 0, 'gripper': 1.0},
]

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)

Turn on the toaster oven by setting the timer.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=2; actual_retained_waypoints=2; keep_counts={0: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnSinkSpout', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnSinkSpout/20260324_205350_turn-sink-spout_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 87, 'stable_release_contact_loss_t': 87, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [0.022622, -1.023282, -0.011191, -2.278173, 0.03325, 1.557661, 0.699607], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.198816, 0.200417, 0.411054, -1.7659, -0.793678, 3.086582, 2.286972], 'input_type': 'joint', 'steps': 101, 'settle_steps': 0, 'gripper': -1.0},
]

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)

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